diff --git a/.gitattributes b/.gitattributes
index bcad9ee0d250a165c8edce82ba2a4c576d2e13ee..1ecb0548f053b271d97c1c6c620503a0c4896f33 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2810,6 +2810,5 @@ dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_02
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/a9ee9ba5e1fe5f8ab4a4915ac49a35aa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ada96d9c6e24519885deeff757b2d92c/ada96d9c6e24519885deeff757b2d92c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ada96d9c6e24519885deeff757b2d92c/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ada96d9c6e24519885deeff757b2d92c/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material.mtl b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaf0a2b622dcaf943558a6cc90e5bfa439ec0133
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material_0.png b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e15d33d4a17d41a846eb5e46d151099989c3d3ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6208307e8c74e34d5e23950d2113f70a1196dd13d3b703df6b8669413c3dd052
+size 9196038
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.glb b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c15b126e292a99d105b72f4e1854491283dd456
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204d147e719fd02ece443681da0374796e2d84dbed72f515b1e27961a0a0be6a
+size 12362016
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.mtl b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a771eade7259712ffa3169531db41173f916274
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_002_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/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f0a34e03c33d60b161ea915306ae49ee08dd0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.obj
@@ -0,0 +1,117652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002_collision.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05046651527efc5e9e2f92438e524031a9f2d8c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002_geometry_Looks_material_0.png
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+size 9196038
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/material_0.png
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+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/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/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002.obj
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519f553fb7e200b44e988a01d3c328f8c4ebcb48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision.obj
@@ -0,0 +1,6676 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_0.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda4df026dac3657bcd0db86d9a8783733d23b60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_1.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd66fbba3250593643732984ba24c114061e618
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_1.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_10.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6093c7189c4833894149acbe269bab6ad45f15a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_10.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04457292 -0.03632454 0.03668188
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_11.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2841d569acc588e91d53e9cb3c8271938ce5f741
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_11.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04469191 -0.00550204 -0.01499599
+v 0.04449225 0.02880171 -0.01499586
+v 0.05395354 -0.00550204 -0.01499599
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+f 5 9 18
+f 5 18 24
+f 5 24 19
+f 5 19 14
+f 5 14 7
+f 6 12 13
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 12 14 19
+f 12 19 13
+f 13 19 21
+f 13 21 22
+f 13 22 18
+f 13 18 20
+f 15 23 18
+f 15 18 16
+f 16 18 17
+f 18 22 21
+f 18 21 24
+f 18 23 20
+f 19 24 21
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_12.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056636ff4e5226d25a2553a79c1d5d55cd506611
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_12.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05386036 0.02843297 -0.01397905
+v -0.05389611 0.03238377 -0.01397903
+v -0.04733833 0.02843297 -0.01397905
+v -0.05379452 0.02843284 0.02045019
+v -0.05387541 0.03318916 -0.01397903
+v -0.05382744 0.03238364 0.02045358
+v -0.05379734 0.03434583 0.02045359
+v -0.04428800 0.03183634 -0.01397903
+v -0.04763179 0.02843284 0.02045019
+v -0.05372021 0.02843284 0.02045356
+v -0.05379358 0.02845722 0.02045356
+v -0.05383026 0.03434596 -0.01397902
+v -0.05343804 0.03568037 0.02045359
+v -0.04428800 0.03873042 -0.01397901
+v -0.04428800 0.03218051 0.02045358
+v -0.04763179 0.02845214 0.02045356
+v -0.05367507 0.03489542 -0.01397902
+v -0.05251438 0.03666045 0.02045359
+v -0.05251250 0.03666248 0.02045022
+v -0.05344745 0.03568760 -0.01397902
+v -0.04508373 0.03874871 -0.01397901
+v -0.04822154 0.03880748 0.02045023
+v -0.04624724 0.03875873 0.02045023
+v -0.04428800 0.03870795 0.02045360
+v -0.05152582 0.03765779 0.02045360
+v -0.05251344 0.03666972 -0.01397902
+v -0.04705803 0.03878324 -0.01397901
+v -0.04822154 0.03880760 -0.01086746
+v -0.04822624 0.03880748 0.02045360
+v -0.04625194 0.03875873 0.02045360
+v -0.05019771 0.03840935 0.02045360
+v -0.05019489 0.03841139 0.02045023
+v -0.05152582 0.03765779 0.02045023
+v -0.05210805 0.03707495 -0.01397901
+v -0.04822154 0.03879847 -0.01397901
+v -0.05019489 0.03840847 -0.01397901
+v -0.05152582 0.03765691 -0.01397901
+f 1 2 5
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+f 1 20 26
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+f 1 37 36
+f 1 36 35
+f 1 35 27
+f 1 27 21
+f 1 21 14
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+f 1 10 4
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+f 22 28 29
+f 23 30 24
+f 25 31 32
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+f 25 33 26
+f 26 33 34
+f 27 35 28
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+f 28 32 29
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+f 32 36 37
+f 32 37 33
+f 33 37 34
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_13.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3971acacef05bd26e73dc6ff3ff0760c0d83b8d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05159041 0.02117428 0.03677231
+v -0.05216924 0.02845688 0.03667171
+v -0.05212558 0.02117429 0.03674516
+v -0.05019513 0.02117429 0.03668287
+v -0.04428800 0.03630993 0.03668452
+v -0.04624790 0.03630993 0.03668452
+v -0.04822202 0.03630993 0.03667813
+v -0.05019513 0.03434536 0.03668292
+v -0.05412915 0.02117429 0.03620371
+v -0.05216924 0.03238253 0.03657110
+v -0.04966707 0.02117429 0.03645766
+v -0.04428800 0.03434536 0.03660306
+v -0.04428800 0.03816352 0.03591148
+v -0.04624790 0.03815832 0.03591148
+v -0.04822202 0.03810977 0.03590509
+v -0.05019513 0.03630993 0.03651521
+v -0.05216924 0.03434536 0.03643216
+v -0.05420226 0.02117429 0.03617017
+v -0.05376357 0.03238253 0.03579806
+v -0.04838247 0.02117429 0.03590823
+v -0.04428800 0.03433149 0.03659667
+v -0.04428800 0.03886404 0.03415456
+v -0.04624790 0.03888658 0.03415456
+v -0.04822202 0.03886750 0.03415456
+v -0.05019513 0.03786181 0.03573898
+v -0.05144520 0.03753410 0.03543072
+v -0.05212964 0.03625097 0.03577411
+v -0.05356149 0.03434536 0.03565592
+v -0.05331676 0.03555740 0.03538440
+v -0.05465416 0.02117429 0.03418804
+v -0.05385496 0.03041797 0.03584597
+v -0.05389965 0.03434536 0.03415455
+v -0.05411696 0.03238253 0.03415454
+v -0.04759445 0.02117429 0.03415450
+v -0.04428800 0.03276747 0.03583000
+v -0.04428800 0.03870803 0.02045698
+v -0.04625196 0.03875831 0.02045698
+v -0.04822608 0.03880687 0.02045698
+v -0.05019817 0.03840979 0.02045698
+v -0.05019513 0.03841326 0.02241035
+v -0.05019513 0.03842017 0.02828326
+v -0.05019513 0.03842190 0.03023983
+v -0.05019513 0.03842535 0.03415456
+v -0.05254599 0.03667579 0.03415455
+v -0.05155893 0.03766068 0.03415456
+v -0.05343049 0.03569264 0.03415455
+v -0.05466127 0.02117429 0.03415450
+v -0.05343760 0.03568056 0.02045697
+v -0.05379810 0.03434541 0.02045697
+v -0.05346095 0.03570999 0.03219798
+v -0.04760257 0.02117432 0.02771300
+v -0.04428800 0.03217798 0.02045696
+v -0.04428800 0.03217793 0.03415454
+v -0.04428800 0.03276227 0.03581563
+v -0.05152542 0.03765726 0.02045698
+v -0.05153659 0.03766417 0.02828326
+v -0.05252670 0.03669141 0.03219798
+v -0.05388949 0.02649410 0.02045694
+v -0.05389863 0.02452953 0.02045693
+v -0.05381028 0.02256670 0.02045692
+v -0.05373717 0.02117434 0.02045692
+v -0.05382755 0.03238258 0.02045696
+v -0.05251451 0.03666024 0.02045697
+v -0.05252569 0.03668622 0.03023982
+v -0.04760968 0.02117433 0.02575643
+v -0.04763202 0.02117434 0.02045692
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+f 1 3 9
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+f 1 18 30
+f 1 30 47
+f 1 47 61
+f 1 61 66
+f 1 66 65
+f 1 65 51
+f 1 51 34
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+f 1 4 5
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+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 4 11 12
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+f 5 35 54
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+f 34 53 54
+f 34 54 35
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+f 36 58 62
+f 36 62 49
+f 36 49 48
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+f 36 63 55
+f 36 55 39
+f 36 39 38
+f 36 38 37
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+f 39 56 45
+f 39 45 41
+f 39 41 40
+f 41 45 42
+f 42 45 43
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+f 44 57 50
+f 44 50 46
+f 45 56 55
+f 45 55 57
+f 47 58 59
+f 47 59 60
+f 47 60 61
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+f 48 50 63
+f 50 57 64
+f 50 64 63
+f 51 65 52
+f 52 65 66
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+f 55 64 57
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_14.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c419cac2a5176c01fae2b1db237fbbc8861743
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_14.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04457292 -0.03876035 -0.01500305
+v 0.04631391 -0.03878644 -0.01500465
+v 0.04850783 -0.03882233 -0.01319281
+v 0.04814034 -0.03881580 -0.01319281
+v 0.04457292 -0.03875710 -0.01477247
+v 0.04457292 -0.02883311 -0.01500462
+v 0.04828734 -0.03881579 -0.01500465
+v 0.04850783 -0.03881579 -0.01500465
+v 0.05026076 -0.03833313 -0.01500465
+v 0.05048126 -0.03827443 -0.01319281
+v 0.04616875 -0.03876362 -0.01319281
+v 0.04457292 -0.03872122 -0.01319281
+v 0.04457292 -0.02871897 -0.01500462
+v 0.05048126 -0.03826790 -0.01500465
+v 0.05048126 -0.03827118 -0.01478595
+v 0.05143857 -0.03766458 -0.01319281
+v 0.04457292 -0.03206828 -0.01319279
+v 0.04466479 -0.00550540 -0.01500453
+v 0.05152310 -0.03760261 -0.01500465
+v 0.05165447 -0.03752109 -0.01478595
+v 0.05165723 -0.03752435 -0.01319281
+v 0.04753306 -0.00550541 -0.01319269
+v 0.05395405 -0.00550540 -0.01500453
+v 0.05165172 -0.03751782 -0.01500465
+v 0.05176197 -0.03741346 -0.01500465
+v 0.05264119 -0.03656228 -0.01478594
+v 0.05264394 -0.03656880 -0.01319280
+v 0.05393568 -0.00550541 -0.01319269
+v 0.05395864 -0.02651763 -0.01500461
+v 0.05394670 -0.02455436 -0.01319276
+v 0.05263935 -0.03655901 -0.01500464
+v 0.05351306 -0.03568825 -0.01500464
+v 0.05362606 -0.03558065 -0.01478594
+v 0.05344691 -0.03576979 -0.01319280
+v 0.05395221 -0.03241070 -0.01500463
+v 0.05394119 -0.02651764 -0.01319277
+v 0.05394946 -0.03241071 -0.01478593
+v 0.05362423 -0.03557737 -0.01500464
+v 0.05365363 -0.03544692 -0.01500464
+v 0.05389249 -0.03437397 -0.01500464
+v 0.05389433 -0.03437398 -0.01478594
+v 0.05368027 -0.03536214 -0.01319280
+v 0.05362974 -0.03558717 -0.01319280
+v 0.05390903 -0.03400872 -0.01319279
+v 0.05389893 -0.03437398 -0.01319280
+v 0.05390352 -0.03415221 -0.01500464
+v 0.05392189 -0.03241071 -0.01319279
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+f 1 6 2
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+f 19 24 20
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+f 41 45 42
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_15.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2bbb5e6af4388f9786d9667a0a4fcef80ec8166
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_15.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.05611739 -0.00549976 0.04955109
+v -0.05647825 -0.00549976 0.04942280
+v -0.05734584 -0.00688621 0.04903791
+v -0.05611739 -0.00688621 0.04947076
+v -0.05472404 -0.00549976 0.04940160
+v -0.05738770 -0.00549976 0.04907585
+v -0.05810625 -0.00688621 0.04785874
+v -0.05775744 -0.00895944 0.04803165
+v -0.05723295 -0.00837876 0.04894308
+v -0.05624296 -0.00895944 0.04913050
+v -0.05566901 -0.01022832 0.04896316
+v -0.05481220 -0.01022832 0.04896316
+v -0.05444499 -0.00885047 0.04912492
+v -0.05409555 -0.00549976 0.04932016
+v -0.05761094 -0.00549976 0.04872890
+v -0.05815635 -0.00549976 0.04785875
+v -0.05843667 -0.01081329 0.04590087
+v -0.05770227 -0.01081329 0.04762222
+v -0.05698561 -0.00968779 0.04879916
+v -0.05624296 -0.01085488 0.04859613
+v -0.05611739 -0.01277756 0.04778620
+v -0.05467331 -0.01407798 0.04710570
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+v -0.05345754 -0.00885047 0.04864411
+v -0.05321844 -0.00745828 0.04878802
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+v -0.05312458 -0.00549976 0.04886946
+v -0.05824451 -0.00549975 0.04728422
+v -0.05846141 -0.00885046 0.04590088
+v -0.05845634 -0.01277754 0.04394412
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+v -0.05714924 -0.01381703 0.04692162
+v -0.05611739 -0.01404213 0.04708004
+v -0.05335733 -0.01351451 0.04671747
+v -0.05611739 -0.01502426 0.04630469
+v -0.05452047 -0.01608812 0.04530178
+v -0.05393890 -0.01487372 0.04600908
+v -0.05299140 -0.01220691 0.04709455
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+v -0.05815953 -0.00549975 0.04544908
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_16.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09147245d91df7ad8d651fdb2af7fb9a77824077
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_16.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_17.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1172b6b4d6f70afc5f4876be92f2e492668f10f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_17.obj
@@ -0,0 +1,241 @@
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_18.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e3b96c47fc740222bcaad1b5fb591834cf28b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_18.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.05640346 -0.00550564 0.04954514
+v 0.05437822 -0.00550564 0.04935169
+v 0.05640346 -0.00688625 0.04946619
+v 0.05761316 -0.00688625 0.04902481
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+v 0.05468239 -0.00884974 0.04913711
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+v 0.05653970 -0.00896145 0.04913488
+v 0.05750733 -0.00838143 0.04893365
+v 0.05802505 -0.00896145 0.04803421
+v 0.05835583 -0.00688625 0.04785855
+v 0.05840652 -0.00550564 0.04785856
+v 0.05338588 -0.00550564 0.04889475
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+v 0.05369511 -0.00884974 0.04868016
+v 0.05442004 -0.01087769 0.04842667
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+v 0.05728935 -0.00969042 0.04880356
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_19.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00078a6af069ca92f2fc3c35e1f343bf8f1427c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04850832 -0.03883093 -0.00107907
+v 0.04653348 -0.03877874 -0.00107907
+v 0.04457292 -0.03872653 -0.00303703
+v 0.04850832 -0.03882763 -0.01086886
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+v 0.05046982 -0.03829277 0.02239552
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_2.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..543c691016f8b579e4d80b8d2c07207549b9ec0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.05454593 -0.01338927 0.03818822
+v 0.05265671 -0.01462992 0.03818822
+v 0.05483330 -0.01344445 0.03818822
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+v 0.05483330 -0.01095809 0.03003556
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+v 0.04771583 -0.02258710 0.02240061
+v 0.04552441 -0.01771814 0.02765696
+v 0.04552441 -0.01771814 0.02722421
+v 0.04542243 -0.01473857 0.02632628
+v 0.04550864 -0.01585046 0.02528922
+v 0.05483330 -0.01854913 0.02450254
+v 0.05385903 -0.02258710 0.02240061
+v 0.05483330 -0.02116424 0.03415436
+v 0.04547435 -0.01658283 0.02647309
+v 0.05483330 -0.01860264 0.02460609
+v 0.05483330 -0.01937680 0.02632626
+v 0.05483330 -0.02076127 0.03238781
+f 1 2 7
+f 1 7 14
+f 1 14 30
+f 1 30 49
+f 1 49 57
+f 1 57 56
+f 1 56 37
+f 1 37 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 25
+f 3 25 40
+f 3 40 59
+f 3 59 70
+f 3 70 74
+f 3 74 73
+f 3 73 72
+f 3 72 68
+f 3 68 54
+f 3 54 35
+f 3 35 34
+f 3 34 33
+f 3 33 32
+f 3 32 19
+f 3 19 18
+f 3 18 17
+f 3 17 15
+f 3 15 8
+f 4 11 10
+f 4 10 9
+f 4 9 16
+f 4 16 31
+f 4 31 26
+f 4 26 13
+f 4 13 6
+f 4 6 5
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 15 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 16 19 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 55
+f 16 55 69
+f 16 69 63
+f 16 63 52
+f 16 52 31
+f 20 37 38
+f 20 38 21
+f 21 38 48
+f 21 48 47
+f 21 47 46
+f 21 46 45
+f 21 45 63
+f 21 63 69
+f 21 69 58
+f 21 58 39
+f 21 39 24
+f 21 24 23
+f 21 23 22
+f 24 39 40
+f 24 40 25
+f 26 31 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 31 50 51
+f 31 51 41
+f 31 52 53
+f 31 53 50
+f 35 54 55
+f 35 55 36
+f 37 56 38
+f 38 56 57
+f 38 57 48
+f 39 58 40
+f 40 58 59
+f 41 51 60
+f 41 60 42
+f 42 60 43
+f 43 60 44
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 64
+f 45 64 65
+f 45 65 63
+f 48 57 49
+f 50 53 66
+f 50 66 51
+f 51 66 60
+f 52 63 67
+f 52 67 53
+f 53 67 66
+f 54 68 69
+f 54 69 55
+f 58 70 59
+f 58 69 70
+f 60 66 71
+f 60 71 61
+f 61 65 64
+f 61 64 62
+f 61 71 65
+f 63 65 67
+f 65 71 67
+f 66 67 71
+f 68 72 69
+f 69 72 73
+f 69 73 74
+f 69 74 70
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_20.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5113d40d33009d8b9ec390bfe48e23579dcae8d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_20.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.04279640 0.03875448 -0.01499583
+v 0.03862272 0.03872915 -0.01281547
+v 0.03863577 0.03872915 -0.01281547
+v 0.04454595 0.03875253 -0.01499433
+v 0.04454595 0.03866488 -0.01499583
+v 0.00008471 0.03874961 -0.01499583
+v 0.00704375 0.03872428 -0.01281547
+v 0.04454595 0.03871064 -0.01281547
+v 0.04454595 0.03678622 -0.01499583
+v 0.00008471 0.02893167 -0.01499586
+v 0.00008471 0.03871649 -0.01281547
+v 0.04454595 0.03216698 -0.01281549
+v 0.04454595 0.02880506 -0.01499522
+v 0.04448938 0.02880506 -0.01499586
+v 0.00113357 0.02892485 -0.01499586
+v 0.00008471 0.03217185 -0.01281549
+v 0.00508094 0.03216990 -0.01281549
+v 0.00113357 0.03217087 -0.01281549
+v 0.00508094 0.02890635 -0.01499586
+v 0.00310508 0.02891512 -0.01499586
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 18
+f 2 18 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 8 4
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 4 9 5
+f 6 10 16
+f 6 16 11
+f 6 11 7
+f 9 13 14
+f 10 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 16
+f 13 16 19
+f 13 19 14
+f 15 20 16
+f 16 20 19
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_21.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f1985ace0b0b86b5b26d22f08bec3f851a6214
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_21.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05389849 -0.00549953 -0.01397917
+v -0.05390557 -0.00492164 0.00283598
+v -0.05390171 -0.00492158 -0.01397917
+v -0.04736716 -0.00549953 -0.01397917
+v -0.05389463 -0.00549966 0.02045007
+v -0.05390428 -0.00492171 0.02045344
+v -0.05390557 -0.00492166 0.00870509
+v -0.05390685 0.00489679 -0.01397913
+v -0.04733822 0.02843297 -0.01397905
+v -0.04763472 -0.00549966 0.02045344
+v -0.05384511 -0.00549966 0.02045344
+v -0.05389463 -0.00549633 0.02045344
+v -0.05390557 0.00489666 0.02045348
+v -0.05390621 0.00489667 0.01849149
+v -0.05390685 0.00489669 0.01457762
+v -0.05390878 0.02452688 -0.01397906
+v -0.05385990 0.02843297 -0.01397905
+v -0.04763151 0.02843284 0.02045019
+v -0.04763086 0.02059741 0.02045354
+v -0.04763408 -0.00296203 0.02045345
+v -0.05390621 0.01471170 0.02045351
+v -0.05390171 0.02648989 -0.01397905
+v -0.05389978 0.02452677 0.01653632
+v -0.05388949 0.02648976 0.02045356
+v -0.05379494 0.02843284 0.02045019
+v -0.05372033 0.02843284 0.02045356
+v -0.04763215 0.02648644 0.02045356
+v -0.05389849 0.02452675 0.02045355
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 15
+f 2 15 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 10
+f 6 10 20
+f 6 20 19
+f 6 19 27
+f 6 27 26
+f 6 26 24
+f 6 24 28
+f 6 28 21
+f 6 21 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 15 16
+f 9 17 25
+f 9 25 26
+f 9 26 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 13 21 14
+f 14 21 15
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 22 24
+f 17 24 25
+f 18 26 27
+f 18 27 19
+f 21 28 23
+f 22 23 28
+f 22 28 24
+f 24 26 25
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_22.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929ab5aab0584f5abb944cccee69be62b343e38f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04454595 0.03631004 0.03667634
+v 0.01495155 0.03631004 0.03668119
+v 0.04454595 0.03629617 0.03667634
+v 0.04454595 0.03816715 0.03590600
+v 0.04060729 0.03816781 0.03590600
+v 0.03665991 0.03816781 0.03590600
+v 0.00008471 0.03816252 0.03590600
+v 0.00008471 0.03631004 0.03667634
+v 0.00008471 0.03527082 0.03665696
+v 0.00008471 0.03434722 0.03663758
+v 0.04258315 0.03434722 0.03663274
+v 0.04454595 0.03434722 0.03659882
+v 0.04454595 0.03886084 0.03416665
+v 0.03863577 0.03889123 0.03415211
+v 0.02284194 0.03889057 0.03415211
+v 0.00008471 0.03886877 0.03415211
+v 0.02284194 0.03272927 0.03586238
+v 0.03271254 0.03273125 0.03586238
+v 0.00008471 0.03272927 0.03586238
+v 0.03468840 0.03273192 0.03586238
+v 0.03665991 0.03273258 0.03586238
+v 0.04060729 0.03273456 0.03586238
+v 0.04258315 0.03273588 0.03586238
+v 0.04454595 0.03433599 0.03659398
+v 0.04454595 0.03886546 0.03415211
+v 0.03863577 0.03875332 -0.01086757
+v 0.02284194 0.03875068 -0.01086757
+v 0.00705245 0.03874011 -0.01086757
+v 0.00508094 0.03873681 -0.01086757
+v 0.00008471 0.03872426 -0.01086757
+v 0.00508094 0.03214195 0.03415209
+v 0.01692306 0.03214261 0.03415209
+v 0.02481780 0.03214327 0.03415209
+v 0.02876517 0.03214393 0.03415209
+v 0.00008471 0.03214261 0.03415209
+v 0.03468840 0.03214591 0.03415209
+v 0.03863577 0.03214723 0.03415209
+v 0.04060729 0.03214855 0.03415209
+v 0.04258315 0.03215714 0.03415209
+v 0.04454595 0.03219150 0.03415209
+v 0.04454595 0.03277023 0.03581877
+v 0.04454595 0.03277420 0.03582846
+v 0.04454595 0.03872360 -0.01086757
+v 0.04454595 0.03871105 -0.01281526
+v 0.03863577 0.03872889 -0.01281526
+v 0.03862272 0.03872889 -0.01281526
+v 0.02284194 0.03872691 -0.01281526
+v 0.00901526 0.03872493 -0.01281526
+v 0.00704375 0.03872427 -0.01281526
+v 0.00008471 0.03871634 -0.01281526
+v 0.00508094 0.03216987 -0.01281528
+v 0.04454595 0.03216657 -0.01281528
+v 0.00008471 0.03217119 -0.01281528
+v 0.04454595 0.03218755 0.03023734
+f 1 2 3
+f 1 3 12
+f 1 12 24
+f 1 24 42
+f 1 42 41
+f 1 41 40
+f 1 40 54
+f 1 54 52
+f 1 52 44
+f 1 44 43
+f 1 43 25
+f 1 25 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 30
+f 7 30 50
+f 7 50 53
+f 7 53 35
+f 7 35 19
+f 7 19 10
+f 7 10 9
+f 7 9 8
+f 10 17 18
+f 10 18 11
+f 10 19 17
+f 11 18 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 17 19 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 34 20
+f 19 35 31
+f 20 34 36
+f 20 36 37
+f 20 37 21
+f 21 37 22
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 27 48 49
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 29 50 30
+f 31 35 51
+f 31 51 52
+f 31 52 32
+f 32 52 33
+f 33 52 34
+f 34 52 36
+f 35 53 51
+f 36 52 37
+f 37 52 38
+f 38 52 39
+f 39 54 40
+f 39 52 54
+f 44 52 51
+f 44 51 53
+f 44 53 50
+f 44 50 49
+f 44 49 48
+f 44 48 47
+f 44 47 46
+f 44 46 45
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_23.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e92ef1a99795af96a106133b36bcddb1e543546
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05384458 -0.00549966 0.02045682
+v -0.04763450 -0.00549966 0.02045682
+v -0.05389443 -0.00549966 0.02183520
+v -0.05389443 -0.00549818 0.02045682
+v -0.04763450 0.00881679 0.02045687
+v -0.04753014 0.00952877 0.02632614
+v -0.04751551 0.00952877 0.02828415
+v -0.04759728 -0.00549971 0.03415494
+v -0.05430259 -0.00549971 0.03415494
+v -0.05390440 -0.00492153 0.02045682
+v -0.04763517 0.00952879 0.02045688
+v -0.04751817 0.00952876 0.02918296
+v -0.04759661 -0.00492158 0.03415494
+v -0.04838301 -0.00549971 0.03590810
+v -0.05392036 -0.00549971 0.03590175
+v -0.05430591 -0.00492158 0.03415494
+v -0.05390573 0.00489345 0.02045686
+v -0.05372957 0.00952879 0.02045688
+v -0.04759595 0.00952874 0.03415500
+v -0.04759595 0.00882116 0.03415499
+v -0.04838301 -0.00099529 0.03590812
+v -0.04891547 -0.00549971 0.03613518
+v -0.05216875 -0.00549971 0.03667352
+v -0.05216875 0.00952874 0.03666881
+v -0.05391504 0.00952874 0.03589704
+v -0.05429328 0.00489340 0.03415498
+v -0.05403469 0.00952878 0.02499539
+v -0.05386984 0.00685733 0.02045687
+v -0.04838367 0.00952874 0.03590657
+v -0.04838367 0.00096859 0.03590812
+v -0.05019577 0.00489340 0.03667991
+v -0.05019577 -0.00549971 0.03667828
+v -0.05019577 0.00952874 0.03667834
+v -0.05413241 0.00952874 0.03478385
+v -0.05428331 0.00685728 0.03415499
+v -0.05425406 0.00952874 0.03415500
+v -0.04954300 0.00952874 0.03640044
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 32
+f 1 32 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 28
+f 1 28 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 6 11 18
+f 6 18 27
+f 6 27 36
+f 6 36 34
+f 6 34 25
+f 6 25 24
+f 6 24 33
+f 6 33 37
+f 6 37 29
+f 6 29 19
+f 6 19 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 14 20 19
+f 14 19 21
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 28 27
+f 19 29 21
+f 21 30 31
+f 21 31 22
+f 21 29 30
+f 22 31 32
+f 23 32 31
+f 23 31 24
+f 24 31 33
+f 25 34 35
+f 25 35 26
+f 26 35 27
+f 27 35 36
+f 29 37 31
+f 29 31 30
+f 31 37 33
+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_24.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e1c446735e6e981e49d5d6d55529a387065cd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_24.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04457292 -0.03633748 0.03668672
+v 0.04457292 -0.03437452 0.03659721
+v 0.04457292 -0.03818216 0.03591750
+v 0.04653382 -0.03633748 0.03668532
+v 0.05048156 -0.03044860 0.03668394
+v 0.05048156 -0.02848563 0.03668395
+v 0.05048829 -0.02258875 0.03668257
+v 0.04457292 -0.03436014 0.03659161
+v 0.05048156 -0.02258875 0.03668117
+v 0.04857443 -0.02258875 0.03591336
+v 0.04856771 -0.02258875 0.03591056
+v 0.04457292 -0.03819495 0.03591190
+v 0.04653382 -0.03819015 0.03591050
+v 0.04850817 -0.03633748 0.03667133
+v 0.05048156 -0.03437452 0.03668112
+v 0.05245495 -0.02848563 0.03663780
+v 0.05245495 -0.02652107 0.03663919
+v 0.05245495 -0.02258875 0.03655950
+v 0.04457292 -0.03279360 0.03582242
+v 0.04768041 -0.02258875 0.03415537
+v 0.04457292 -0.03889669 0.03415531
+v 0.04653382 -0.03891747 0.03415531
+v 0.04850817 -0.03813101 0.03589652
+v 0.04850817 -0.03888230 0.03415531
+v 0.05048156 -0.03633748 0.03646015
+v 0.05245495 -0.03437452 0.03634966
+v 0.05245495 -0.03240996 0.03655246
+v 0.05245495 -0.03044860 0.03659583
+v 0.05408936 -0.02848563 0.03586439
+v 0.05409320 -0.02652107 0.03586579
+v 0.05246455 -0.02258875 0.03655670
+v 0.04457292 -0.03278721 0.03580843
+v 0.04771594 -0.02258870 0.02239906
+v 0.04457292 -0.03218132 0.02239902
+v 0.04457292 -0.03218132 0.02241021
+v 0.04457292 -0.03218294 0.02828417
+v 0.04457292 -0.03218616 0.03219734
+v 0.04457292 -0.03219096 0.03413855
+v 0.04457292 -0.03219256 0.03415533
+v 0.04457292 -0.03872560 0.02239900
+v 0.04652326 -0.03877835 0.02239900
+v 0.04849665 -0.03882790 0.02239900
+v 0.04850817 -0.03882790 0.02239900
+v 0.05048156 -0.03783369 0.03568394
+v 0.05047004 -0.03829241 0.02239900
+v 0.05048156 -0.03828921 0.02239900
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_25.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78852b3502d08e4e78411e68e94d49f161e30dbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+v 0.05395266 -0.00550554 0.02046954
+v 0.04771607 -0.00550554 0.02182950
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+v 0.04786577 0.00922723 0.03451824
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_26.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d40654c0c238782bd1ab3cb645709cf2954b84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_26.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.05652639 0.00873452 0.04916161
+v 0.05466953 0.00873452 0.04913884
+v 0.05685747 0.00873452 0.04906616
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_27.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5883958a3bbea1140cfca318cbb5ea62bc96622
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04517465 0.01471204 0.02828412
+v -0.04523181 0.01594316 0.02937897
+v -0.04521569 0.01471203 0.02942067
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_28.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe82be310042f69e9711b90378646581f1c3f05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_28.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05375872 -0.03180554 0.02048459
+v -0.05388513 -0.02652114 0.02048461
+v -0.04589169 -0.03180554 0.02048459
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+v -0.04759488 -0.02165321 0.03415580
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+v -0.05384973 -0.03044697 0.03583849
+v -0.05375535 -0.02165316 0.02048463
+v -0.05390872 -0.02848408 0.03588132
+v -0.05407222 -0.02165321 0.03604946
+v -0.04588916 -0.03180555 0.02436549
+v -0.04838116 -0.02165321 0.03590989
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+v -0.05019475 -0.02652119 0.03668066
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_29.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f78204372a5a240d1a957b53a6be55dc654f8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_29.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05640334 0.00096906 0.04961093
+v 0.05442978 0.00096906 0.04943458
+v 0.05442978 -0.00099496 0.04943779
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_3.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6110c3459ff1aa521d5bf4985f5f8fdda7d38c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05381934 -0.03241144 -0.01230296
+v -0.05412712 -0.03180658 0.03415427
+v -0.05379811 -0.03180640 -0.01230296
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+f 14 55 43
+f 14 43 30
+f 14 30 15
+f 14 25 27
+f 14 27 28
+f 14 28 29
+f 14 29 24
+f 14 24 26
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 21
+f 19 21 20
+f 21 35 36
+f 21 36 22
+f 22 36 37
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+f 22 39 23
+f 23 39 24
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+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 36
+f 34 36 35
+f 36 49 50
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+f 37 50 51
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+f 39 56 40
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+f 43 57 58
+f 43 58 44
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_30.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797f62a85de14909912f113d4886fd23c0bedb09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05465103 -0.02118897 0.03415533
+v -0.05465103 -0.02096815 0.03616836
+v -0.05611775 -0.02040212 0.03611257
+v -0.05733283 -0.01983712 0.03611257
+v -0.05727679 -0.01978943 0.03415534
+v -0.05951621 -0.01815454 0.02828365
+v -0.05937180 -0.01800007 0.02632642
+v -0.05809152 -0.01841889 0.02632642
+v -0.05465103 -0.01931252 0.02614758
+v -0.05465103 -0.02010667 0.03815279
+v -0.05626647 -0.01997605 0.03815422
+v -0.05715879 -0.01970547 0.03815422
+v -0.05724069 -0.01975938 0.03764345
+v -0.06005343 -0.01670316 0.02828366
+v -0.05988262 -0.01670316 0.02632643
+v -0.05771541 -0.01893106 0.03815422
+v -0.05777253 -0.01884294 0.03815422
+v -0.05914441 -0.01774710 0.02528485
+v -0.05465103 -0.01857750 0.02447792
+v -0.05465103 -0.02008594 0.03815422
+v -0.05468013 -0.02010356 0.03815422
+v -0.06015527 -0.01474070 0.02828367
+v -0.06006960 -0.01474070 0.02632644
+v -0.05844123 -0.01670320 0.03815423
+v -0.05953130 -0.01474069 0.02485565
+v -0.05936965 -0.01670315 0.02503162
+v -0.05809152 -0.01670315 0.02461099
+v -0.05465103 -0.01687317 0.02373681
+v -0.05465103 -0.01845828 0.02441926
+v -0.05465103 -0.01345317 0.03815424
+v -0.05979695 -0.01277720 0.02828367
+v -0.05955878 -0.01270256 0.02631642
+v -0.05935995 -0.01330694 0.02505023
+v -0.05841644 -0.01660264 0.03815423
+v -0.05809152 -0.01474069 0.02425475
+v -0.05465103 -0.01670315 0.02368960
+v -0.05465103 -0.01096818 0.03024806
+v -0.05559939 -0.01362837 0.03815424
+v -0.05915627 -0.01173119 0.02936531
+v -0.05925703 -0.01164617 0.02828368
+v -0.05923817 -0.01166068 0.02696312
+v -0.05809152 -0.01202973 0.02570694
+v -0.05809152 -0.01301148 0.02483991
+v -0.05772726 -0.01493460 0.03815424
+v -0.05465103 -0.01262272 0.02414887
+v -0.05465103 -0.01474069 0.02353795
+v -0.05465103 -0.01504755 0.02354653
+v -0.05465103 -0.01060014 0.02828368
+v -0.05627940 -0.01381394 0.03815424
+v -0.05645453 -0.01390724 0.03815424
+v -0.05465103 -0.01090597 0.02619339
+v -0.05465103 -0.01239569 0.02433773
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 19
+f 1 19 29
+f 1 29 28
+f 1 28 36
+f 1 36 47
+f 1 47 46
+f 1 46 45
+f 1 45 52
+f 1 52 51
+f 1 51 48
+f 1 48 37
+f 1 37 30
+f 1 30 20
+f 1 20 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 4
+f 4 13 6
+f 4 6 5
+f 6 14 15
+f 6 15 7
+f 6 13 16
+f 6 16 17
+f 6 17 14
+f 7 15 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 11 20 30
+f 11 30 38
+f 11 38 49
+f 11 49 50
+f 11 50 44
+f 11 44 34
+f 11 34 24
+f 11 24 17
+f 11 17 16
+f 11 16 12
+f 12 16 13
+f 14 22 23
+f 14 23 15
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+f 14 24 22
+f 15 25 26
+f 15 26 18
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+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 22 31 23
+f 22 24 31
+f 23 31 32
+f 23 32 33
+f 23 33 25
+f 24 34 31
+f 25 33 35
+f 25 35 26
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 30 37 38
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 31 34 39
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 35
+f 34 44 39
+f 35 43 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 37 48 39
+f 37 39 38
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+f 39 50 49
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+f 41 51 42
+f 42 51 52
+f 42 52 43
+f 43 52 45
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_31.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04865bb363fb93135bb8cf63b1e265b34ee2c25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_31.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05483385 -0.02116331 0.03415460
+v 0.05755947 -0.01978977 0.03415461
+v 0.05762092 -0.01984244 0.03611279
+v 0.05640404 -0.02036087 0.03611279
+v 0.05483385 -0.02095676 0.03616632
+v 0.05483385 -0.02076156 0.03238746
+v 0.05837748 -0.01839761 0.02632622
+v 0.05965196 -0.01799588 0.02632622
+v 0.05981052 -0.01816525 0.02828296
+v 0.05752874 -0.01976293 0.03767296
+v 0.05483385 -0.02089893 0.03653683
+v 0.05483385 -0.01937665 0.02632622
+v 0.05942153 -0.01773768 0.02529430
+v 0.06016603 -0.01670289 0.02632623
+v 0.06034653 -0.01670289 0.02828297
+v 0.05804720 -0.01884792 0.03818820
+v 0.05800825 -0.01891092 0.03818820
+v 0.05662953 -0.01995399 0.03818820
+v 0.05653078 -0.01998703 0.03818820
+v 0.05483385 -0.02089790 0.03654262
+v 0.05483385 -0.01860208 0.02460540
+v 0.05965470 -0.01670288 0.02502946
+v 0.05483385 -0.01855045 0.02450264
+v 0.05483385 -0.01670288 0.02364585
+v 0.05837748 -0.01670288 0.02461698
+v 0.06036244 -0.01474069 0.02632624
+v 0.05982752 -0.01474068 0.02483988
+v 0.06043760 -0.01474069 0.02828298
+v 0.05870502 -0.01670293 0.03818821
+v 0.05483385 -0.02010786 0.03818820
+v 0.05837748 -0.01474068 0.02423202
+v 0.05483385 -0.01474068 0.02340417
+v 0.05965250 -0.01331447 0.02504105
+v 0.05985057 -0.01270723 0.02632045
+v 0.06007990 -0.01277746 0.02828298
+v 0.06003162 -0.01474070 0.03024116
+v 0.05800661 -0.01492972 0.03818822
+v 0.05964757 -0.01294064 0.03010222
+v 0.05943689 -0.01173750 0.02935543
+v 0.05483385 -0.01344361 0.03818822
+v 0.05483385 -0.01432965 0.02347653
+v 0.05483385 -0.01243252 0.02412202
+v 0.05837748 -0.01203698 0.02571115
+v 0.05952962 -0.01165591 0.02696885
+v 0.05837748 -0.01301911 0.02483119
+v 0.05954278 -0.01164765 0.02828299
+v 0.05792102 -0.01481715 0.03818822
+v 0.05483385 -0.01061491 0.02828299
+v 0.05483385 -0.01095779 0.03003565
+v 0.05483385 -0.01099084 0.03017025
+v 0.05488926 -0.01345497 0.03818822
+v 0.05637167 -0.01381127 0.03818822
+v 0.05674529 -0.01391971 0.03818822
+v 0.05483385 -0.01139565 0.02497593
+v 0.05483385 -0.01063556 0.02810207
+v 0.05483385 -0.01090717 0.02622784
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 30
+f 1 30 40
+f 1 40 50
+f 1 50 49
+f 1 49 48
+f 1 48 55
+f 1 55 56
+f 1 56 54
+f 1 54 42
+f 1 42 41
+f 1 41 32
+f 1 32 24
+f 1 24 23
+f 1 23 21
+f 1 21 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
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+f 5 10 11
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+f 7 12 13
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+f 9 14 15
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+f 31 41 42
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+f 35 39 38
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+f 39 48 49
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+f 40 51 50
+f 42 54 45
+f 43 45 54
+f 43 54 44
+f 44 55 48
+f 44 48 46
+f 44 54 56
+f 44 56 55
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_32.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0e303b40fb045196c102d9fbb9ca80b0a7c6a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_32.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05475285 0.01053647 0.02828434
+v 0.05953322 0.01162621 0.02695825
+v 0.05837769 0.01134929 0.02828434
+v 0.05944241 0.01170231 0.02936786
+v 0.05475285 0.01092649 0.03020157
+v 0.05475285 0.01082080 0.02619281
+v 0.06008871 0.01274872 0.02828435
+v 0.05954994 0.01161247 0.02828434
+v 0.05837769 0.01199511 0.02569171
+v 0.05965579 0.01327722 0.02503957
+v 0.05985637 0.01267368 0.02631337
+v 0.05964967 0.01291360 0.03010862
+v 0.05871365 0.01666266 0.03808114
+v 0.05800050 0.01491971 0.03808113
+v 0.05667224 0.01390396 0.03808113
+v 0.05657697 0.01385534 0.03808113
+v 0.05581255 0.01363020 0.03808113
+v 0.05475285 0.01342303 0.03808113
+v 0.05475285 0.01083982 0.02616230
+v 0.06036839 0.01471258 0.02632644
+v 0.06044473 0.01471258 0.02828435
+v 0.05871643 0.01667535 0.03808114
+v 0.05475285 0.01205853 0.02434093
+v 0.05475285 0.01263352 0.02383404
+v 0.05837769 0.01297704 0.02482896
+v 0.05837769 0.01471259 0.02423782
+v 0.05982851 0.01471259 0.02484494
+v 0.05475285 0.02010946 0.03808115
+v 0.06015389 0.01667539 0.02632645
+v 0.06033051 0.01667539 0.02828436
+v 0.05806345 0.01880515 0.03808115
+v 0.05475285 0.01471259 0.02324289
+v 0.05475285 0.01538166 0.02329954
+v 0.05475285 0.01667540 0.02349998
+v 0.05837769 0.01667540 0.02462708
+v 0.05964633 0.01667540 0.02504103
+v 0.05475285 0.02096034 0.03617118
+v 0.05653462 0.01996148 0.03808115
+v 0.05963797 0.01794693 0.02632646
+v 0.05978951 0.01810336 0.02828437
+v 0.05941287 0.01770172 0.02530103
+v 0.05794589 0.01899224 0.03808115
+v 0.05475285 0.01706436 0.02361182
+v 0.05475285 0.02133345 0.03415518
+v 0.05744446 0.01968139 0.03808115
+v 0.05475285 0.01941295 0.02592413
+v 0.05754084 0.01974587 0.03415517
+v 0.05761160 0.01980506 0.03611308
+v 0.05752803 0.01973318 0.03761927
+v 0.05475285 0.01854730 0.02447894
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 28
+f 1 28 37
+f 1 37 44
+f 1 44 46
+f 1 46 50
+f 1 50 43
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+f 1 34 33
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+f 1 32 24
+f 1 24 23
+f 1 23 19
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+f 1 6 2
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+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 8 4
+f 4 8 7
+f 4 7 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
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+f 6 19 9
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+f 7 20 21
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+f 7 13 12
+f 9 19 23
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+f 10 20 11
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+f 13 22 31
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+f 13 38 28
+f 13 28 18
+f 13 18 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 20 27 29
+f 20 29 30
+f 20 30 21
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+f 24 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 29
+f 28 38 37
+f 29 39 40
+f 29 40 30
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+f 29 41 39
+f 30 40 31
+f 31 40 42
+f 34 43 35
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+f 37 45 44
+f 39 41 46
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+f 40 49 42
+f 41 43 50
+f 41 50 46
+f 42 49 45
+f 44 45 49
+f 44 49 48
+f 44 48 47
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_33.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c6aeff7456d84ac4cb16547d48d2f1f0ec64745
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_33.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.05375567 -0.02165316 0.02048305
+v -0.05465010 -0.01931143 0.02614800
+v -0.05465010 -0.01857775 0.02447879
+v -0.05465010 -0.01845757 0.02441998
+v -0.05465010 -0.01687322 0.02373846
+v -0.05465010 -0.01670245 0.02368830
+v -0.05390876 -0.01670244 0.02048307
+v -0.04763473 -0.02165316 0.02048305
+v -0.05449701 -0.02165321 0.03415502
+v -0.05465010 -0.02118992 0.03415502
+v -0.05465010 -0.01504535 0.02354819
+v -0.05390876 -0.01667239 0.02048307
+v -0.05465010 -0.01473860 0.02353955
+v -0.04763381 -0.01477021 0.02048308
+v -0.04525205 -0.01575215 0.02533330
+v -0.04526040 -0.01768596 0.02730175
+v -0.04759484 -0.02165321 0.03415502
+v -0.05420288 -0.02165321 0.03546790
+v -0.05465010 -0.02096855 0.03616845
+v -0.05390783 -0.01473859 0.02048308
+v -0.05465010 -0.01262296 0.02414842
+v -0.05389484 -0.00549966 0.02048311
+v -0.04763381 -0.01280795 0.02048308
+v -0.04525205 -0.01554975 0.02533330
+v -0.04522143 -0.01483348 0.02631408
+v -0.04517319 -0.01473861 0.02828427
+v -0.04523813 -0.01652536 0.02651991
+v -0.04522700 -0.01665818 0.02809398
+v -0.04526040 -0.01768596 0.02731386
+v -0.04838164 -0.02165321 0.03590899
+v -0.04532442 -0.01728435 0.02861983
+v -0.04523257 -0.01597512 0.02937400
+v -0.05407206 -0.02165321 0.03604910
+v -0.05465010 -0.02010523 0.03815249
+v -0.05465010 -0.01239526 0.02433870
+v -0.04763473 -0.00549966 0.02048311
+v -0.05465010 -0.01090579 0.02619300
+v -0.05430216 -0.00549971 0.03415508
+v -0.04530123 -0.01424210 0.02565504
+v -0.04523257 -0.01362545 0.02695927
+v -0.04521494 -0.01357485 0.02828427
+v -0.04522700 -0.01364443 0.02936536
+v -0.04521494 -0.01473862 0.02942417
+v -0.04565844 -0.01473862 0.03040321
+v -0.04838071 -0.02063018 0.03590899
+v -0.05198164 -0.01670250 0.03815423
+v -0.05241680 -0.01873117 0.03815422
+v -0.05019463 -0.02165321 0.03667873
+v -0.05213845 -0.02165321 0.03668392
+v -0.05413979 -0.02014634 0.03815422
+v -0.05465010 -0.02008626 0.03815422
+v -0.04759669 -0.00549971 0.03415508
+v -0.05465010 -0.01060062 0.02828428
+v -0.05465010 -0.01096746 0.03024754
+v -0.05465010 -0.01345314 0.03815424
+v -0.05391989 -0.00549971 0.03590213
+v -0.04782772 -0.00549971 0.03467054
+v -0.04838257 -0.00549971 0.03590732
+v -0.04838071 -0.01473864 0.03590902
+v -0.05233701 -0.01466275 0.03815424
+v -0.05019463 -0.00549971 0.03667879
+v -0.05244000 -0.01875489 0.03815422
+v -0.05411381 -0.02013211 0.03815422
+v -0.05437175 -0.01337566 0.03815424
+v -0.05216907 -0.00549971 0.03667360
+v -0.05268402 -0.00549971 0.03644700
+v -0.05236020 -0.01459476 0.03815424
+v -0.05427154 -0.01338356 0.03815424
+v -0.05295402 -0.01352587 0.03815424
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 20
+f 1 20 22
+f 1 22 36
+f 1 36 23
+f 1 23 14
+f 1 14 8
+f 1 8 17
+f 1 17 30
+f 1 30 48
+f 1 48 49
+f 1 49 33
+f 1 33 18
+f 1 18 9
+f 1 9 10
+f 1 10 2
+f 2 10 19
+f 2 19 34
+f 2 34 51
+f 2 51 55
+f 2 55 54
+f 2 54 53
+f 2 53 37
+f 2 37 35
+f 2 35 21
+f 2 21 13
+f 2 13 11
+f 2 11 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 12 13 20
+f 13 21 22
+f 13 22 20
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 26
+f 16 26 28
+f 16 28 29
+f 16 29 17
+f 17 29 31
+f 17 31 32
+f 17 32 30
+f 18 33 19
+f 19 33 34
+f 21 35 22
+f 22 35 37
+f 22 37 38
+f 22 38 56
+f 22 56 66
+f 22 66 65
+f 22 65 61
+f 22 61 58
+f 22 58 57
+f 22 57 52
+f 22 52 36
+f 23 36 24
+f 24 39 40
+f 24 40 25
+f 24 36 39
+f 25 40 26
+f 26 41 42
+f 26 42 43
+f 26 43 32
+f 26 32 28
+f 26 40 41
+f 28 32 29
+f 29 32 31
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 32 44
+f 32 43 44
+f 33 49 34
+f 34 50 51
+f 34 49 50
+f 36 41 40
+f 36 40 39
+f 36 52 41
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 41 52 42
+f 42 52 43
+f 43 52 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 46 60 67
+f 46 67 69
+f 46 69 68
+f 46 68 64
+f 46 64 55
+f 46 55 51
+f 46 51 50
+f 46 50 63
+f 46 63 62
+f 46 62 47
+f 46 59 58
+f 46 58 61
+f 46 61 60
+f 47 62 48
+f 48 62 63
+f 48 63 50
+f 48 50 49
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 60 61 67
+f 61 65 64
+f 61 64 68
+f 61 68 69
+f 61 69 67
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_34.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add1ef21118bbac09ef4bb2cdf1fbab18c9ec544
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_34.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.05441297 0.02015820 0.03808115
+v 0.05425589 0.02011604 0.03808115
+v 0.05475193 0.02010837 0.03808115
+v 0.05048134 0.02880487 0.03668137
+v 0.05272182 0.01886848 0.03808115
+v 0.05475193 0.02095925 0.03617106
+v 0.05433856 0.02880487 0.03415584
+v 0.05407951 0.02880487 0.03585734
+v 0.05245542 0.02880487 0.03662965
+v 0.05475193 0.01342407 0.03808113
+v 0.04852563 0.02880487 0.03590388
+v 0.05223036 0.01667615 0.03808114
+v 0.05263455 0.01871900 0.03808115
+v 0.05475193 0.02133294 0.03415581
+v 0.05384802 0.02880109 0.02047140
+v 0.05385078 0.02880492 0.02206257
+v 0.05475193 0.01941277 0.02592410
+v 0.05454065 0.01338191 0.03808113
+v 0.05245542 0.00922723 0.03664336
+v 0.05279531 0.00922723 0.03648476
+v 0.05410248 0.00922723 0.03587277
+v 0.05434867 0.00922723 0.03415576
+v 0.05475193 0.01092707 0.03019938
+v 0.04780453 0.02880487 0.03448165
+v 0.04766950 0.01471380 0.03415578
+v 0.04857065 0.00922723 0.03590897
+v 0.05255739 0.01463330 0.03808113
+v 0.05394448 0.02649186 0.02047139
+v 0.05365695 0.02880492 0.02047140
+v 0.05475193 0.01854850 0.02447774
+v 0.05475193 0.01706714 0.02361232
+v 0.05452504 0.01338191 0.03808113
+v 0.05048134 0.00922723 0.03667957
+v 0.05088920 0.00922723 0.03667267
+v 0.05405379 0.00922726 0.02629987
+v 0.05475193 0.01053806 0.02828411
+v 0.04765755 0.02880487 0.03415584
+v 0.04584882 0.01471382 0.03054762
+v 0.04768328 0.00922723 0.03415576
+v 0.04786608 0.00922723 0.03451778
+v 0.04896565 0.00922723 0.03606930
+v 0.05262077 0.01444933 0.03808113
+v 0.05395642 0.02452758 0.02047138
+v 0.05475193 0.01667620 0.02350027
+v 0.05475193 0.01538265 0.02330029
+v 0.05475193 0.01471384 0.02324339
+v 0.04768787 0.02880492 0.02047140
+v 0.05318755 0.01345282 0.03808113
+v 0.05380209 0.00922728 0.02047132
+v 0.05475193 0.01082168 0.02619300
+v 0.04551721 0.01770145 0.02720324
+v 0.04551721 0.01770145 0.02766353
+v 0.04559069 0.01746956 0.02896852
+v 0.04548873 0.01616068 0.02948570
+v 0.04545750 0.01471382 0.02956844
+v 0.04548505 0.01353525 0.02944776
+v 0.04580749 0.01239310 0.02828412
+v 0.04765572 0.00922726 0.02828410
+v 0.05397847 0.01471385 0.02047134
+v 0.05475193 0.01263458 0.02383469
+v 0.04771818 0.00922728 0.02047132
+v 0.04550710 0.01582533 0.02528797
+v 0.05475193 0.01205966 0.02434152
+v 0.05475193 0.01084084 0.02616197
+v 0.04547036 0.01655929 0.02646023
+v 0.04545934 0.01675860 0.02830309
+v 0.04536840 0.01471383 0.02828412
+v 0.04545658 0.01337429 0.02828412
+v 0.04766215 0.00922726 0.02703943
+v 0.04549516 0.01350651 0.02632575
+v 0.04553742 0.01370966 0.02533278
+v 0.04550986 0.01471384 0.02529140
+v 0.04542167 0.01471383 0.02632575
+f 1 2 5
+f 1 5 13
+f 1 13 12
+f 1 12 27
+f 1 27 42
+f 1 42 48
+f 1 48 32
+f 1 32 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 23
+f 3 23 36
+f 3 36 50
+f 3 50 64
+f 3 64 63
+f 3 63 60
+f 3 60 46
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+f 3 31 30
+f 3 30 17
+f 3 17 14
+f 3 14 6
+f 4 9 8
+f 4 8 7
+f 4 7 16
+f 4 16 29
+f 4 29 47
+f 4 47 37
+f 4 37 24
+f 4 24 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 7
+f 7 15 16
+f 7 14 17
+f 7 17 15
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 15 28 43
+f 15 43 59
+f 15 59 49
+f 15 49 61
+f 15 61 47
+f 15 47 29
+f 15 29 16
+f 15 17 30
+f 15 30 31
+f 15 31 28
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 33
+f 19 33 41
+f 19 41 26
+f 19 26 40
+f 19 40 39
+f 19 39 58
+f 19 58 69
+f 19 69 61
+f 19 61 49
+f 19 49 35
+f 19 35 22
+f 19 22 21
+f 19 21 20
+f 22 35 36
+f 22 36 23
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 41 27
+f 27 41 33
+f 27 33 42
+f 28 31 44
+f 28 44 45
+f 28 45 46
+f 28 46 43
+f 32 48 33
+f 33 48 42
+f 35 49 36
+f 36 49 50
+f 37 47 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 39
+f 39 57 58
+f 39 56 57
+f 43 46 59
+f 46 60 49
+f 46 49 59
+f 47 61 62
+f 47 62 51
+f 49 60 63
+f 49 63 64
+f 49 64 50
+f 51 62 65
+f 51 65 66
+f 51 66 52
+f 52 66 53
+f 53 66 54
+f 54 66 67
+f 54 67 55
+f 55 67 56
+f 56 67 68
+f 56 68 57
+f 57 61 69
+f 57 69 58
+f 57 68 70
+f 57 70 61
+f 61 70 71
+f 61 71 72
+f 61 72 62
+f 62 72 73
+f 62 73 65
+f 65 73 67
+f 65 67 66
+f 67 73 70
+f 67 70 68
+f 70 73 71
+f 71 73 72
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_4.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b180507f571a2a8df1dc4dfbacbedc8ec069bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_4.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04428365 -0.00549951 -0.01512205
+v -0.04428365 -0.00549951 -0.01503803
+v -0.04428365 -0.00549516 -0.02267637
+v -0.04427062 -0.00549949 -0.02267637
+v -0.00676926 -0.00549951 -0.01505301
+v 0.00008037 0.03178436 -0.01418188
+v -0.01461353 0.03178002 -0.01418188
+v -0.04428365 0.03177569 -0.01418188
+v -0.03835050 -0.00549949 -0.02267803
+v -0.04428365 -0.00099456 -0.02267718
+v 0.00008037 -0.00549951 -0.01505633
+v 0.00008037 0.03873471 -0.01418186
+v -0.04428365 0.03672722 -0.01418187
+v -0.02847783 -0.00549949 -0.02267887
+v -0.03835050 -0.00099456 -0.02267885
+v -0.04428365 0.03434253 -0.02267788
+v 0.00008037 -0.00549949 -0.02267720
+v 0.00008037 0.03876507 -0.01570670
+v -0.00282106 0.03874772 -0.01478581
+v -0.04428365 0.03879109 -0.01672909
+v -0.03637423 0.03873471 -0.01418186
+v -0.04427931 0.03873037 -0.01418186
+v -0.04428365 0.03874338 -0.01477167
+v -0.02650590 -0.00549949 -0.02267887
+v -0.02650590 0.00096958 -0.02267968
+v -0.03835050 0.03434253 -0.02267872
+v -0.04428365 0.03435988 -0.02267705
+v -0.00084479 -0.00295869 -0.02267802
+v 0.00008037 -0.00099456 -0.02267801
+v 0.00008037 0.03878242 -0.01674406
+v 0.00008037 0.03878675 -0.01766495
+v -0.04428365 0.03879543 -0.01870065
+v -0.00479299 0.01275005 -0.02267880
+v -0.04428365 0.03630667 -0.02252482
+v -0.04427062 0.03630667 -0.02252482
+v 0.00008037 0.03434253 -0.02267788
+v 0.00008037 0.03878676 -0.01870065
+v -0.04427062 0.03853963 -0.02065807
+v -0.04428365 0.03853963 -0.02064392
+v -0.04428365 0.03631968 -0.02252066
+v 0.00008037 0.03630667 -0.02248323
+v 0.00008037 0.03849627 -0.02065807
+v -0.04427062 0.03778519 -0.02200488
+v -0.04428365 0.03778519 -0.02200488
+v -0.04428365 0.03853529 -0.02065807
+v 0.00008037 0.03706978 -0.02220786
+v 0.00008037 0.03814507 -0.02127199
+v 0.00008037 0.03774617 -0.02196329
+f 1 2 8
+f 1 8 13
+f 1 13 23
+f 1 23 20
+f 1 20 32
+f 1 32 39
+f 1 39 45
+f 1 45 44
+f 1 44 40
+f 1 40 34
+f 1 34 27
+f 1 27 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 3 10 9
+f 5 11 6
+f 6 12 21
+f 6 21 22
+f 6 22 13
+f 6 13 8
+f 6 8 7
+f 6 11 17
+f 6 17 29
+f 6 29 36
+f 6 36 41
+f 6 41 46
+f 6 46 48
+f 6 48 47
+f 6 47 42
+f 6 42 37
+f 6 37 31
+f 6 31 30
+f 6 30 18
+f 6 18 12
+f 9 10 15
+f 9 15 14
+f 10 16 15
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 13 22 23
+f 14 15 25
+f 14 25 24
+f 15 16 26
+f 15 26 25
+f 16 27 26
+f 17 24 28
+f 17 28 29
+f 18 30 20
+f 18 20 19
+f 20 30 31
+f 20 31 32
+f 20 23 22
+f 20 22 21
+f 24 25 28
+f 25 33 28
+f 25 26 33
+f 26 27 34
+f 26 34 35
+f 26 35 36
+f 26 36 33
+f 28 33 29
+f 29 33 36
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 40 44 43
+f 40 43 41
+f 41 43 46
+f 42 47 43
+f 43 47 48
+f 43 48 46
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_5.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..520eb03871f1085a4229e70306a034696a67fe58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_5.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00008037 0.03630976 0.03668002
+v -0.04428365 0.03630976 0.03668500
+v 0.00008037 0.03434686 0.03663521
+v 0.00008037 0.03816279 0.03590827
+v -0.00479299 0.03816349 0.03590827
+v -0.04032243 0.03816627 0.03590827
+v -0.04229870 0.03816557 0.03590827
+v -0.04428365 0.03816349 0.03590827
+v -0.04428365 0.03434686 0.03660035
+v -0.04229870 0.03434686 0.03663521
+v -0.03045410 0.03272745 0.03586344
+v 0.00008037 0.03349022 0.03622692
+v 0.00008037 0.03886855 0.03415565
+v -0.00084479 0.03886994 0.03415565
+v -0.00874118 0.03888106 0.03415565
+v -0.03242603 0.03888315 0.03415565
+v -0.04229870 0.03887063 0.03415565
+v -0.04428365 0.03886368 0.03415565
+v -0.04428365 0.03433295 0.03659537
+v -0.04229870 0.03273163 0.03586344
+v -0.04032243 0.03272954 0.03586344
+v -0.03835050 0.03272884 0.03586344
+v -0.03637423 0.03272815 0.03586344
+v -0.03242603 0.03272745 0.03586344
+v -0.03045410 0.03213991 0.03415563
+v 0.00008037 0.03272954 0.03586344
+v 0.00008037 0.03873592 -0.01418103
+v -0.00084479 0.03873870 -0.01418103
+v -0.00874118 0.03875469 -0.01086996
+v -0.04229870 0.03873453 -0.01418103
+v -0.04427931 0.03873384 -0.01418103
+v -0.04428365 0.03872131 -0.01086996
+v -0.04428365 0.03276917 0.03582859
+v -0.04428365 0.03276361 0.03581365
+v -0.04428365 0.03217954 0.03415563
+v -0.04229870 0.03214338 0.03415563
+v -0.04032243 0.03214130 0.03415563
+v -0.03835050 0.03214060 0.03415563
+v -0.03242603 0.03213991 0.03415563
+v 0.00008037 0.03214269 0.03415563
+v -0.04428365 0.03177991 -0.01418105
+v 0.00008037 0.03178756 -0.01418105
+v -0.01861385 0.03873731 -0.01418103
+v -0.03637423 0.03873592 -0.01418103
+v -0.04428365 0.03673061 -0.01418104
+v -0.04428365 0.03870880 -0.01282673
+v -0.04428365 0.03217884 0.03413571
+v -0.00869341 0.03178478 -0.01418105
+f 1 2 3
+f 1 3 12
+f 1 12 26
+f 1 26 40
+f 1 40 42
+f 1 42 27
+f 1 27 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 18
+f 2 18 32
+f 2 32 46
+f 2 46 45
+f 2 45 41
+f 2 41 47
+f 2 47 35
+f 2 35 34
+f 2 34 33
+f 2 33 19
+f 2 19 9
+f 2 9 10
+f 2 10 3
+f 3 10 24
+f 3 24 11
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 11 24 39
+f 11 39 25
+f 11 25 26
+f 11 26 12
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 38 24
+f 24 38 39
+f 25 40 26
+f 25 39 41
+f 25 41 40
+f 27 42 48
+f 27 48 41
+f 27 41 45
+f 27 45 31
+f 27 31 30
+f 27 30 44
+f 27 44 43
+f 27 43 28
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 31 45 46
+f 31 46 32
+f 35 47 36
+f 36 47 41
+f 36 41 37
+f 37 41 38
+f 38 41 39
+f 40 41 48
+f 40 48 42
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_6.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14fcea3c1ff3ba568f800bde8dba8eaced136439
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_6.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.05395275 -0.00099420 -0.01870081
+v -0.05371246 -0.00491844 -0.02065863
+v -0.05395180 -0.00491845 -0.01870083
+v -0.05394613 -0.00491846 -0.01674388
+v -0.05394613 0.00097009 -0.01674386
+v -0.05394518 0.02649294 -0.01674376
+v -0.05395086 0.02256435 -0.01870073
+v -0.05371908 0.02845292 -0.02065851
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+v -0.05371151 -0.00549949 -0.02065863
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_7.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f47cba38aed029c417a6f91d57a67cb8f7980c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_7.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.04457292 -0.02871914 -0.01500462
+v 0.04457292 -0.03216860 -0.01282356
+v 0.04457292 -0.02883625 -0.01500462
+v 0.00008471 -0.02890908 -0.01500462
+v 0.00008471 -0.03217746 -0.01282356
+v 0.04457292 -0.03871421 -0.01282358
+v 0.04457292 -0.03876243 -0.01500294
+v 0.04455550 -0.03876243 -0.01500465
+v 0.00008471 -0.03877227 -0.01500465
+v 0.00008471 -0.03872307 -0.01282358
+v 0.04258280 -0.03876538 -0.01500465
+v 0.02284268 -0.03873389 -0.01282358
+v 0.02284268 -0.03877227 -0.01500465
+v 0.00507962 -0.03873193 -0.01282358
+v 0.00008471 -0.03874669 -0.01386522
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
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+f 1 11 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 14 12
+f 2 12 6
+f 3 7 8
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+f 4 15 10
+f 4 10 5
+f 6 11 7
+f 6 12 11
+f 7 11 8
+f 9 13 12
+f 9 12 14
+f 9 14 15
+f 10 15 14
+f 11 12 13
+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_8.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a325eeb4b4c8a2f53d211a25f18cf487dc2819f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04454595 0.02880605 -0.01499080
+v 0.04454595 0.03875262 -0.01499077
+v 0.05393514 0.02880605 -0.01499080
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+v 0.05397061 0.03238393 -0.01499079
+v 0.05433870 0.02880586 0.03415247
+v 0.04780509 0.02880586 0.03448127
+v 0.04454595 0.03277382 0.03582684
+v 0.04454595 0.03276987 0.03581672
+v 0.05048142 0.03826376 -0.01086810
+v 0.05048142 0.03825192 -0.01478337
+v 0.04850772 0.03886402 0.03415250
+v 0.05048142 0.03831495 0.03415250
+v 0.05048142 0.03824996 -0.01499077
+v 0.04454595 0.03886007 0.03416767
+v 0.04454595 0.03816681 0.03590780
+v 0.04456033 0.03816681 0.03590780
+v 0.04653403 0.03816286 0.03590780
+v 0.05389584 0.03434619 -0.01499078
+v 0.05389776 0.03434618 -0.01478338
+v 0.05424189 0.03238374 0.03415248
+v 0.05404154 0.03042050 0.03582177
+v 0.05407893 0.02880586 0.03585718
+v 0.04852593 0.02880586 0.03590271
+v 0.04454595 0.03433513 0.03659574
+v 0.05166046 0.03750139 -0.01282574
+v 0.05165758 0.03749843 -0.01478337
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+v 0.05361785 0.03556364 0.03415249
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+
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_9.obj b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2a5a45734908716bbdeca560076f62c9c6e8c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/mesh/storage_bin_002_collision_9.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05379857 -0.03180640 -0.01230296
+v -0.05388907 -0.02651986 0.00478966
+v -0.05388907 -0.02651980 -0.01086839
+v -0.05388593 -0.02651979 -0.01230294
+v -0.04587022 -0.03180640 -0.01230296
+v -0.05375843 -0.03180653 0.02048301
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+v -0.05388671 -0.02651991 0.01849327
+v -0.05388750 -0.02651990 0.01653562
+v -0.05388829 -0.02651989 0.01262030
+v -0.05389537 -0.02455512 0.01653563
+v -0.05389615 -0.02455508 0.00674733
+v -0.05389144 -0.02455502 -0.01086838
+v -0.05388671 -0.02599190 -0.01230294
+v -0.05389615 -0.02455508 0.00478967
+v -0.05389537 -0.02455506 0.00087757
+v -0.04759850 -0.00550210 -0.01230286
+v -0.04589147 -0.03180653 0.02048301
+v -0.05389301 -0.02455514 0.02048304
+v -0.05389458 -0.02455513 0.01849328
+v -0.05390954 -0.01667287 0.02048307
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+v -0.05388671 -0.01474144 -0.01230289
+v -0.05388278 -0.00550210 -0.01230286
+v -0.04763470 -0.00550223 0.02048311
+v -0.05390718 -0.01474157 0.02048308
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+v -0.05389379 -0.01474145 -0.01086834
+v -0.05388671 -0.00550211 -0.01144278
+v -0.05389458 -0.00550223 0.02048311
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+v -0.05389379 -0.00550215 -0.00108002
+v -0.05388750 -0.00550211 -0.01086831
+f 1 2 3
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/storage_bin_002.xml b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/storage_bin_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6c92a5e93ea0dbe637698e377460a5a95b05314
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mjcf/storage_bin_002.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_002">
+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" 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/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.urdf b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..acc821c19e4f25e5e06b930e18a920662ec363d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_002">
+   <link name="storage_bin_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0500" />
+         <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>acb3b8395c3259d4a3a7da806e83f748</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>handled storage bin</name>
+         <color>brown,beige</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>rectangular mauve storage bin with two tan side handles</description>
+         <min_height>0.0719</min_height>
+         <max_height>0.0719</max_height>
+         <real_height>0.0719</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135231</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059855 -0.038726 -0.022074</min>
+            <max>0.060145 0.038698 0.049863</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.usd b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.usd
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+size 4811479
diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/textures/material_0.png b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/video.mp4 b/dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/video.mp4
new file mode 100644
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