diff --git a/.gitattributes b/.gitattributes
index aa0dee9112f88af29d182aa092899e9b6f019b77..08dbb576510ec46c9e8ec55e832cbc9290bb48ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2713,8 +2713,5 @@ dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_0
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/mesh/storage_bin_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/storage_bin_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material.mtl b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81a8dd8a849dbdc5e9118807f60e143e732cacc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_box_034_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_box_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material_0.png b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c89f877c708916191d0dccb9ac164b3bb5d5ffc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ce7e98ae70c568dfae720598076786bf7dfdbea03c18e26307fda34d1df690
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.glb b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5116bb07796aff3ec42dd0e42f81d54979c0aebf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4d28304485249a37f309c2b0eb42943ee9682cb52e0c62a83090427590a4bf
+size 14824872
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.mtl b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f75c959669262852dba89b3bbadc00fe924bb828
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.mtl
@@ -0,0 +1,6 @@
+newmtl storage_box_034_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/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa751b0ae71abaa14906bd44ad40d4c71fddc2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.obj
@@ -0,0 +1,124588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_box_034_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034_collision.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec842b1948fdfb38aeac59f84a55e67a6928f66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034.obj
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+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034.obj
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955d1313ba949726001986cf6d2102a10dce24a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision.obj
@@ -0,0 +1,8413 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_0.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bcd0ff8278821b02614165e13301747670fc15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_1.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d038099924945c136662775dc0427cfcc75c17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_1.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.11138184 0.12884782 0.15530062
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+v 0.08377808 0.07997739 0.15533055
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+v -0.13336192 -0.07395733 -0.15218051
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+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_10.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed65fcfc58ec0165559020858b82e74f686a1fee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_10.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 0.16295126 0.16046259
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_11.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e061e9826461d8d76faecfd92e4129c7e67b3cae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_11.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.13459706 -0.07507825 -0.09243961
+v 0.13459706 -0.13651277 -0.09243983
+v 0.13459706 -0.07507803 -0.15269424
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_12.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4673128e636ab052220808d5decac107aac518
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00388834 -0.07397405 0.15533469
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_13.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee53df9110e8845167188ba88528f04b0cbe29a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_13.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 -0.13537028 -0.15274323
+v -0.13338586 -0.13537052 -0.08781019
+v -0.13338586 -0.07397292 -0.15219633
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+v 0.00388834 -0.13537052 -0.08781019
+v -0.00522206 -0.07397292 -0.15194207
+v 0.00388834 -0.07397292 -0.15192299
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+f 3 5 9
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+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 6
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_14.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb60d7f18f24f6e03bc27341ebe065dc23417556
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_14.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.17247120 0.00305600 -0.10853209
+v -0.17341336 0.13332116 -0.10853161
+v -0.13338586 0.00305600 -0.10853209
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_15.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106676f3dce1b59d7a470f8596ae0e6cec4bdf88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_15.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00388834 -0.07398309 0.11233027
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_16.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7714359e5d75f434688c7565a78d3aa2f69b4438
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_16.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.16546146 -0.17590004 -0.11849576
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_17.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64cec5045ca7dd5bdbd9912fe4c4ab1f1c135dae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 0.12936837 0.09343584
+v -0.13338586 0.12936814 0.15535889
+v -0.13338586 0.16562840 0.09343597
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_18.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298726d69ee7859c28f31fab777b5686d5d8a443
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_18.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.11140579 0.16295253 0.16044692
+v 0.00389886 0.16295253 0.16044692
+v 0.11140579 0.16088018 0.16039812
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_19.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55d5bc2499ae1684a7bf3574680b69df3c36019
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.17437349 -0.12462251 -0.16934692
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+v -0.15465501 -0.12462251 -0.16934692
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_2.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f397ee23f3db4d398ebe458998bbe0e2f0044559
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_2.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_20.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb2da678e05a9004d7fe64f1c81328b562486f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_20.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_21.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a13a2744d3cb248e6b8568ab684b082f34ab70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_21.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_22.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de73a72e16b685c31b460c29581ddee3eaeb382d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_23.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48e47d7bf3ad8af84f4738c29580b2363e0e059
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_23.obj
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_24.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e09ce16590ac85af8ac5f4175f94963bb5a7d14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_24.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 0.11810790 -0.10853726
+v -0.13338586 0.11810806 -0.15220114
+v -0.17246367 0.11810790 -0.10853726
+v -0.13338586 0.00305600 -0.10853768
+v -0.15362352 0.11810811 -0.16566888
+v -0.13338586 0.00649105 -0.15220715
+v -0.15359533 0.03852003 -0.16566917
+v -0.15359935 0.05036759 -0.16566912
+v -0.17452569 0.11810803 -0.14449411
+v -0.17246769 0.00305600 -0.10853768
+v -0.13338586 0.00305616 -0.15220716
+v -0.17366786 0.11810811 -0.16566888
+v -0.15359533 0.03804703 -0.16566917
+v -0.17452569 0.11810804 -0.14815187
+v -0.17452973 0.00305613 -0.14450012
+v -0.15361950 0.00305621 -0.16566930
+v -0.15360339 0.02619948 -0.16566921
+v -0.17368397 0.09217188 -0.16566897
+v -0.17368800 0.08032433 -0.16566901
+v -0.17368800 0.07998647 -0.16566902
+v -0.17452973 0.00305614 -0.14799010
+v -0.17366384 0.00305621 -0.16566930
+v -0.17367591 0.02667248 -0.16566921
+v -0.17366786 0.00888989 -0.16566928
+f 1 2 5
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+f 1 4 11
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+f 1 6 2
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+f 14 19 20
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+f 20 23 21
+f 21 23 24
+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_25.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77805b196327b0deffaa50470e5841928fa9594c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_25.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.11140579 -0.07507893 0.09142753
+v 0.17424573 -0.07507893 0.09142753
+v 0.11140579 -0.07507905 0.12433445
+v 0.11140579 0.05629070 0.09142802
+v 0.17444394 -0.07507903 0.11886446
+v 0.17425812 -0.03259212 0.09142769
+v 0.17468552 0.04476874 0.12433489
+v 0.17387408 -0.07507905 0.12433445
+v 0.11140579 0.05629058 0.12433494
+v 0.17423953 0.05629070 0.09142802
+v 0.17467313 0.03850630 0.12433487
+v 0.17448731 -0.02666414 0.12433463
+v 0.17425812 0.02442560 0.09142790
+v 0.17442536 0.05629060 0.11886495
+v 0.17384310 0.05627772 0.12433494
+v 0.17360773 0.05629058 0.12433494
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 12
+f 3 12 11
+f 3 11 7
+f 3 7 15
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+f 3 16 9
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+f 4 14 10
+f 5 7 11
+f 5 11 12
+f 5 12 8
+f 6 13 7
+f 7 13 10
+f 7 10 14
+f 7 14 15
+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_26.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173ed17e7f76ef2f84e2c27f73fc81d12955eb15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_26.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00389886 0.14445261 -0.16009987
+v 0.00389886 0.12886594 -0.15193402
+v 0.00389886 0.16979765 -0.16009978
+v 0.08970444 0.14444042 -0.16009987
+v 0.03039935 0.12886594 -0.15193402
+v 0.00389886 0.12886571 -0.08879826
+v 0.00389886 0.17035442 -0.14819290
+v 0.01852780 0.17035848 -0.14819290
+v 0.04819614 0.17036660 -0.14819290
+v 0.11140579 0.17038286 -0.14819290
+v 0.02446358 0.16980172 -0.16009978
+v 0.11140579 0.14444042 -0.16009987
+v 0.11140579 0.12886594 -0.15192705
+v 0.00389886 0.16531446 -0.08879812
+v 0.11140579 0.12886571 -0.08879826
+v 0.00389886 0.16690771 -0.10072593
+v 0.02446358 0.16694023 -0.10072593
+v 0.07192870 0.16678578 -0.10072593
+v 0.11140579 0.16535104 -0.08879812
+v 0.11140579 0.16979359 -0.16009978
+v 0.02449515 0.16980172 -0.16009978
+v 0.05413191 0.16691583 -0.10072593
+v 0.00660364 0.16531852 -0.08879812
+v 0.00389886 0.16641184 -0.09591712
+v 0.00389886 0.16668009 -0.09847159
+v 0.02446358 0.16641997 -0.09589619
+v 0.05413191 0.16643216 -0.09587525
+v 0.07192870 0.16636713 -0.09593806
+v 0.06599293 0.16535510 -0.08879812
+v 0.01253941 0.16532259 -0.08879812
+v 0.06594031 0.16535510 -0.08879812
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_27.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07059e5ab273b0d6b805c640a52d7464675e6ebd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_27.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.11141280 -0.07507905 0.12433799
+v 0.17387540 -0.07507905 0.12433799
+v 0.11141280 -0.07507916 0.15534048
+v 0.11141280 0.05629058 0.12433848
+v 0.17426842 -0.07507909 0.13667155
+v 0.17448599 -0.02666414 0.12433817
+v 0.17979180 -0.02666415 0.12916866
+v 0.18274649 -0.03852036 0.13213223
+v 0.18241663 -0.04320111 0.13265395
+v 0.18245874 -0.04367691 0.13667167
+v 0.14908687 -0.07507918 0.15996158
+v 0.11141280 -0.07407614 0.15534404
+v 0.11141280 0.05629047 0.15534097
+v 0.17360870 0.05629058 0.12433848
+v 0.17411402 -0.07507911 0.14260230
+v 0.17466846 0.03850630 0.12433841
+v 0.17468249 0.04424151 0.12433843
+v 0.17979180 0.03850629 0.12916181
+v 0.18276754 0.03850627 0.13213251
+v 0.18310443 -0.03852037 0.13667169
+v 0.18200957 -0.04268677 0.14041965
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+v 0.17396663 -0.07507912 0.14360674
+v 0.15502432 -0.07507918 0.16031295
+v 0.14908687 -0.06814807 0.15996515
+v 0.14908687 0.00295047 0.15997252
+v 0.14908687 0.02073475 0.15997259
+v 0.14908687 0.04443427 0.15996910
+v 0.14908687 0.05629045 0.15996561
+v 0.17379819 0.05629058 0.12480343
+v 0.17384733 0.05627772 0.12433848
+v 0.17468249 0.04476874 0.12433843
+v 0.18243068 0.04318703 0.13266847
+v 0.18309037 0.03850626 0.13667197
+v 0.18207976 -0.03852039 0.14056164
+v 0.18091472 -0.03852040 0.14352525
+v 0.17894258 -0.03852042 0.14853675
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+v 0.17124355 -0.07507916 0.15403081
+v 0.17289986 -0.07507914 0.14946652
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+v 0.16095477 -0.03852046 0.16057574
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+v 0.16095477 -0.01480809 0.16059000
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+v 0.15502432 -0.04444855 0.16031661
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+v 0.15502432 0.04443427 0.16032050
+v 0.15502432 0.05629045 0.16031698
+v 0.17437369 0.05629054 0.13667204
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+v 0.18196746 0.04241544 0.14029575
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+v 0.18088665 0.03850623 0.14342260
+v 0.17678096 -0.03852043 0.15345243
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+v 0.17886539 0.03850621 0.14853703
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+v 0.16095477 0.03850617 0.16056182
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+f 51 53 52
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+f 57 74 59
+f 58 70 75
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+f 82 85 84
+f 82 83 89
+f 82 89 88
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_28.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688fd1d0468f3aff19749f568846aada926d11e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.16095738 -0.17583391 0.00873931
+v 0.16689377 -0.17556380 0.00873932
+v 0.15502500 -0.17423013 0.00873932
+v 0.15502500 -0.17422995 -0.04138244
+v 0.16095738 -0.17582788 -0.10071140
+v 0.16689377 -0.17557468 -0.09478134
+v 0.16689377 -0.17557470 -0.08885128
+v 0.16912695 -0.17461279 0.00873932
+v 0.17193850 -0.17343072 -0.08290704
+v 0.13460107 -0.16643069 0.00873935
+v 0.13460107 -0.16794426 -0.04138242
+v 0.15502500 -0.17421845 -0.10665565
+v 0.16095738 -0.17581654 -0.12446001
+v 0.17193046 -0.17343065 -0.10071139
+v 0.17193850 -0.17343069 -0.08885128
+v 0.16095738 -0.17581087 -0.13619244
+v 0.16689377 -0.17556338 -0.10665565
+v 0.17192243 -0.17341980 0.00873932
+v 0.17488661 -0.16888950 -0.08290702
+v 0.17487457 -0.16888983 0.00873934
+v 0.13460107 -0.11834545 0.00873953
+v 0.13460107 -0.16778634 -0.13619241
+v 0.15502500 -0.17420150 -0.12446000
+v 0.17488260 -0.16888945 -0.09478132
+v 0.16689377 -0.17554642 -0.12446000
+v 0.16689377 -0.17554078 -0.13039006
+v 0.17191039 -0.17341933 -0.11851576
+v 0.17192645 -0.17342500 -0.10665565
+v 0.17488661 -0.16888947 -0.08885126
+v 0.16689377 -0.17552950 -0.13619243
+v 0.15502500 -0.17419023 -0.13039006
+v 0.15516156 -0.17421272 -0.13619243
+v 0.17562966 -0.16296423 -0.00577368
+v 0.17529228 -0.16559223 0.00873935
+v 0.13460107 -0.11834492 -0.13619222
+v 0.17425200 -0.11834545 0.00873953
+v 0.15502500 -0.17417333 -0.13619243
+v 0.17486653 -0.16888941 -0.10665563
+v 0.17559754 -0.16296375 -0.13619239
+v 0.17189432 -0.17341368 -0.12446000
+v 0.17472997 -0.16899059 -0.13619241
+v 0.17481432 -0.16888932 -0.13039004
+v 0.17483039 -0.16888934 -0.12445998
+v 0.17484645 -0.16888936 -0.11851574
+v 0.17485850 -0.16888939 -0.11258568
+v 0.17561360 -0.16296386 -0.10665561
+v 0.17186218 -0.17339113 -0.13619243
+v 0.17187424 -0.17340803 -0.13039006
+v 0.17439660 -0.11834529 -0.03545217
+v 0.17562565 -0.16296427 0.00610062
+v 0.17562164 -0.16296428 0.00873936
+v 0.17436447 -0.11834492 -0.13619222
+v 0.17479423 -0.16888930 -0.13619241
+v 0.17436849 -0.11841808 -0.13619222
+f 1 2 8
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+f 1 20 34
+f 1 34 51
+f 1 51 36
+f 1 36 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
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+f 4 12 5
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+f 9 19 20
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+f 21 52 35
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+f 29 46 33
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+f 40 48 47
+f 40 47 41
+f 41 53 42
+f 46 54 49
+f 49 51 50
+f 49 54 52
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_29.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c422e111ad5efa965bb305bb12e750c01b78dab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00388834 0.16533960 0.09343597
+v 0.00239681 0.16534339 0.09343597
+v 0.00388834 0.12936837 0.09343584
+v 0.00388834 0.16786333 0.04763641
+v -0.13338586 0.16562801 0.09343597
+v -0.13338586 0.12936837 0.09343584
+v 0.00388834 0.12936916 -0.12208157
+v 0.00388834 0.16800755 0.04447200
+v -0.05863485 0.16786713 0.04763641
+v -0.08236490 0.16786713 0.04763641
+v -0.09424336 0.16785954 0.04763641
+v -0.10016916 0.16785575 0.04763641
+v -0.11204763 0.16784436 0.04763641
+v -0.13338586 0.16781779 0.04763641
+v -0.13338586 0.12936915 -0.12005636
+v -0.13141060 0.12936916 -0.12208157
+v 0.00388834 0.16672550 -0.12208144
+v 0.00388834 0.16813278 0.04170842
+v -0.00522206 0.16813278 0.04170842
+v -0.13338586 0.16772324 -0.04136789
+v -0.13338586 0.12938055 -0.12208157
+v -0.00522206 0.16682797 -0.12208144
+v 0.00388834 0.16691521 -0.11258822
+v 0.00388834 0.16748039 -0.04729588
+v -0.09424336 0.16773083 -0.04136789
+v -0.10016916 0.16773462 -0.04136789
+v -0.02540471 0.16681278 -0.12208144
+v -0.13338586 0.16764736 -0.04729588
+v -0.13338586 0.16579198 -0.12208144
+v -0.02896556 0.16680519 -0.12208144
+v -0.06457408 0.16689621 -0.10663913
+v -0.07049987 0.16683549 -0.10663913
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 23
+f 1 23 24
+f 1 24 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
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+f 3 16 7
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+f 5 9 10
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+f 8 18 9
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+f 28 32 29
+f 29 32 31
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_3.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed566d71c6e91b70067e00a8ff10810205a7ff6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 -0.15703784 -0.18968546
+v -0.13338586 -0.15894711 -0.18925658
+v -0.13338586 -0.15454622 -0.18880776
+v 0.00388834 -0.15341098 -0.18763086
+v 0.00388834 -0.15703785 -0.18886761
+v 0.00388834 -0.15955896 -0.18840882
+v 0.00388834 -0.16175573 -0.18799992
+v -0.13338586 -0.16178153 -0.18819938
+v -0.13338586 -0.15304608 -0.18825919
+v 0.00388834 -0.15220203 -0.18585553
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+v -0.07643910 -0.17196186 -0.18095851
+v -0.13338586 -0.17194342 -0.18093856
+v 0.00388834 -0.17053542 -0.18195587
+v 0.00388834 -0.17196554 -0.18095851
+v -0.03490479 -0.17197291 -0.18096848
+v -0.13338586 -0.14654798 -0.17743769
+v 0.00388834 -0.14655167 -0.17738782
+v 0.00388834 -0.14759844 -0.17897364
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+v 0.00388834 -0.14973991 -0.18219516
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+v -0.07643910 -0.17301602 -0.17786667
+v -0.05863485 -0.17302338 -0.17786667
+v -0.12985188 -0.17298284 -0.17786667
+v -0.13338586 -0.17297915 -0.17786667
+v 0.00388834 -0.17302707 -0.17786667
+v -0.03490479 -0.17303076 -0.17786667
+v -0.13338586 -0.13537629 -0.15274272
+v 0.00388834 -0.13537629 -0.15248340
+v -0.12985188 -0.17289072 -0.17265041
+v -0.13338586 -0.17294230 -0.17575224
+v 0.00388834 -0.17296442 -0.17507402
+v 0.00388834 -0.17290914 -0.17263046
+v -0.04083059 -0.17290914 -0.17263046
+v -0.07643910 -0.17290546 -0.17263046
+v -0.13338586 -0.13537653 -0.08780385
+v 0.00388834 -0.13537653 -0.08780385
+v -0.07049987 -0.16698256 -0.10072989
+v -0.13338586 -0.16586950 -0.08780396
+v -0.13338586 -0.17288703 -0.17266038
+v 0.00388834 -0.16696783 -0.10072989
+v 0.00388834 -0.16562254 -0.08780396
+v 0.00388834 -0.16668772 -0.09791731
+v 0.00388834 -0.16644077 -0.09547375
+f 1 2 8
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+f 1 37 29
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+f 1 17 9
+f 1 9 3
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+f 9 17 18
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+f 9 22 10
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+f 12 16 24
+f 12 24 23
+f 13 25 26
+f 13 23 25
+f 15 27 16
+f 16 27 28
+f 16 28 24
+f 17 29 18
+f 18 29 30
+f 23 31 25
+f 23 24 31
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+f 25 31 32
+f 25 32 26
+f 27 33 28
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+f 28 36 31
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+f 29 38 30
+f 31 36 39
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+f 34 42 39
+f 34 39 35
+f 35 39 36
+f 37 40 43
+f 37 43 38
+f 39 42 40
+f 40 42 44
+f 40 44 45
+f 40 45 43
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_30.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180dfed5a227181747746b29b07f0db760fc5dde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_30.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.14225345 0.10392062 -0.15825610
+v 0.11140579 0.14384125 -0.15825595
+v 0.17191295 0.10392062 -0.15825610
+v 0.11140579 0.10392060 -0.15192610
+v 0.11140579 0.16980055 -0.15825586
+v 0.17546481 0.16295361 -0.15825588
+v 0.17369830 0.10392058 -0.14818674
+v 0.11140579 0.10391970 0.09142498
+v 0.16095566 0.17570457 -0.15825583
+v 0.11140579 0.17037755 -0.14818649
+v 0.17433953 0.16887872 -0.15825586
+v 0.17445897 0.16887871 -0.15412547
+v 0.17460984 0.16887868 -0.14818650
+v 0.17469786 0.16887866 -0.14224753
+v 0.17550252 0.16295360 -0.15412549
+v 0.17436467 0.10392054 -0.13630880
+v 0.17420122 0.10392056 -0.14224777
+v 0.17422008 0.10391970 0.09142498
+v 0.11140579 0.16533821 0.09142521
+v 0.16095566 0.17573974 -0.15412544
+v 0.16689007 0.17546527 -0.14818648
+v 0.16689007 0.17539493 -0.15412545
+v 0.16689007 0.17533864 -0.15825584
+v 0.16095566 0.17580291 -0.11257710
+v 0.16095566 0.17579596 -0.13630853
+v 0.16095566 0.17578895 -0.14224750
+v 0.16095566 0.17576785 -0.14818647
+v 0.11140579 0.16787168 0.04762837
+v 0.16095566 0.17579512 0.09142525
+v 0.16095566 0.17580222 0.07729880
+v 0.16095566 0.17580965 -0.02950486
+v 0.17239073 0.17186239 -0.15825585
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_31.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5b9a13cfd996b3dfe0b610572b4fb12c2bc452
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_31.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.14729288 0.11810809 -0.15925860
+v -0.14729288 0.14308173 -0.16124506
+v -0.13338586 0.14451895 -0.16124506
+v -0.14561696 0.11810809 -0.15846913
+v -0.14729288 0.11810791 -0.10853168
+v -0.14729288 0.17036316 -0.16124496
+v -0.14406494 0.11810809 -0.15773643
+v -0.13338586 0.16993559 -0.16124497
+v -0.13338586 0.11810807 -0.15219986
+v -0.13338586 0.11810791 -0.10853168
+v -0.14729288 0.17038357 -0.10853148
+v -0.14648147 0.17034255 -0.16124496
+v -0.14729288 0.17072884 -0.14819558
+v -0.13338586 0.17032189 -0.14819558
+v -0.13338586 0.16563405 -0.10853150
+v -0.14578170 0.16991479 -0.10853149
+v -0.14172328 0.16864757 -0.10853149
+v -0.14007594 0.16805516 -0.10853149
+f 1 2 3
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+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
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+f 2 12 8
+f 2 8 3
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+f 11 14 13
+f 12 13 14
+f 14 16 17
+f 14 17 18
+f 14 18 15
+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_32.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6608e8daae0366eec0a379143155fa3c67772f13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_32.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.14729700 0.13740224 -0.10854062
+v -0.17333085 0.13740224 -0.10854062
+v -0.14729700 0.11810978 -0.10854069
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+v -0.17341103 0.13332466 -0.10854063
+v -0.17451998 0.13740237 -0.14455975
+v -0.17246249 0.11810978 -0.10854069
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+v -0.14899222 0.13740256 -0.19555082
+v -0.17452828 0.12740202 -0.14446063
+v -0.17452550 0.11810991 -0.14450574
+v -0.17539662 0.13740248 -0.17391770
+v -0.17553490 0.12740214 -0.17786578
+v -0.17554596 0.11811003 -0.17786582
+v -0.14969740 0.11811011 -0.19963415
+v -0.14976377 0.12147567 -0.19954399
+v -0.15000437 0.12740222 -0.19924651
+v -0.15031133 0.13200672 -0.19892200
+v -0.15359667 0.13740257 -0.19787638
+v -0.17551001 0.13740249 -0.17786575
+v -0.17552107 0.13332491 -0.17786576
+v -0.17453380 0.13740251 -0.18109268
+v -0.17453658 0.13332493 -0.18111072
+v -0.17455316 0.11811005 -0.18113782
+v -0.15359667 0.11811012 -0.20061665
+v -0.15359667 0.12147568 -0.20042733
+v -0.15359667 0.12740222 -0.19979635
+v -0.15359667 0.13234290 -0.19902115
+v -0.15359667 0.13530617 -0.19839017
+v -0.15948152 0.13740256 -0.19669557
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+v -0.16836412 0.12740220 -0.19259433
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+v -0.16662465 0.13740255 -0.19254923
+v -0.16237694 0.11811011 -0.19866065
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+f 46 56 47
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_33.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a62d0da455280270242803dce9ea8ee6216f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_33.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.14869793 -0.13988695 -0.18977995
+v -0.14942193 -0.13988694 -0.19309753
+v -0.14990983 -0.12462242 -0.19338962
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+v -0.14944029 -0.12462243 -0.18974057
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+v -0.14966850 -0.13988694 -0.19343462
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+v -0.17355773 -0.12462252 -0.16496971
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+v -0.15309699 -0.13988694 -0.19363687
+v -0.15359540 -0.12462242 -0.19365088
+v -0.17356035 -0.12692355 -0.16496972
+v -0.17535199 -0.12462250 -0.17211050
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+v -0.17533624 -0.13988702 -0.17214707
+v -0.15359540 -0.13988694 -0.19364811
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+v -0.17534411 -0.13333355 -0.17213581
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+v -0.17546741 -0.13925944 -0.17787488
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+v -0.17139886 -0.13333351 -0.18366727
+v -0.16960199 -0.12462245 -0.18513923
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_34.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac49e5ca68c176c041ea621c2629884a2ea7cd9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_34.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.13338586 -0.12462269 -0.11849557
+v -0.17275358 -0.12462269 -0.11849557
+v -0.13338586 -0.13988721 -0.11849562
+v -0.13338586 -0.12462257 -0.15219365
+v -0.17299919 -0.12740933 -0.11849558
+v -0.17452124 -0.12462260 -0.14451970
+v -0.17336963 -0.13988721 -0.11849562
+v -0.13338586 -0.13988708 -0.15397687
+v -0.15331735 -0.12462252 -0.16496690
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+v -0.17452124 -0.12462259 -0.14795865
+v -0.17450916 -0.13988712 -0.14446062
+v -0.15299926 -0.13988704 -0.16496695
+v -0.17355889 -0.12462252 -0.16496690
+v -0.17443264 -0.12462258 -0.14952802
+v -0.17355486 -0.13333357 -0.16496693
+v -0.17434809 -0.13988710 -0.15081994
+v -0.17450513 -0.13988711 -0.14785408
+v -0.17354278 -0.13988704 -0.16496695
+v -0.17355889 -0.12740916 -0.16496691
+v -0.17354681 -0.13822552 -0.16496695
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_35.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cb5485623d11858d77e5d4d13d71d270bad2bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_35.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_36.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efbf4a0caa79e1466f224b69376d26a791e0ff6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_37.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015b7c23396d496ebbda2dcc7666f69e9ed6219d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_37.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_38.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff992a2f7ea038ac403c6bd5db5001f99d61a811
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_38.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.14314879 -0.00996850 -0.15825653
+v 0.17195527 -0.00996850 -0.15825653
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_39.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ddd68ec106d2150ebe22e4dfaa40bf272fb2cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.17432633 0.10392028 -0.06620965
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+v 0.13246145 0.10392028 -0.06620965
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_4.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b1684ea7c868464c4ceb5795c91e871e95c820
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.13459706 -0.15703833 -0.19003903
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_40.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f25c76b51e5ba973965fc14038b4744e911452
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_40.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.13460106 -0.17298225 -0.17787391
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_41.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103a5bec08e742d509eb854a983f607d7763c2f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_41.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_42.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286dc457a6df48dffb7a9991c3c427b1ed24b6c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_42.obj
@@ -0,0 +1,571 @@
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_43.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a880ba7988375f83766e38ca53cffbb2d849a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_43.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.17421959 0.10391970 0.09142498
+v 0.11140580 0.10391970 0.09142498
+v 0.17422578 0.10146670 0.09142497
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_5.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db42def9aff2a67c678d8ef496712eab0949890d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_5.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_6.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebb44a41a06d933783c922a697700540b92d842
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_6.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.16095845 -0.17584071 0.08917958
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_7.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69f95bd42a1cdc3b624c18ba5bd4a3e5e80d5a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_7.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_8.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc44ba4cd910820d0b446806e1bd548128488b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_9.obj b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00462d31b33ca5f76c02789967a756dfa3f1823c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/mesh/storage_box_034_collision_9.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.13459706 -0.07507901 0.11521404
+v 0.00388834 -0.07507901 0.11521404
+v 0.13459706 -0.16647626 0.11521371
+v 0.13459706 -0.07507825 -0.09243961
+v 0.00388834 -0.16568428 0.11521371
+v 0.00388834 -0.07507825 -0.09243961
+v 0.00388834 -0.16805089 0.04762870
+v 0.03039857 -0.16805999 0.04762870
+v 0.06600569 -0.16806910 0.04762870
+v 0.12534662 -0.16807820 0.04762870
+v 0.13459706 -0.16806910 0.04762870
+v 0.13459706 -0.13651651 -0.09243983
+v 0.00388834 -0.16576544 -0.09243994
+v 0.00388834 -0.16763180 -0.04729520
+v 0.07192954 -0.16787761 -0.04135992
+v 0.08380285 -0.16791402 -0.04135992
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+v 0.13459706 -0.16794134 -0.04135992
+v 0.13459706 -0.16645731 -0.08884218
+v 0.13458426 -0.16647550 -0.09243994
+v 0.00388834 -0.16744059 -0.05323049
+v 0.06600569 -0.16779566 -0.04729520
+v 0.07192954 -0.16780475 -0.04729520
+v 0.13459706 -0.16788668 -0.04729520
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+
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/storage_box_034.xml b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/storage_box_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a4da17b981d501d5d71da09bda8993cf320b1a20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mjcf/storage_box_034.xml
@@ -0,0 +1,102 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_box_034">
+  <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_box_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_box_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_box_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_box_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_box_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_box_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_box_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_box_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_box_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_box_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_box_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_box_034_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_box_034_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_box_034_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_box_034_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_box_034_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_box_034_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_box_034_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_box_034_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_box_034_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_box_034_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_box_034_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_box_034_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_box_034_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_box_034_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_box_034_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_box_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_box_034_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_box_034_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_box_034_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_box_034_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_box_034_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_box_034_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_box_034_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_box_034_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_box_034_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_box_034_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_box_034_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/storage_box_034_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/storage_box_034_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/storage_box_034_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/storage_box_034_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/storage_box_034_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/storage_box_034_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/storage_box_034_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_box_034">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.urdf b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8564951136d5fa825887da4c20cb85811b35429b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_box_034">
+   <link name="storage_box_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_034.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_box_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.8500" />
+         <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>1c76ffce54b85348bf23b86edc528922</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_box</category>
+         <name>drawer organizer</name>
+         <color>gray,transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent plastic three-drawer storage box with square body</description>
+         <min_height>0.3598</min_height>
+         <max_height>0.3598</max_height>
+         <real_height>0.3598</real_height>
+         <min_mass>1.2</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140604</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.175177 -0.175005 -0.200698</min>
+            <max>0.182618 0.174995 0.159069</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Drawer fronts are merged and side panels are inconsistently split; not actionable by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.usd b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..14a227b48edfdbea94c3f09cbb1eefd8cc47c0ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c26b76caf71f4bbb2ed69381c3749dcb5fd2664bc8fbf7930d37aa597145780
+size 4883094
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/textures/material_0.png b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c89f877c708916191d0dccb9ac164b3bb5d5ffc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ce7e98ae70c568dfae720598076786bf7dfdbea03c18e26307fda34d1df690
+size 11541829
diff --git a/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/video.mp4 b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b45a5f2c76a4e4324f3191e06bdcfb94cc0f241b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc49d2a17fd7220cdcb2d840ee54b5ab0e26e5e570402e299c88bb9b19f35f2
+size 901631