diff --git a/.gitattributes b/.gitattributes
index 11e8646f9772f26fb06e5ea2aa8a5cc5be8bc328..a3934638ed8a0a9d9dd6caa4fc10bf906f7c4a0a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2825,3 +2825,5 @@ dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_b
 dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material.mtl b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e0c1766e9d47c5dc2f9a90e931c4f18d5a0bec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material_0.png b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..29aa7bcefb42371ea3ef094d823345ba569be1b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e82729621a13e56dbdf7a51cd6c34338646d4936077b30667fd50ab3ca6705
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.glb b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7299aa4e112773094910104f9334884a0561fe6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11228496
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.mtl b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..292a29c56352bbf9a80a84a061406322c27e3d75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_011_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/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad2e7b8bbd83f090f36690ba5d91ec7cbdf5f39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.obj
@@ -0,0 +1,102950 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_011_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011_collision.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d5330538aa57b6d45304199a8c00d25d8b7c34e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011_collision.obj
@@ -0,0 +1,9462 @@
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8872661
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/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/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011.obj
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index 0000000000000000000000000000000000000000..25f4c249d0c8106f0a4266f7597eec8c7d2a2218
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+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50c0b07c2a4ecf095df9c584d3317f38d103142
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision.obj
@@ -0,0 +1,9462 @@
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_0.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23b10422355eb205d2aa4f6c457d1a05deea5c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_1.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9748695687b6041c69d2e0f5c3c858f34f529881
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_1.obj
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_10.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b7f8010e9840515483834e5f5c094e57e86d1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_11.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a6cffa1815af77d5b1d01228c5b5c74a4fc00e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_11.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_12.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ef70969076de58de1a3aa54e835deb4c84740d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_12.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.05677696 -0.02276055 0.06109788
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_13.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b576421b4cf46d16d67c9187a7c8e5726e383097
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_14.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03337eb6e290671779141037d73a57864010c0f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_14.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_15.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b64fcd285433b5df04b51d1aba30dd113d7542
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_15.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_16.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..324943f286f16f523bb481221d6dae9bbe781d5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_17.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f01d9845a6c8df546fc72a1dea5cbacbc575b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_18.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b51916ab4958a508427de197a680e16fb1d05b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_19.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa55d83f4ef6d106dbe731803414406050f6d67f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_2.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3c36679ec6ecc35eea49d10079c293174b2540
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_2.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_20.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59abf5b7383b812ef308c2f37afb68086f85fafb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_20.obj
@@ -0,0 +1,784 @@
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_21.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b0642e981b8d20491e2c3098d49412288ad9dbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_21.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04894861 0.04871826 -0.04440690
+v -0.05081999 0.04871826 -0.04439434
+v -0.04894861 0.04875712 -0.04440690
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+v -0.05081999 0.04875712 -0.04439434
+v -0.04894861 0.05074362 -0.04439047
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+v -0.05280228 0.04875421 -0.04428231
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+v -0.04894861 0.05085825 -0.04438371
+v -0.04894861 0.05864103 -0.03454072
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+v -0.04894861 0.05778525 -0.04102254
+v -0.04894861 0.05703922 -0.04200963
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_22.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5114253c311803215c785a1f7a5f8096de9e630
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_22.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05280228 0.04871823 -0.03664670
+v -0.04894861 0.04871824 -0.03820667
+v -0.05280228 0.04871826 -0.04428226
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_23.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9296f992ec7d12f956bbecb5b64897a131da7940
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_23.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05041575 -0.04063260 -0.03817852
+v 0.05046031 -0.04858871 -0.03817855
+v 0.05269160 -0.04858872 -0.03595695
+v 0.05269160 -0.04858090 -0.03595695
+v 0.05269863 -0.00863212 -0.03595680
+v 0.05046344 -0.00862820 -0.03817840
+v 0.05824479 -0.04858871 -0.03817855
+v 0.05834486 -0.04858872 -0.03595695
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+v 0.05823462 -0.00862820 -0.03817840
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+v 0.05840193 -0.04458328 -0.03595693
+v 0.05839724 -0.01677599 -0.03595683
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_24.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576b21e60eb941c148272c17f76c7f6251f23c9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_24.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_3.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f91a910849458e9c11eb0e1577648ef773b5c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_3.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_4.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e894c68910872f0557058070b658ee30d5778e47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_5.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedfbef1be898125a2251d71eb4bab8a0ec7d69f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_6.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06290d4263e171d92cea9204cca8c223950f12b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_6.obj
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_7.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8ab8851ea61fc6eee979d4d6bbce7d6cde0235
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_7.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05038201 -0.04861362 -0.03817808
+v 0.04390701 -0.05245349 -0.03336964
+v 0.04449610 -0.05245349 -0.03336964
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_8.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67657b6162db87b0b811e0e7e06fba651ae6914a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_8.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_9.obj b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b95d5c5685b99ec087952c0206657c624e171f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/mesh/storage_bin_011_collision_9.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.05145349 0.05852744 -0.03599404
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/storage_bin_011.xml b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/storage_bin_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5fa3ac278794b55772ebacfc20f1388b154f2e3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mjcf/storage_bin_011.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_011_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_011_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_011_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_011">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.urdf b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90937a61911e9f5a0c7ff0a406e288bad4afb955
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_011">
+   <link name="storage_bin_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>bc2f843dab6d504588d6863f22702cbe</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>pink storage bin</name>
+         <color>pink,purple</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>square pink plastic storage bin with lid and cartoon character print</description>
+         <min_height>0.1050</min_height>
+         <max_height>0.1050</max_height>
+         <real_height>0.1050</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135612</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060182 -0.059910 -0.043911</min>
+            <max>0.059818 0.060087 0.061088</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.usd b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4304324
diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/textures/material_0.png b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/video.mp4 b/dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/video.mp4
new file mode 100644
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