diff --git a/.gitattributes b/.gitattributes
index 0b8e33819040bdc4f07c7a620f9869ba6600411d..23abb2106ca612a693baaa01d4a173fc659b32e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2807,5 +2807,5 @@ dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_b
 dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/glasses_case_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/mesh/glasses_case_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/material.mtl b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f630ff886813a2d011f780228796c18d427b2ad1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/material_0.png b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cde576ce13c84676d0301ab94390d6fcea811d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/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/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.glb b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..105dff1b2b5e84e9d3ace48e3bdaedd90d312d91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.glb
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.mtl b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1da29974f9d210f9b12c81990770329a05e3800d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_001_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
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e219744b68bc2c64f83b9f6c6e5756a2c31f8bba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001.obj
@@ -0,0 +1,104078 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001_collision.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fc7b81b64b6cbaade35318eae455e067049a4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mesh/storage_bin_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cde576ce13c84676d0301ab94390d6fcea811d8
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 9634878
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cde576ce13c84676d0301ab94390d6fcea811d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c8247c1da8908d56dcf86a4f6de1649082f5b42c65708d5ddabda65b249c6476
+size 9634878
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19181168675ebb6fcf7ae0ef158f0ee5c4492410
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+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001.obj
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38077d58d422d58fcc81d77424be862a8c053bec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision.obj
@@ -0,0 +1,4968 @@
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_0.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e9909e3a6dde5a0de0bc9f64b6f92d7ac5c395f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_0.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_1.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c34571f5263d0faffa49a1a2f8ded8d5970a54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_1.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_10.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d597b205d6cee6090a9ddbde313a5aad62eb25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_10.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_11.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c384ad1aaedec37b052b25e7eeda48ea21c044
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_12.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997d97e78b3f937c29aa34ec956eb6b0a333c628
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_13.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ebad8b5dd416123d0befba45633acc5c295eb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_13.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v 0.05910547 -0.02306600 -0.00045115
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_14.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e802438203f9e2af26d1663d501105086bd6afc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_14.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_15.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92abd23e34c38e8bf9b2e7a14f313fe6796a34cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.05149676 0.02953386 -0.02244063
+v -0.05315515 0.02953386 -0.02242312
+v -0.05315515 0.03118272 -0.02220891
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+v -0.00059084 0.03558303 -0.01675948
+v -0.05369582 0.03605974 -0.01777796
+v -0.05369582 0.03622313 -0.01719462
+v -0.05369582 0.03630753 -0.01576120
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 26
+f 1 26 25
+f 1 25 24
+f 1 24 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 14
+f 4 14 20
+f 4 20 27
+f 4 27 37
+f 4 37 54
+f 4 54 47
+f 4 47 46
+f 4 46 45
+f 4 45 44
+f 4 44 40
+f 4 40 30
+f 4 30 22
+f 4 22 15
+f 4 15 10
+f 5 11 6
+f 6 11 18
+f 6 18 16
+f 6 16 23
+f 6 23 36
+f 6 36 52
+f 6 52 57
+f 6 57 56
+f 6 56 55
+f 6 55 39
+f 6 39 29
+f 6 29 21
+f 6 21 19
+f 6 19 12
+f 6 12 8
+f 6 8 7
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 12 19 13
+f 13 19 14
+f 14 19 21
+f 14 21 20
+f 15 22 34
+f 15 34 49
+f 15 49 48
+f 15 48 51
+f 15 51 35
+f 15 35 23
+f 15 23 16
+f 16 18 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 20 21 28
+f 20 28 27
+f 21 29 28
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 23 35 36
+f 27 28 38
+f 27 38 37
+f 28 29 38
+f 29 39 38
+f 30 40 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 31 40 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 41
+f 32 43 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 50 49
+f 35 51 36
+f 36 51 53
+f 36 53 43
+f 36 43 52
+f 37 38 41
+f 37 41 54
+f 38 39 55
+f 38 55 56
+f 38 56 42
+f 38 42 41
+f 41 47 54
+f 42 56 43
+f 43 53 48
+f 43 56 57
+f 43 57 52
+f 48 53 51
+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_16.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79542bf4a08c0a76d3f16be4ad2b8a510c59b5cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_16.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04994955 -0.02669636 -0.02250441
+v 0.05037533 -0.02669636 -0.02250190
+v 0.05100386 -0.02786435 -0.02244083
+v 0.04994955 -0.02786435 -0.02244585
+v -0.00077893 -0.02669636 -0.02239483
+v 0.05075549 -0.02669636 -0.02249939
+v 0.05100386 -0.02693996 -0.02248600
+v 0.05100386 -0.02890777 -0.02226267
+v -0.00077893 -0.02786435 -0.02227855
+v -0.00077893 -0.02671461 -0.02239315
+v -0.00077893 -0.02669638 -0.01711658
+v 0.05100386 -0.02669636 -0.02249186
+v 0.05100386 -0.02983217 -0.02207781
+v -0.00077893 -0.02868243 -0.02206526
+v -0.00077893 -0.02957987 -0.01395884
+v 0.05100386 -0.02895144 -0.01395884
+v -0.00070796 -0.02669638 -0.01711574
+v 0.05100386 -0.02669638 -0.01706472
+v 0.05100386 -0.03083829 -0.02161355
+v -0.00077893 -0.02983217 -0.02176496
+v -0.00077893 -0.03466842 -0.01395886
+v 0.05100386 -0.03471524 -0.01395886
+v 0.05100386 -0.03170080 -0.02120787
+v -0.00077893 -0.03047251 -0.02145295
+v -0.00077893 -0.03466604 -0.01397810
+v 0.05083659 -0.03475569 -0.01674772
+v 0.05008641 -0.03479299 -0.01581419
+v 0.04994955 -0.03480173 -0.01395886
+v 0.05025875 -0.03479617 -0.01395886
+v 0.05100386 -0.03478348 -0.01434783
+v 0.05100386 -0.03222291 -0.02085320
+v -0.00077893 -0.03137151 -0.02101380
+v -0.00077893 -0.03451448 -0.01501869
+v 0.05008641 -0.03446211 -0.01752063
+v 0.05100386 -0.03474855 -0.01676695
+v 0.05098358 -0.03475569 -0.01674772
+v -0.00077893 -0.03440578 -0.01576233
+v -0.00077893 -0.03409156 -0.01689912
+v -0.00077893 -0.03386779 -0.01770800
+v 0.05100386 -0.03475887 -0.01661053
+v 0.05100386 -0.03477871 -0.01576819
+v 0.05100386 -0.03478268 -0.01460045
+v 0.05100386 -0.03268550 -0.02053198
+v -0.00077893 -0.03235543 -0.02018066
+v 0.05100386 -0.03342662 -0.01955915
+v 0.05100386 -0.03445417 -0.01752063
+v -0.00077893 -0.03314335 -0.01920782
+v -0.00077893 -0.03268313 -0.01977663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 18
+f 3 18 16
+f 3 16 22
+f 3 22 30
+f 3 30 42
+f 3 42 41
+f 3 41 40
+f 3 40 35
+f 3 35 46
+f 3 46 45
+f 3 45 43
+f 3 43 31
+f 3 31 23
+f 3 23 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 14
+f 5 14 20
+f 5 20 24
+f 5 24 32
+f 5 32 44
+f 5 44 48
+f 5 48 47
+f 5 47 39
+f 5 39 38
+f 5 38 37
+f 5 37 33
+f 5 33 25
+f 5 25 21
+f 5 21 15
+f 5 15 11
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 17
+f 13 19 20
+f 13 20 14
+f 15 21 28
+f 15 28 29
+f 15 29 22
+f 15 22 16
+f 16 18 17
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 22 29 30
+f 23 31 32
+f 23 32 24
+f 25 33 26
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 33 37
+f 26 37 38
+f 26 38 39
+f 26 39 34
+f 27 36 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 30
+f 28 30 29
+f 31 43 32
+f 32 43 44
+f 34 45 46
+f 34 46 35
+f 34 39 47
+f 34 47 45
+f 35 40 36
+f 43 45 47
+f 43 47 48
+f 43 48 44
+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_17.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8208f3ab2b1a4bee2f349f647af47a26f172db5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_17.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00059084 0.02953317 -0.01693279
+v -0.00059084 0.00087219 -0.01728442
+v -0.00059084 0.02953319 -0.02227650
+v -0.04720781 0.02953317 -0.01666771
+v -0.05369582 0.02334705 -0.01666081
+v -0.05369582 0.00087219 -0.01679748
+v -0.00059084 0.00087221 -0.02253247
+v -0.00059084 0.02921336 -0.02234508
+v -0.05149676 0.02953319 -0.02244189
+v -0.04918852 0.02953317 -0.01666598
+v -0.05298359 0.02953317 -0.01690916
+v -0.05369582 0.02953317 -0.01698811
+v -0.04997353 0.02953317 -0.01669652
+v -0.05369582 0.00087221 -0.02210892
+v -0.00059084 0.00125657 -0.02253305
+v -0.00081439 0.00087221 -0.02253305
+v -0.00059084 0.02820338 -0.02242173
+v -0.05117444 0.02921336 -0.02248684
+v -0.05315515 0.02921336 -0.02246436
+v -0.05315515 0.02953319 -0.02242287
+v -0.05369582 0.02953319 -0.02238714
+v -0.05369582 0.02777695 -0.02241539
+v -0.05315515 0.00087221 -0.02225298
+v -0.00160459 0.00363002 -0.02253361
+v -0.00059084 0.01639223 -0.02253299
+v -0.02460895 0.00087221 -0.02253478
+v -0.05117444 0.02724390 -0.02254736
+v -0.00059084 0.02724390 -0.02249319
+v -0.05315515 0.02724390 -0.02247302
+v -0.05369582 0.02921336 -0.02240904
+v -0.05347747 0.02953319 -0.02240904
+v -0.05236495 0.00087221 -0.02234058
+v -0.00359051 0.00559667 -0.02253418
+v -0.00160459 0.01543556 -0.02253356
+v -0.00059084 0.02330779 -0.02253181
+v -0.04720781 0.00087221 -0.02253593
+v -0.04918852 0.00087221 -0.02253075
+v -0.05037903 0.00087221 -0.02249559
+v -0.05117444 0.00087221 -0.02247197
+v -0.00059084 0.02623392 -0.02251105
+v -0.00059084 0.02527725 -0.02252777
+v -0.00059084 0.02426727 -0.02253008
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 35
+f 1 35 42
+f 1 42 41
+f 1 41 40
+f 1 40 28
+f 1 28 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 31
+f 1 31 21
+f 1 21 12
+f 1 12 11
+f 1 11 13
+f 1 13 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 32
+f 2 32 39
+f 2 39 38
+f 2 38 37
+f 2 37 36
+f 2 36 26
+f 2 26 16
+f 2 16 7
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 12 21
+f 5 21 30
+f 5 30 22
+f 5 22 14
+f 5 14 6
+f 5 10 13
+f 5 13 11
+f 7 16 15
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 14 22 23
+f 15 16 24
+f 15 24 34
+f 15 34 25
+f 16 26 27
+f 16 27 24
+f 17 28 18
+f 18 27 19
+f 18 28 27
+f 19 27 29
+f 19 29 22
+f 19 22 30
+f 19 30 21
+f 19 21 31
+f 19 31 20
+f 22 29 23
+f 23 29 32
+f 24 33 34
+f 24 27 33
+f 25 34 35
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 29
+f 27 28 40
+f 27 40 41
+f 27 41 42
+f 27 42 35
+f 27 35 34
+f 27 34 33
+f 29 39 32
+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_18.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774cd2b8d5f8ed108111ea3c86a5947893b79985
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_18.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05100386 0.00087219 -0.01707963
+v 0.05100386 -0.01674086 -0.01707003
+v 0.05100386 0.00087221 -0.02233838
+v -0.00077893 0.00087219 -0.01728467
+v -0.00077893 -0.02669559 -0.01711623
+v -0.00025177 -0.02669559 -0.01711569
+v 0.05077577 -0.02669559 -0.01706523
+v 0.05100386 -0.02669559 -0.01706523
+v 0.05100386 -0.02496853 -0.02250379
+v 0.05074535 0.00087221 -0.02236790
+v -0.00077893 0.00087221 -0.02253269
+v -0.00077893 -0.02669557 -0.02239484
+v 0.05100386 -0.02669557 -0.02249199
+v 0.05100386 -0.02589412 -0.02250917
+v 0.04994955 0.00087221 -0.02245808
+v -0.00077893 -0.01211832 -0.02253595
+v 0.00038183 0.00087221 -0.02253269
+v 0.04796765 -0.02392692 -0.02254834
+v -0.00077893 -0.02589412 -0.02247428
+v 0.04994955 -0.02669557 -0.02250434
+v 0.05075549 -0.02669557 -0.02250004
+v 0.04994955 -0.02589412 -0.02254352
+v 0.04875838 0.00087221 -0.02249619
+v -0.00077893 -0.01293597 -0.02253596
+v 0.04399879 0.00087221 -0.02253215
+v 0.04598575 0.00087221 -0.02253161
+v -0.00077893 -0.02195702 -0.02253330
+v -0.00077893 -0.02080746 -0.02253384
+v -0.00077893 -0.01802262 -0.02253490
+v -0.00077893 -0.01605272 -0.02253543
+v -0.00077893 -0.02392692 -0.02252580
+v 0.04796765 0.00087221 -0.02252141
+f 1 2 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 15
+f 1 15 23
+f 1 23 32
+f 1 32 26
+f 1 26 25
+f 1 25 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 10
+f 4 11 16
+f 4 16 24
+f 4 24 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 31
+f 4 31 19
+f 4 19 12
+f 4 12 5
+f 5 12 20
+f 5 20 21
+f 5 21 13
+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 9 14 15
+f 9 15 10
+f 11 17 18
+f 11 18 16
+f 12 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 16 18 24
+f 17 25 18
+f 18 25 26
+f 18 26 22
+f 18 22 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 24
+f 19 31 22
+f 19 22 20
+f 20 22 21
+f 22 26 32
+f 22 32 23
+f 22 31 27
+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_19.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b955db71f462327de2d34c9ffea2dd7871639e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_19.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06062848 -0.02497311 -0.01420624
+v -0.06063957 -0.02432034 -0.01420624
+v -0.05524218 -0.02497311 -0.01420624
+v -0.06086970 -0.02497327 0.02897454
+v -0.06089133 -0.02392580 0.02897454
+v -0.06035897 0.00086964 -0.01186840
+v -0.06033568 0.00086965 -0.01264604
+v -0.06030019 0.00086965 -0.01381491
+v -0.06026692 0.00086965 -0.01420615
+v -0.06090742 0.00086949 0.03091632
+v -0.06088301 0.00086949 0.02897463
+v -0.05535642 0.00086965 -0.01420615
+v -0.05524385 -0.02497313 -0.00888834
+v -0.06086970 -0.02497327 0.03091623
+v -0.06089189 -0.02392580 0.03091623
+v -0.06090076 -0.02195736 0.03091624
+v -0.06055584 -0.02392581 0.03286274
+v -0.06055029 0.00086948 0.03286283
+v -0.05541243 0.00086949 0.03091632
+v -0.05529209 -0.02497327 0.03091623
+v -0.06054197 -0.02497328 0.03286274
+v -0.06025416 -0.02497329 0.03407992
+v -0.06025749 -0.02392582 0.03407992
+v -0.06024584 0.00086947 0.03404620
+v -0.05546234 0.00086948 0.03169879
+v -0.05540855 -0.02497328 0.03286274
+v -0.05910736 -0.02497329 0.03495899
+v -0.05956264 0.00086947 0.03450506
+v -0.05553665 0.00086948 0.03286283
+v -0.05589156 0.00086947 0.03413314
+v -0.05581946 -0.02497329 0.03425380
+v -0.05712486 -0.02497329 0.03513771
+v -0.05910736 0.00086947 0.03480935
+v -0.05712486 0.00086947 0.03489629
+v -0.05791786 0.00086947 0.03486248
+f 1 2 9
+f 1 9 12
+f 1 12 3
+f 1 3 13
+f 1 13 20
+f 1 20 26
+f 1 26 31
+f 1 31 32
+f 1 32 27
+f 1 27 22
+f 1 22 21
+f 1 21 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 10
+f 6 11 10
+f 6 10 18
+f 6 18 24
+f 6 24 28
+f 6 28 33
+f 6 33 35
+f 6 35 34
+f 6 34 30
+f 6 30 29
+f 6 29 25
+f 6 25 19
+f 6 19 12
+f 6 12 9
+f 6 9 8
+f 6 8 7
+f 10 16 17
+f 10 17 18
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 21 17
+f 15 17 16
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 19 25 26
+f 19 26 20
+f 22 27 23
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 30 34 32
+f 30 32 31
+f 32 34 35
+f 32 35 33
+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_2.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5984d17c18559ff924bf83df734594facfdf599
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_2.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05943122 0.02896062 -0.01576212
+v 0.05942534 0.02896062 -0.01551202
+v 0.05951358 0.02724496 -0.01576213
+v 0.05927239 0.02896062 -0.01745704
+v 0.05942534 0.02877091 -0.01532621
+v 0.05943711 0.02857570 -0.01532622
+v 0.05940181 0.02896062 -0.01532621
+v 0.05949594 0.02724496 -0.01532622
+v 0.05949594 0.02680505 -0.01532622
+v 0.05894295 0.00087219 -0.01532632
+v 0.05922532 0.02896063 -0.01772763
+v 0.05379545 0.02896062 -0.01532621
+v 0.05884294 0.00087219 -0.01581875
+v 0.05914885 0.02714049 -0.01787601
+v 0.05354837 0.00087219 -0.01532632
+v 0.05897236 0.02896063 -0.01869696
+v 0.05363661 0.02581524 -0.01532623
+v -0.00057976 0.02896062 -0.01704938
+v 0.05876058 0.00087219 -0.01620804
+v 0.05891942 0.02772887 -0.01875632
+v 0.05894295 0.02896063 -0.01880223
+v 0.05354249 0.00756436 -0.01532629
+v -0.00057976 0.00087219 -0.01728476
+v 0.05354837 0.02133913 -0.01532624
+v -0.00057976 0.02896064 -0.02236445
+v 0.05354249 0.01963447 -0.01532625
+v 0.05821347 0.00087220 -0.01770725
+v 0.05768990 0.00087220 -0.01862995
+v 0.05733693 0.00087220 -0.01924462
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_20.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0122275f9f5ec1f08fce84bbfdd03d4a204786
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_20.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_21.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea09c0cc044c3d6f66fede8a0c18fbbd2997590d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_21.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_3.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50539cf71bda9dc93a3b010436e4872d605cf690
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_3.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_4.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece1ae7c0b109a35eefbbf807a079291eaa01ff6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_4.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_5.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94875028324e1f623d8fc88d5b89e647cf58c5ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00077893 0.00087219 -0.01728453
+v -0.00077893 -0.02950530 -0.01420626
+v -0.00077893 0.00087221 -0.02253283
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_6.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1006fd31ac75e50da930ff464ab41941265e9ef0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05298006 0.03024841 -0.00867900
+v -0.05298006 0.03019859 -0.00731688
+v -0.05298006 0.03582135 -0.00867898
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_7.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83aa9ac15d845bbaa6568a8b3cba5d7d9fe41163
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_7.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.06037076 0.00087216 -0.00867478
+v -0.06048638 0.02527634 -0.00867469
+v -0.05581094 0.00087216 -0.00867478
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+
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_8.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802c4d2ea4c50ff794f467861a48cf9bd337829d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.04995159 0.02896064 -0.02248724
+v 0.04995159 0.02921420 -0.02247719
+v 0.05193148 0.02921420 -0.02245460
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_9.obj b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc3958a09802b5b9bb5f76390d9b98b12b0155c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/mesh/storage_bin_001_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/storage_bin_001.xml b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/storage_bin_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e2192cfe251140d18e6265a89a65144b5a13b3d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/mjcf/storage_bin_001.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_001">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.urdf b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d10a0743793faf6b9ee7b850c9edbd41a3b39af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_001">
+   <link name="storage_bin_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>a355bf1c72b15ef4b4411518806f34ae</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>strawberry bin</name>
+         <color>pink,red</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>pink rectangular fabric storage bin with strawberry print and open top</description>
+         <min_height>0.0578</min_height>
+         <max_height>0.0578</max_height>
+         <real_height>0.0578</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135210</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060617 -0.034888 -0.022107</min>
+            <max>0.059383 0.036260 0.035694</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/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.usd b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b790ac4b3aa3067855064cd78f6f7686207d0507
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/storage_bin_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd5a3f7c777cd1c13d9e772f337472c5ecba5e29aa1982b7605ae93e5ae0adb
+size 4722177
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/textures/material_0.png b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cde576ce13c84676d0301ab94390d6fcea811d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8247c1da8908d56dcf86a4f6de1649082f5b42c65708d5ddabda65b249c6476
+size 9634878
diff --git a/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/video.mp4 b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b985a61ab1e80d7a2475fc0042d1e7f546f17c87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e394930bc2300affb0de32d61ac5fcb75656b11da1beedf0f2d699ce90e370
+size 443361