diff --git a/.gitattributes b/.gitattributes
index c9788773e8ad4baf1607b047d3c6b3da3180ac89..d4b362a1e673779a1f7db03114c8120f325b2c21 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2803,6 +2803,5 @@ dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_00
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/9d3cdaa1c3c35891be06a182627700d7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/9a97f8d31ea85e8dae503162408e94b5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material.mtl b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd9308429cfe8b6fcacb41368684fa161620d16d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_018_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd storage_bin_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material_0.png b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c235dc859585017d60613277eb1f9ecd18f8e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.glb b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75bd0982d90e4242d9469af32bd8a095c91b38e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9706580
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.mtl b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a07946ba55bf4283928fa7bd40a483f8bab3b6d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_018_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3459c5ae3412851c04ca3ae810b689b25cc0c242
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.obj
@@ -0,0 +1,104174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018_collision.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905aad29cdda739f4873ff2180ed8a48efbebdd5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018_collision.obj
@@ -0,0 +1,12899 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018.obj
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index 0000000000000000000000000000000000000000..409e68654def7bf2d6f90b2c4d28219b013ce872
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+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018.obj
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fb5eda002871c3c4d95f90334df8cff9227ba5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision.obj
@@ -0,0 +1,12899 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_0.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2c352c4de485c6bfae678da139f69003074873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_0.obj
@@ -0,0 +1,64 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_1.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efa7c90106740555d7c21f606d39deecb9b07a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_1.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_10.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d69611f52e6d48a660ac24f116d2c7827f6de4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_10.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_11.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb63f2001701462db37da114dc9e2621766774fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_11.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_12.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78273f0e855a415ca6b0b44c18608679f711c070
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_12.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_13.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7f97eea8d70a6b843229d5d7c604e034425fb71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_13.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_14.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82af42f9dc4bd41177bf33bea0d83714eadc054c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_14.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_15.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4365f6177b541e7cd878b32cbb3e85161c4ce14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_16.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102c8b4f9220ed1856abae58f41d3fd372b20ad0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_17.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2faf8534ecb3a07a88b984e46d61a0fea8a3fa5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_17.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_18.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c014828514b1d7ff4bc0fc97bb051e4d17f94fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_19.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f810fbb9a96025c6f24acaf9ef9592471b605e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_19.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_2.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c231fddb0fb0292ae8081a1860771d73ff16f403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_2.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v 0.04599867 0.04540809 0.04248841
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_20.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9bf5616da292a3229009e6f7bd1d9baf2e8ef0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.04035376 0.04629823 0.03742894
+v -0.04233090 0.04702043 0.03937916
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+v -0.03640777 0.04329784 0.03351921
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+v -0.04233090 0.04649916 0.04132938
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_21.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e890c31ac3ed76810f193131a387238c82ea900d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_21.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.05637450 -0.03241668 0.04302136
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_22.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3903465a9c07074b56ed7ce3be466c15815daa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_22.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04534518 -0.02415199 -0.02206401
+v 0.05498125 -0.02415199 -0.02206401
+v 0.04829771 -0.02415200 -0.01836161
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+v 0.05499680 -0.02259158 -0.02206400
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_23.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fe7f47ff97e1e83b693e8ed358a404516a335b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_23.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04599795 0.02855599 -0.02096782
+v 0.03860180 0.03241544 -0.02096780
+v 0.04599795 0.03945161 -0.02096778
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_24.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebdcd58ab8ff0abc93ed071408e306097e82ca7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_24.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.05495518 0.02846793 -0.01718181
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_25.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc05fbf82bcbbd30a9174ec7a9f225b1348249fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04691152 -0.04223611 0.04300986
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+v 0.04241492 -0.04223611 0.04300523
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_26.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ab36133627ff79009c443c9c92b4ef50f18a22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05399805 0.00940340 0.03036858
+v 0.05399805 0.00940340 0.03136858
+v 0.05399805 0.01075863 0.03036858
+v 0.05399805 0.01075863 0.03136858
+v 0.05499805 0.00940340 0.03036858
+v 0.05499805 0.00940340 0.03136858
+v 0.05499805 0.01075863 0.03036858
+v 0.05499805 0.01075863 0.03136858
+f 2 4 1
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_27.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0213c7667e7cbc47ea2e0a30c8710efc58307a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_27.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_28.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45807497aa72e0cee0dd0d417a23e5d2589a16cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_29.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cc0c53b10d314d1396a35c6d99ab3e0c85be6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_29.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_3.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d345102a8d2bb6399a44f48a6113dd2c7e530f95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_3.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_30.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f7950ac39ba524e8259054d3fadb3863e59a84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_30.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_31.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d7a0fd223b722964016109b62f66ccd2b31321
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_31.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_32.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e890fa507a16fda094ece14b24c3fd259e716a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_33.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04f49dc00825ce759137e37031c879d47962de8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_33.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_34.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6ae415ac2b396c37fbf36ce91b2fea75240644
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_34.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_35.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31447e814ee355defdf1a3802574e1e56f57e8c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_35.obj
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_36.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d2ea8a415a2de62a64c3bccbd840f4306cee2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00010302 0.04330363 0.03351827
+v -0.00081909 0.04330457 0.03351827
+v 0.00010302 0.03730357 0.03351825
+v 0.00010302 0.04074389 -0.01494990
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_37.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3bc7b5ac29b97d01b00f27e12e419b51c0f8bd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_37.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00009888 -0.03726549 0.03382725
+v 0.00009888 -0.04329390 0.03382723
+v 0.00009888 -0.03724085 0.03352600
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_38.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2595bc561f8c2ae61bac35355b3e84c8fcdd1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.04241492 -0.03710008 0.03381003
+v 0.04241492 -0.04317925 0.03381001
+v 0.04241492 -0.03707454 0.03352404
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_39.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ea8d312d255d42c50a341f4ffa8580a4796962
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_39.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_4.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e89ffd1ecb2e28aa6b3c57f7dcd7d0a8b731d66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_4.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_40.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8676c4bc1b89c0660ff2887cd40f2d5cd076c72d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_40.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04430549 0.02960939 -0.02866029
+v -0.04233131 0.03044080 -0.02866178
+v -0.04233131 0.02960939 -0.02866029
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+v -0.04643559 0.03853758 -0.02484609
+v -0.04643559 0.03890517 -0.02358706
+v -0.04430549 0.03970846 -0.02304280
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+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 24
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+f 2 33 43
+f 2 43 54
+f 2 54 64
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+f 2 44 34
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+f 41 52 42
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+f 42 53 54
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+f 44 56 45
+f 45 56 47
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+f 47 57 49
+f 49 57 58
+f 50 59 51
+f 51 59 60
+f 51 60 52
+f 52 60 53
+f 53 60 61
+f 53 61 62
+f 53 62 63
+f 53 63 54
+f 54 63 64
+f 55 65 66
+f 55 66 56
+f 56 66 57
+f 57 66 67
+f 57 67 58
+f 58 67 68
+f 60 69 61
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+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_41.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60df39a50b43eedebc5093089a54d7077768461
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_41.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04643559 0.03140845 -0.01351186
+v -0.04643559 0.03975471 -0.01351183
+v -0.04233131 0.03385578 -0.01351186
+v -0.04233131 0.03621891 0.02182259
+v -0.04233131 0.03635134 0.02377360
+v -0.04233131 0.03648840 0.02572001
+v -0.04233131 0.03663926 0.02767102
+v -0.04233131 0.03679933 0.02962204
+v -0.04233131 0.03711834 0.03349645
+v -0.04643559 0.03463420 0.01986238
+v -0.04627928 0.03981460 -0.01351183
+v -0.04643559 0.04247713 0.03349647
+v -0.04233131 0.04065418 -0.01351183
+v -0.04233131 0.04317390 0.03349647
+v -0.04643559 0.03600696 0.03349644
+v -0.04643559 0.03578814 0.03151783
+v -0.04643559 0.03559351 0.02962203
+v -0.04643559 0.03539544 0.02767102
+v -0.04643559 0.03520312 0.02572001
+v -0.04605426 0.03987794 -0.01351183
+v -0.04627928 0.04253011 0.03349647
+v -0.04408047 0.04039966 -0.01351183
+v -0.04330173 0.04124264 -0.00058179
+v -0.04413833 0.04298617 0.03349647
+v -0.04256678 0.04315777 0.03349647
+v -0.04430549 0.04036626 -0.01351183
+v -0.04624794 0.04253702 0.03349647
+f 1 2 11
+f 1 11 20
+f 1 20 26
+f 1 26 22
+f 1 22 13
+f 1 13 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 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 12
+f 1 12 2
+f 2 12 11
+f 3 13 14
+f 3 14 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
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+f 9 25 24
+f 9 24 27
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+f 9 21 12
+f 9 12 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
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+f 9 19 10
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+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 20 21 26
+f 21 27 26
+f 22 26 23
+f 23 26 24
+f 24 26 27
+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_42.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b90cdbe48bb6527cac14b03734ef107013e11ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.05744009 0.01669083 0.03096021
+v -0.05733111 0.01669084 0.02767554
+v -0.05736464 0.01476027 0.03096020
+v -0.05441136 0.00989306 0.03096069
+v -0.05743650 0.02061780 0.03096023
+v -0.05726763 0.01669085 0.02579108
+v -0.05721315 0.01549731 0.02579108
+v -0.05721015 0.01545581 0.02579108
+v -0.05722392 0.01336923 0.03096020
+v -0.05415567 0.00933922 0.03096068
+v -0.05400537 0.00989306 0.03096069
+v -0.05742332 0.02395944 0.03096024
+v -0.05743231 0.02258128 0.03096023
+v -0.05743410 0.02196161 0.03096023
+v -0.05723350 0.02258130 0.02579110
+v -0.05662273 0.01447406 0.02579107
+v -0.05571674 0.01117390 0.03096019
+v -0.05566944 0.01334635 0.02579107
+v -0.05563530 0.01331773 0.02579107
+v -0.05417662 0.01292990 0.02579107
+v -0.05414010 0.01293419 0.02579107
+v -0.05285687 0.01336066 0.02579107
+v -0.05202992 0.01472880 0.02579107
+v -0.05227842 0.01310877 0.03096020
+v -0.05185148 0.01472878 0.03096020
+v -0.05171495 0.01534845 0.03096021
+v -0.05165747 0.01669083 0.03096021
+v -0.05164609 0.01730907 0.03096021
+v -0.05153651 0.02395944 0.03096024
+v -0.05723290 0.02264856 0.02579110
+v -0.05722033 0.02395946 0.02579111
+v -0.05152094 0.01669085 0.02579108
+v -0.05132274 0.02395946 0.02579111
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 6 3
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+f 3 7 8
+f 3 8 9
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+f 4 29 12
+f 4 12 13
+f 4 13 14
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+f 6 32 23
+f 6 23 22
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+f 6 16 8
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+f 9 17 10
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+f 10 18 19
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+f 10 22 23
+f 10 23 24
+f 10 24 11
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+f 11 27 28
+f 11 28 29
+f 12 30 15
+f 12 15 13
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+f 12 33 31
+f 12 31 30
+f 16 18 17
+f 23 32 25
+f 23 25 24
+f 25 32 26
+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 28 33 29
+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_43.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9737f3b40e3c5af33ccc0de9799f92a953a0f382
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04837357 0.02960930 -0.00471119
+v -0.04958120 0.02396012 -0.00471121
+v -0.05541555 0.02960930 -0.00471119
+v -0.05069580 0.02960918 0.02842573
+v -0.05153573 0.02395999 0.03096074
+v -0.05587361 0.02396012 -0.00471121
+v -0.05561667 0.02847615 -0.00471120
+v -0.05713440 0.02960917 0.03096076
+v -0.05078174 0.02960917 0.02959199
+v -0.05089337 0.02960917 0.03096076
+v -0.05742413 0.02395999 0.03096074
+v -0.05586653 0.02454854 -0.00471121
+v -0.05592943 0.02396011 -0.00353448
+v -0.05572565 0.02729322 -0.00471120
+v -0.05567249 0.02847614 -0.00353447
+v -0.05714858 0.02952898 0.03096076
+v -0.05741881 0.02454841 0.03096074
+v -0.05712111 0.02396001 0.02320202
+v -0.05592235 0.02454853 -0.00353448
+v -0.05583906 0.02532942 -0.00471121
+v -0.05602069 0.02396011 -0.00158258
+v -0.05579653 0.02651290 -0.00471120
+v -0.05604196 0.02847611 0.00426964
+v -0.05713795 0.02946759 0.03056619
+v -0.05725224 0.02848265 0.03096075
+v -0.05613321 0.02847611 0.00621805
+v -0.05739046 0.02589227 0.03096075
+v -0.05714503 0.02574187 0.02452191
+v -0.05711757 0.02454843 0.02328233
+v -0.05705909 0.02454844 0.02182277
+v -0.05706529 0.02396002 0.02182277
+v -0.05601360 0.02454853 -0.00158258
+v -0.05621738 0.02651286 0.00426964
+v -0.05608448 0.02396010 -0.00021729
+v -0.05667457 0.02847606 0.01791898
+v -0.05676317 0.02847606 0.01987088
+v -0.05685088 0.02847605 0.02182278
+v -0.05729388 0.02785607 0.03096075
+v -0.05714503 0.02757349 0.02650176
+v -0.05630776 0.02651286 0.00621805
+v -0.05737540 0.02651277 0.03096075
+v -0.05708833 0.02644311 0.02383055
+v -0.05700239 0.02651280 0.02182278
+v -0.05691999 0.02651281 0.01987088
+v -0.05689695 0.02454845 0.01791897
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+v -0.05681810 0.02396004 0.01597056
+v -0.05690315 0.02396003 0.01791897
+v -0.05698555 0.02396003 0.01987087
+v -0.05638218 0.02396008 0.00621804
+v -0.05647078 0.02396007 0.00816994
+v -0.05646369 0.02454849 0.00816994
+v -0.05672418 0.02454847 0.01401866
+v -0.05673127 0.02396005 0.01401866
+f 1 2 6
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+f 54 62 55
+f 59 62 61
+f 59 61 60
+
diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_44.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8711f8df8872058d243960be65189d3886c9947e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_44.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05124498 -0.02649597 0.02553578
+v 0.05164431 -0.01670131 0.02553582
+v 0.05724654 -0.02649597 0.02553578
+v 0.05183544 -0.02649602 0.03937813
+v 0.05186326 -0.01069493 0.03937819
+v 0.05183993 -0.01069492 0.03547749
+v 0.05212260 -0.01473835 0.02553583
+v 0.05186326 -0.01069491 0.03364176
+v 0.05186595 -0.01069491 0.03352885
+v 0.05725192 -0.02633046 0.02553578
+v 0.06041064 -0.02649602 0.03937813
+v 0.05184172 -0.02649602 0.03940550
+v 0.05232092 -0.01069494 0.04132854
+v 0.05297599 -0.01326730 0.02553583
+v 0.05267537 -0.01069491 0.03177525
+v 0.05730487 -0.02442474 0.02553579
+v 0.06040705 -0.01670136 0.03937817
+v 0.05998889 -0.01670137 0.04132852
+v 0.05998889 -0.02455783 0.04132849
+v 0.05999427 -0.02649603 0.04130281
+v 0.05730936 -0.02408134 0.02553579
+v 0.05732730 -0.02259327 0.02553580
+v 0.05738025 -0.01670131 0.02553582
+v 0.05231374 -0.02649603 0.04132848
+v 0.05232361 -0.02649603 0.04134559
+v 0.05236668 -0.01069494 0.04140039
+v 0.05327033 -0.01310642 0.02553583
+v 0.05278844 -0.01069491 0.03153402
+v 0.06040346 -0.01069493 0.03937819
+v 0.05998619 -0.01069494 0.04132854
+v 0.05948097 -0.01069495 0.04234648
+v 0.05945136 -0.01670138 0.04241147
+v 0.05998798 -0.02649603 0.04132848
+v 0.05944956 -0.02062883 0.04241145
+v 0.05694772 -0.01489458 0.02553583
+v 0.05739281 -0.01565410 0.02606276
+v 0.05309534 -0.02649604 0.04254488
+v 0.05309893 -0.01069495 0.04254323
+v 0.05440100 -0.01273518 0.02553583
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+v 0.05986594 -0.01069493 0.03748772
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+v 0.05945047 -0.01473842 0.04241148
+v 0.05834850 -0.01670138 0.04276562
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+v 0.05944687 -0.02649604 0.04240972
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+v 0.05451676 -0.01069495 0.04290079
+v 0.05637430 -0.02259334 0.04301025
+v 0.05637430 -0.02649604 0.04301023
+f 1 2 7
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+f 1 23 22
+f 1 22 21
+f 1 21 16
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+f 1 10 3
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+f 1 63 60
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+f 1 37 25
+f 1 25 24
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_5.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac4d30917f5682fa3776524dfce165022736313
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_5.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_6.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6308f716cf31428493fdb92a86955a13109c67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_6.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_7.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4cd2067b5dc159dafdfa0bffc3de52f51e8392
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_7.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_8.obj b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1ffe64a686715e47068ba02f7614a16c1388db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/mesh/storage_bin_018_collision_8.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/storage_bin_018.xml b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/storage_bin_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eba86d72247a5162be39ef23d0b0f39233e1646b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mjcf/storage_bin_018.xml
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+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_018_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_018_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_018_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_018_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_018_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_bin_018_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_bin_018_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/storage_bin_018_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/storage_bin_018_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/storage_bin_018_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/storage_bin_018_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/storage_bin_018_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/storage_bin_018_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/storage_bin_018_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/storage_bin_018_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_018">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" 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/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.urdf b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2dd298e5ce3b52f2a5369b1e3cb4da25188f4952
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_018">
+   <link name="storage_bin_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_018.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_018_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>9a80850971a9572b9f6bcf81d551c4ca</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>gray storage bin</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular gray plastic storage bin with rounded corners and side handles</description>
+         <min_height>0.0713</min_height>
+         <max_height>0.0713</max_height>
+         <real_height>0.0713</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135858</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059886 -0.046814 -0.028289</min>
+            <max>0.060114 0.046804 0.043038</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/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.usd b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.usd
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af4f80b496420d4ac053a8b160f65aa01ce12a3658e5e0cf1492b696eddc5e1a
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/textures/material_0.png b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/video.mp4 b/dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/video.mp4
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