diff --git a/.gitattributes b/.gitattributes
index 361e82cd921ee762f43a60d83ab2a4efa4b87246..8ac5a2c6d73b64c1cb9d9d0ca330070e892145eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2701,7 +2701,8 @@ dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/mesh/pill_orga
 dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/pill_organizer_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/glasses_case_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mesh/glasses_case_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mesh/glasses_case_016.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mjcf/mesh/glasses_case_016.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/1908aff04338563aa8374bf41e2df4a5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material.mtl b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..beba4d92895fd914aedf07f4cd4aaa28e7be2597
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material_0.png b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4671151266084609d79ab8addf2c85ea7650a02b928a9c9ca0ef5c32a79c534
+size 7910815
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69e8a5b0f1294eae103746854f3233590654e231
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cb8a9f177876c00a55633769321578e748db0a6952de7738dee3d4d4532e2c
+size 10767132
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.mtl b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5115b1b4e6933dbce05eac34d2b1eed49455e95d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_005_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a91e9546824210718123534949ab3f507c6a845
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.obj
@@ -0,0 +1,105988 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_005_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005_collision.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190a0d706f2efe61e66b654a477a99291f453cbc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005_collision.obj
@@ -0,0 +1,16225 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7392fa47a000f3d8a8e1dc89b6374fd68ee4cca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision.obj
@@ -0,0 +1,16225 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_0.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9794aee443b3fd521aa91122c96274f31289b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_1.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4e8508c5d07689a61d8ef110fb6c055f46107a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_10.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a471867e9b1a400eb7592c50d8b2d5fde73a09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_10.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_11.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47603a06058ca90d0eebd72b7fe1985f820b73bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_11.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_12.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3d0a2e911f365f622e4d90a500c05b66a88454
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_12.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_13.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120d852dd4667af43c6172db05170041a9ce1e02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_13.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_14.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4924f3b61e90025f4c04a30c217e1f52f62f02f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_15.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42ef372241ea8721f04f4623ed2a871604e6859
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_15.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_16.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9fe7b58b2a0217f032fb9f761d83ccbcde03fa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_16.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_17.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5350815217f61c4012b03db484e44ae78dc1e9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_17.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.04476369 -0.04334925 0.01160637
+v 0.04476369 -0.04334065 0.01144867
+v 0.04491328 -0.04329625 0.01160637
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+v 0.04476369 -0.04322892 0.00962576
+v 0.04483949 -0.04319024 0.00944668
+v 0.04476369 -0.04234507 -0.00408881
+v 0.04476369 -0.04170045 -0.01398115
+v 0.04563896 -0.04151425 -0.01096613
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+v 0.05508909 -0.02871716 0.01160642
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+v 0.05332641 -0.03506273 0.00749550
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+v 0.05286149 -0.03461435 -0.00226587
+v 0.05272807 -0.03461434 -0.00421708
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_18.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e58baf890fec341cb7553563baa223518f389b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_18.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.04071219 0.03596262 -0.02515524
+v 0.04071219 0.02993956 -0.02619277
+v 0.04071219 0.03596263 -0.02619275
+v 0.00010870 0.03596262 -0.02538295
+v 0.00114605 0.03134982 -0.02619276
+v 0.00010870 0.03596263 -0.02619275
+v 0.00010870 0.03146950 -0.02619276
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 2
+f 2 4 5
+f 2 5 7
+f 2 7 6
+f 2 6 3
+f 4 6 7
+f 4 7 5
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_19.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64fc70a04dfb27949c29483b1c8cfb51242f2976
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_19.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05456680 -0.01279544 0.02822196
+v 0.05264305 -0.01305649 0.02822196
+v 0.05516140 -0.01296397 0.02822196
+v 0.05455254 -0.00296123 0.02359322
+v 0.05148773 -0.01370748 0.02822196
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+v 0.05620975 -0.00296122 0.02283205
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_2.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa9102cc78935e9ea62e802b146aece0510cd6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_2.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_20.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2145d1b5b1cc9afd7188dcd0417f1c366df23bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_20.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_21.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6d190220b43f02957b0e65b1248c78fdd09252
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_22.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a727eaf2d90bbeb90d55da9a38535ba6c8ecda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_22.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_23.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0971ec67576847b4a3f080abdaca596194a742
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_23.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.03661313 -0.04445097 0.01160637
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_24.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cab3d047cdbde593b72db7f68362f53a09248d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_24.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_25.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d004d9c86b92d8fdcee0aefe154275a67d6eb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_25.obj
@@ -0,0 +1,397 @@
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_26.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a6c7970500527bfa5711739e3cc4b5250c9628
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_26.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04037248 -0.04557996 0.03477009
+v -0.04037248 -0.04149516 0.03477011
+v -0.04222169 -0.04534335 0.03477009
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+v -0.04037248 -0.04430532 0.01160637
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+v -0.04935132 -0.03646058 0.03214221
+v -0.04935132 -0.03655545 0.03287685
+v -0.04935132 -0.03668938 0.03387677
+v -0.04935132 -0.03683225 0.03477012
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+v -0.04236758 -0.04532326 0.03476555
+v -0.04237813 -0.04399171 0.01160637
+v -0.04037248 -0.04026182 0.01160638
+v -0.04935132 -0.04227306 0.03477010
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+v -0.04743884 -0.04356211 0.03477010
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_27.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e736f70e819a352b2e748cb43529ea63536ddf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_27.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00011268 0.03851524 -0.01892996
+v 0.00011268 0.04024070 0.01160668
+v 0.00011268 0.04280697 -0.01892994
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+v 0.04071964 0.04249821 -0.01892994
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_28.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6e2c2f31e5cb22352747808056ffb439220bec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_28.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.04476455 -0.04158811 -0.01569981
+v 0.04529261 -0.04135125 -0.01569981
+v 0.04476455 -0.03664681 -0.01569979
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_29.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a065b7d3b996bc1fa62e4987edf03850ea506f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_3.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72aa2084ccb572f633888169c5ceeca1fc11d336
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+v -0.02259474 0.04584868 0.03673797
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+v -0.04039616 0.05085519 0.03630205
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_30.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81cd93f4138029e36a353b700939090f5e6cd8cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_30.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00010870 0.03754600 -0.02368797
+v 0.00010870 -0.00006001 -0.02620327
+v 0.00010870 0.03754602 -0.02976769
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_31.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64feba55ebbf2ae2a6b767083da1aea8d50c07d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_31.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04279266 0.04903290 0.03565024
+v 0.04279266 0.04981838 0.03565024
+v 0.04279266 0.04585289 0.03871248
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_32.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9591da5e74f77584cc04723c8c6151bb3ce39bba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_32.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_33.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c740eea37ca3967ac227110cb0d9a3e1495f3012
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_33.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_34.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac6ab666094d71aa9d9428c02c9d384a3853daf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_34.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_35.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eebe43d1156f349cd4c24a41f28bba90e51de449
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_35.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_36.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a00cae7c5b508ed721b2d852249bbff5c2d22d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_36.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_37.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00cf38166c3ac272c89b758f133d410e1ab10155
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_37.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_38.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9894b1429338ee7ed81ec858dc21f00270bace1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_38.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.06012459 0.03257814 0.03873856
+v -0.05992133 0.03257813 0.04068805
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_39.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba66d66324b7cec3ed401cb7b3e5409c604a8658
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_39.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_4.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c61a62533a38a26957f5cf6054a9ae65ca9e5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_4.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_40.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7849953d1cb8a5efed66485f81c44679211f25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_40.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_41.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6320d13c9fe35c379acf34731e6030c4430773c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_42.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3aad2ff416be47bd1b6a21647146448c12a3655
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_42.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_43.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9faadbced928ac5ac1994729e8d7169865c0aad5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04935132 -0.04637188 0.03631005
+v -0.04638064 -0.04404740 0.03477010
+v -0.04633845 -0.04406608 0.03477010
+v -0.04442245 -0.04480293 0.03477010
+v -0.04435566 -0.04482814 0.03477010
+v -0.04236846 -0.04532404 0.03477009
+v -0.04037248 -0.04557993 0.03477009
+v -0.04037248 -0.04559114 0.03481915
+v -0.04037248 -0.04637189 0.03874307
+v -0.04935132 -0.04637191 0.04306280
+v -0.04935132 -0.04227392 0.03477010
+v -0.04845924 -0.04290897 0.03477010
+v -0.04842145 -0.04293512 0.03477010
+v -0.04838278 -0.04296127 0.03477010
+v -0.04743884 -0.04356270 0.03477010
+v -0.04037248 -0.04149598 0.03477011
+v -0.04037248 -0.04637190 0.04084265
+v -0.04831159 -0.04637191 0.04320998
+v -0.04935132 -0.04448076 0.04325739
+v -0.04935132 -0.03683207 0.03477012
+v -0.04037248 -0.04154455 0.03856931
+v -0.04037336 -0.04637191 0.04326403
+v -0.04037248 -0.04448076 0.04325655
+v -0.04633318 -0.04637191 0.04325738
+v -0.04831159 -0.04448076 0.04326071
+v -0.04935132 -0.04250742 0.04324990
+v -0.04935132 -0.03714306 0.03873728
+v -0.04037248 -0.04161927 0.04068884
+v -0.04039972 -0.04637191 0.04326486
+v -0.04237813 -0.04448076 0.04326071
+v -0.04037248 -0.04259054 0.04245081
+v -0.04935132 -0.03866348 0.04232943
+v -0.04935132 -0.04053502 0.04300960
+v -0.04831159 -0.04250742 0.04323826
+v -0.04435566 -0.04637191 0.04326153
+v -0.04935132 -0.03731771 0.04038535
+v -0.04037248 -0.04257747 0.04242753
+v -0.04935132 -0.03752597 0.04150790
+v -0.04931441 -0.03759135 0.04156444
+v -0.04935132 -0.03762777 0.04161017
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
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+f 1 22 29
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+f 1 35 24
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+f 1 18 10
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+f 1 27 20
+f 1 20 11
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+f 1 14 15
+f 1 15 2
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+f 2 14 13
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+f 2 11 20
+f 2 20 16
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+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 16 21
+f 7 21 28
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+f 7 23 17
+f 7 17 9
+f 7 9 8
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+f 16 20 21
+f 17 23 22
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+f 19 24 25
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+f 20 27 28
+f 20 28 21
+f 22 23 29
+f 23 30 29
+f 23 31 32
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+f 23 34 26
+f 23 26 30
+f 24 35 25
+f 25 35 29
+f 25 29 30
+f 25 30 26
+f 26 34 33
+f 27 36 28
+f 28 36 38
+f 28 38 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_44.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922a5f119d54b333ced0266940b95042c82fea33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_44.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.04602729 0.03497974 -0.01892997
+v 0.04930764 0.03497974 -0.01892997
+v 0.04602897 0.03497974 -0.01891203
+v 0.04072446 0.03811422 -0.01892996
+v 0.04930764 0.03790047 -0.01892996
+v 0.04930764 0.03497963 0.01160666
+v 0.04890516 0.03497963 0.01160666
+v 0.04072446 0.04249801 -0.01892994
+v 0.04072446 0.04007384 0.01160668
+v 0.04922446 0.03798130 -0.01892996
+v 0.04892701 0.03874739 -0.01398001
+v 0.04930764 0.03808907 -0.01695416
+v 0.04930764 0.04054895 0.01160668
+v 0.04268393 0.04233273 -0.01397999
+v 0.04268393 0.04202558 -0.01892995
+v 0.04072446 0.04255638 -0.01789571
+v 0.04171680 0.04334219 -0.00138692
+v 0.04072446 0.04380288 0.01160669
+v 0.04903540 0.03816272 -0.01892996
+v 0.04872787 0.03856059 -0.01788676
+v 0.04882870 0.03865399 -0.01593189
+v 0.04902196 0.03883899 -0.01202813
+v 0.04793047 0.03920995 -0.01892996
+v 0.04768596 0.03943717 -0.01892996
+v 0.04921353 0.03901860 -0.00812437
+v 0.04930764 0.03910751 -0.00619939
+v 0.04895474 0.04085252 0.01160668
+v 0.04930764 0.04048159 0.01073386
+v 0.04268393 0.04280332 -0.00616948
+v 0.04350065 0.04329366 0.00554181
+v 0.04363425 0.04332689 0.00668066
+v 0.04339394 0.04178219 -0.01892995
+v 0.04072446 0.04329460 -0.00470482
+v 0.04146472 0.04330536 -0.00269017
+v 0.04072446 0.04350743 -0.00086084
+v 0.04072446 0.04364214 0.00160517
+v 0.04072446 0.04374633 0.00356303
+v 0.04072446 0.04384691 0.00552089
+v 0.04072446 0.04415495 0.01160370
+v 0.04268393 0.04382803 0.01160669
+v 0.04184032 0.04337361 -0.00031682
+v 0.04327547 0.04323529 0.00358993
+v 0.04247639 0.04386216 0.01160669
+v 0.04857998 0.03859921 -0.01892996
+v 0.04783972 0.03956200 -0.01593188
+v 0.04673479 0.04008023 -0.01892995
+v 0.04761201 0.04135280 0.00470784
+v 0.04930764 0.03926378 -0.00439098
+v 0.04768175 0.04140040 0.00600810
+v 0.04775822 0.04145338 0.00749368
+v 0.04785737 0.04152163 0.00944855
+v 0.04806911 0.04151893 0.01160668
+v 0.04930764 0.03969397 0.00082201
+v 0.04930764 0.03964277 0.00017936
+v 0.04930764 0.03953230 -0.00120161
+v 0.04793719 0.03964013 -0.01398000
+v 0.04206382 0.04342929 0.00163805
+v 0.04268393 0.04381725 0.01140044
+v 0.04375525 0.04336550 0.00798390
+v 0.04407959 0.04154329 -0.01892995
+v 0.04072446 0.04335835 -0.00356298
+v 0.04076563 0.04343200 -0.00213121
+v 0.04072446 0.04342931 -0.00227767
+v 0.04389725 0.04351368 0.01160669
+v 0.04387793 0.04340861 0.00944856
+v 0.04930764 0.03941556 -0.00260948
+v 0.04506857 0.04108345 -0.01892995
+v 0.04663984 0.04022393 -0.01788675
+v 0.04682722 0.04184228 0.00543120
+v 0.04663984 0.04208746 0.00749368
+v 0.04663984 0.04037571 -0.01593188
+v 0.04565338 0.04136543 -0.01107460
+v 0.04583488 0.04146781 -0.00812436
+v 0.04595503 0.04153516 -0.00616949
+v 0.04607267 0.04160341 -0.00421761
+v 0.04663984 0.04221679 0.00944856
+v 0.04663984 0.04234521 0.01140044
+v 0.04663984 0.04235868 0.01160669
+v 0.04781703 0.04168239 0.01160668
+v 0.04795483 0.04158898 0.01140043
+v 0.04796492 0.04159617 0.01160668
+v 0.04504504 0.04311222 0.01160669
+v 0.04502823 0.04310593 0.01140044
+v 0.04486691 0.04304576 0.00944856
+v 0.04451400 0.04304936 0.00739804
+v 0.04466272 0.04275389 0.00358993
+v 0.04454089 0.04133043 -0.01892995
+v 0.04466272 0.04262905 0.00163805
+v 0.04466272 0.04250332 -0.00031682
+v 0.04466272 0.04237670 -0.00226870
+v 0.04405690 0.04347147 0.01160669
+v 0.04404010 0.04346608 0.01140044
+v 0.04529039 0.04119211 -0.01593188
+v 0.04648691 0.04243143 0.01160669
+v 0.04416109 0.04343375 0.01160669
+v 0.04466272 0.04287692 0.00554181
+f 1 2 6
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_45.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e88f2c029fa9b7de164f34f061c845b56f64c61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_45.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04071220 0.02993859 -0.02619287
+v 0.04182533 0.00212381 -0.02619297
+v 0.04071220 0.03644104 -0.02451813
+v 0.04071220 0.04147772 -0.02619283
+v 0.04930764 0.00212381 -0.02619297
+v 0.04767454 0.00212380 -0.02474660
+v 0.04748608 0.02908094 -0.02451815
+v 0.04071220 0.04194942 -0.02451811
+v 0.04071220 0.04161805 -0.02582251
+v 0.04104707 0.04141535 -0.02619283
+v 0.04930764 0.00212380 -0.02474660
+v 0.04930764 0.02907315 -0.02619287
+v 0.04776289 0.02907314 -0.02451815
+v 0.04150309 0.04179738 -0.02451811
+v 0.04071220 0.04164535 -0.02573923
+v 0.04215851 0.04151280 -0.02515400
+v 0.04184553 0.04119315 -0.02619283
+v 0.04930764 0.02907314 -0.02474650
+v 0.04930680 0.02907314 -0.02451815
+v 0.04930680 0.03616037 -0.02619285
+v 0.04930680 0.03620715 -0.02613056
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+v 0.04930680 0.03699461 -0.02451812
+v 0.04242018 0.04155568 -0.02451811
+v 0.04312609 0.04135297 -0.02451811
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+v 0.04327249 0.04061619 -0.02619283
+v 0.04847300 0.03711546 -0.02619284
+v 0.04906365 0.03677630 -0.02569728
+v 0.04928072 0.03702969 -0.02451812
+v 0.04336588 0.04125551 -0.02451811
+v 0.04367551 0.04111907 -0.02451811
+v 0.04484417 0.04009381 -0.02587333
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+v 0.04792780 0.03770412 -0.02619284
+v 0.04807504 0.03784445 -0.02569728
+v 0.04888948 0.03745461 -0.02451812
+v 0.04528505 0.04027312 -0.02451811
+v 0.04604817 0.03965329 -0.02534022
+v 0.04624085 0.03911532 -0.02619284
+v 0.04704772 0.03845260 -0.02619284
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+v 0.04763584 0.03864751 -0.02451812
+v 0.04829211 0.03805496 -0.02451812
+v 0.04620888 0.03976244 -0.02451811
+v 0.04671875 0.03940769 -0.02451812
+f 1 2 3
+f 1 3 8
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+f 1 15 9
+f 1 9 4
+f 1 4 10
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+f 1 17 27
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+f 40 42 41
+f 42 47 43
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_46.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182af607e06d2b7d2d0502bba168efa9e2691ee8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_46.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.04071220 0.03644389 -0.02451758
+v 0.04748608 0.02908051 -0.02451760
+v 0.04899297 0.02907523 -0.01892999
+v 0.04071220 0.03811683 -0.01892996
+v 0.04071220 0.04195032 -0.02451756
+v 0.04776289 0.02907525 -0.02451760
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+v 0.04930681 0.02907523 -0.01892999
+v 0.04071220 0.03814311 -0.01892996
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+v 0.04930681 0.02907525 -0.02451760
+v 0.04930681 0.03789998 -0.01892996
+v 0.04176223 0.04224468 -0.01892994
+v 0.04071220 0.04249963 -0.01893322
+v 0.04071220 0.04214088 -0.02374465
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+v 0.04930681 0.03699847 -0.02451757
+v 0.04930681 0.03768578 -0.02114203
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+v 0.04374618 0.04139573 -0.02298596
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+v 0.04930681 0.03759379 -0.02199645
+v 0.04877927 0.03814575 -0.02162558
+v 0.04857986 0.03859782 -0.01892996
+v 0.04339365 0.04178209 -0.01892995
+v 0.04268437 0.04197002 -0.01984016
+v 0.04386145 0.04144698 -0.02179186
+v 0.04485090 0.04097256 -0.02179186
+v 0.04450846 0.04091212 -0.02367956
+v 0.04336588 0.04125906 -0.02451756
+v 0.04528589 0.04027737 -0.02451756
+v 0.04367551 0.04111976 -0.02451756
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+v 0.04506797 0.04108426 -0.01892995
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+v 0.04636032 0.03986471 -0.02374465
+v 0.04620888 0.03976220 -0.02451756
+v 0.04930681 0.03731388 -0.02374466
+v 0.04829211 0.03805508 -0.02451757
+v 0.04763668 0.03865040 -0.02451757
+v 0.04734893 0.03917608 -0.02374466
+v 0.04741456 0.03962025 -0.01892995
+v 0.04768632 0.03943627 -0.01892996
+v 0.04682139 0.03994880 -0.01988993
+v 0.04673473 0.04008022 -0.01892995
+v 0.04671875 0.03940869 -0.02451757
+v 0.04710662 0.03908934 -0.02451757
+f 1 2 3
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+f 1 16 10
+f 1 10 5
+f 1 5 11
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+f 32 48 33
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+f 33 47 49
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+f 36 54 37
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+f 42 59 45
+f 42 45 58
+f 44 58 45
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_47.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc934adc926f510bb58f308aef44294a7c44668
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_47.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.04930733 0.02656958 -0.01893000
+v 0.04602765 0.03497892 -0.01892997
+v 0.04930733 0.03497892 -0.01892997
+v 0.04930733 0.03439267 0.01160666
+v 0.04890567 0.03497881 0.01160666
+v 0.04930733 0.03497881 0.01160666
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 6 5
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_48.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b52168b4a3e61f1df7842a777f8c8d6e64c2a0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_48.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.05191502 -0.01885151 0.03420349
+v -0.05174632 -0.01885149 0.02899662
+v -0.05626395 -0.01885151 0.03420349
+v -0.04935133 -0.03674068 0.03420343
+v -0.05118399 -0.01885142 0.01160867
+v -0.05500852 -0.01885142 0.01160867
+v -0.05626531 -0.01946261 0.03420349
+v -0.04935133 -0.04223377 0.03420340
+v -0.04935133 -0.03668802 0.03387607
+v -0.04935133 -0.03655527 0.03287849
+v -0.04935133 -0.03645914 0.03214192
+v -0.04935133 -0.03632181 0.03092536
+v -0.04935133 -0.03417714 0.01160861
+v -0.05500582 -0.02277440 0.01160866
+v -0.05627208 -0.02474743 0.03420347
+v -0.05627208 -0.02340848 0.03420347
+v -0.05627140 -0.02277449 0.03420348
+v -0.05626937 -0.02143555 0.03420348
+v -0.04978696 -0.04192249 0.03420341
+v -0.04972531 -0.04187213 0.03287847
+v -0.04935133 -0.04217883 0.03344251
+v -0.04935133 -0.04043927 0.01160859
+v -0.05500175 -0.02474734 0.01160865
+v -0.05627005 -0.02672265 0.03420346
+v -0.05045770 -0.04132054 0.03420341
+v -0.04935133 -0.04156311 0.02553488
+v -0.04981881 -0.04003873 0.01160859
+v -0.04969957 -0.04014172 0.01160859
+v -0.04935133 -0.04049421 0.01225226
+v -0.05498210 -0.02672256 0.01160864
+v -0.05624634 -0.02869558 0.03420345
+v -0.05077613 -0.04103215 0.03420341
+v -0.04992314 -0.03993116 0.01160859
+v -0.05490419 -0.02848722 0.01160864
+v -0.05489470 -0.02869549 0.01160863
+v -0.05614471 -0.03066623 0.03420345
+v -0.05108236 -0.04071401 0.03420341
+v -0.05096041 -0.03917587 0.01530694
+v -0.05088046 -0.03908660 0.01335381
+v -0.05080797 -0.03900420 0.01160860
+v -0.05466029 -0.03066614 0.01160863
+v -0.05584864 -0.03268265 0.03420344
+v -0.05171380 -0.04004340 0.03420341
+v -0.05166570 -0.03998617 0.03287847
+v -0.05153020 -0.03812072 0.01160860
+v -0.05422058 -0.03263908 0.01160862
+v -0.05367044 -0.03424809 0.01160861
+v -0.05359321 -0.03447011 0.01160861
+v -0.05354511 -0.03458455 0.01160861
+v -0.05318467 -0.03543827 0.01160861
+v -0.05322464 -0.03552754 0.01291807
+v -0.05401665 -0.03658733 0.03420343
+v -0.05238453 -0.03919426 0.03420342
+v -0.05161353 -0.03801773 0.01160860
+v -0.05261285 -0.03644304 0.01160861
+v -0.05341231 -0.03779123 0.03420342
+v -0.05326326 -0.03561222 0.01421868
+v -0.05270296 -0.03877770 0.03420342
+v -0.05254104 -0.03656664 0.01160861
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+f 1 16 15
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+f 43 53 44
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+f 51 57 52
+f 51 56 57
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+f 53 58 54
+f 54 58 56
+f 54 56 59
+f 55 59 56
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_49.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1b986a07e3af962b7ea9e96ab6b4810e25165
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_49.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05570746 0.02235314 0.02367179
+v 0.05569645 0.02235314 0.02337654
+v 0.05190655 0.02235314 0.02367179
+v 0.05662782 0.01472216 0.02367176
+v 0.05568654 0.02235315 0.02311553
+v 0.05142599 0.02235319 0.01160661
+v 0.05123994 0.01475932 0.02367176
+v 0.05649516 0.01276239 0.02367176
+v 0.05621002 -0.00295792 0.02283200
+v 0.05676378 -0.00295792 0.02116324
+v 0.05666856 0.01274753 0.02311550
+v 0.05676213 0.00880321 0.02116328
+v 0.05670323 0.01077289 0.02116329
+v 0.05658929 0.01472217 0.02311550
+v 0.05519773 0.02235319 0.01160661
+v 0.05520048 0.02235319 0.01166212
+v 0.05529131 0.02235318 0.01361432
+v 0.05536892 0.02235317 0.01530671
+v 0.05538048 0.02235317 0.01556653
+v 0.05545369 0.02235317 0.01725891
+v 0.05546250 0.02235317 0.01746795
+v 0.05551810 0.02235316 0.01880604
+v 0.05555773 0.02235316 0.01978273
+v 0.05561113 0.02235315 0.02116333
+v 0.05149645 -0.00295788 0.01160652
+v 0.05115022 -0.00295792 0.02116324
+v 0.05114912 -0.00106504 0.02116325
+v 0.05114746 0.00288176 0.02116326
+v 0.05114691 0.00485640 0.02116327
+v 0.05114691 0.00682857 0.02116328
+v 0.05115076 0.00880321 0.02116328
+v 0.05122673 0.01302997 0.02367176
+v 0.05598984 0.01108010 0.02367175
+v 0.05455259 -0.00295793 0.02359257
+v 0.05462085 -0.00295793 0.02356187
+v 0.05521314 -0.00295788 0.01160652
+v 0.05676984 0.00682857 0.02116328
+v 0.05521149 0.00682861 0.01160656
+v 0.05115737 -0.00295792 0.02121874
+v 0.05128178 0.01270788 0.02367176
+v 0.05132691 -0.00295792 0.02250959
+v 0.05257480 -0.00295793 0.02327016
+v 0.05455259 0.00885275 0.02367174
+v 0.05265627 -0.00295793 0.02328433
+v 0.05244710 0.01017578 0.02367175
+v 0.05151902 0.01147652 0.02367175
+v 0.05521370 -0.00127064 0.01160653
+v 0.05521424 0.00070152 0.01160653
+v 0.05521424 0.00090964 0.01160653
+v 0.05521314 0.00485644 0.01160655
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+f 40 42 46
+f 42 44 46
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_5.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88dc141019cad4ebb5ee453d02b98a6dc2bb4c03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04252581 0.03964828 0.01160668
+v -0.04252581 0.04133036 0.04068587
+v -0.04252581 0.04381567 0.01160669
+v 0.04279266 0.03962817 0.01160668
+v -0.04252581 0.04138276 0.04120038
+v 0.04279266 0.04131756 0.04068587
+v -0.04252581 0.04584748 0.03862164
+v -0.04237548 0.04385467 0.01160669
+v 0.04279266 0.04380044 0.01160669
+v -0.04252581 0.04212179 0.04226969
+v 0.04279266 0.04213763 0.04228519
+v -0.04252581 0.04584746 0.04326154
+v 0.00013343 0.04585236 0.03676196
+v -0.04038784 0.04584748 0.03701612
+v -0.03840854 0.04429090 0.01160669
+v -0.03861733 0.04427811 0.01160669
+v -0.04038784 0.04416600 0.01160669
+v -0.04059663 0.04413371 0.01160669
+v 0.04279266 0.04585236 0.03870842
+v 0.04267574 0.04382847 0.01160669
+v -0.04252581 0.04215895 0.04230688
+v 0.04279266 0.04219368 0.04233478
+v -0.04252581 0.04432368 0.04326153
+v -0.01270276 0.04584746 0.04327084
+v 0.00013343 0.04585234 0.04326774
+v -0.03643760 0.04584749 0.03674337
+v -0.03840854 0.04584748 0.03679605
+v 0.00111890 0.04585236 0.03675886
+v -0.03643760 0.04431771 0.01160669
+v -0.03664639 0.04431527 0.01160669
+v 0.04279266 0.04585234 0.04326154
+v 0.04070480 0.04415747 0.01160669
+v 0.03872551 0.04429151 0.01160669
+v 0.04151489 0.04585236 0.03769800
+v -0.04252581 0.04219551 0.04233168
+v 0.04279266 0.04432307 0.04326463
+v -0.04252581 0.04417563 0.04322434
+v 0.00013343 0.04244896 0.04245257
+v -0.00676488 0.04244896 0.04245257
+v 0.04267574 0.04432307 0.04326463
+v 0.04279266 0.04443152 0.04326463
+v -0.03445830 0.04431954 0.01160669
+v 0.01103208 0.04585237 0.03674956
+v 0.03674621 0.04432137 0.01160669
+v 0.04070480 0.04585236 0.03707501
+v -0.04038784 0.04244958 0.04244947
+v 0.03455813 0.04432197 0.01160669
+v 0.01696996 0.04585237 0.03674646
+v 0.03479197 0.04585236 0.03675576
+v 0.03675456 0.04585236 0.03677436
+v 0.03872551 0.04585236 0.03681465
+v 0.03476691 0.04432197 0.01160669
+v 0.02491219 0.04585237 0.03674646
+v 0.03282102 0.04585237 0.03675266
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+f 1 12 7
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+f 42 43 47
+f 43 48 47
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+f 44 50 51
+f 44 51 45
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+f 52 53 54
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_50.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6f3d8ef2831c5a4bab8bf3167bccc86d5ab764
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_50.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05118162 0.01472244 0.02897424
+v 0.05127542 0.01485771 0.03101263
+v 0.05131801 0.01627537 0.02897425
+v 0.05129268 0.01633107 0.02702678
+v 0.05123823 0.01472245 0.02702677
+v 0.05128405 0.01240831 0.03101263
+v 0.05126680 0.01273984 0.03090533
+v 0.05126841 0.01274117 0.03101263
+v 0.05208299 0.02235312 0.03101266
+v 0.05208029 0.02235312 0.03092643
+v 0.05199781 0.02235313 0.02702680
+v 0.05153042 0.01367612 0.02702677
+v 0.05262370 0.00966184 0.03101262
+v 0.05597473 0.02235312 0.03101266
+v 0.05206897 0.02235313 0.02702680
+v 0.05257519 0.01327297 0.02702677
+v 0.05454989 0.00880648 0.03101261
+v 0.05652137 0.01669046 0.02702678
+v 0.05591219 0.02235312 0.02923414
+v 0.05668903 0.01463624 0.03101263
+v 0.05668741 0.01472244 0.03092640
+v 0.05583294 0.02234782 0.02702680
+v 0.05584211 0.02235313 0.02728199
+v 0.05455259 0.01301039 0.02702677
+v 0.05541730 0.00970959 0.03101262
+v 0.05592998 0.01340956 0.02702677
+v 0.05668418 0.01472244 0.02897424
+v 0.05662164 0.01471847 0.02702677
+v 0.05590303 0.02235312 0.02897427
+v 0.05638067 0.01236587 0.03101263
+v 0.05599845 0.01095219 0.03101262
+v 0.05622918 0.01158742 0.03101262
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 6
+f 2 6 13
+f 2 13 17
+f 2 17 25
+f 2 25 31
+f 2 31 32
+f 2 32 30
+f 2 30 20
+f 2 20 14
+f 2 14 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 15
+f 4 15 22
+f 4 22 18
+f 4 18 28
+f 4 28 26
+f 4 26 24
+f 4 24 16
+f 4 16 12
+f 4 12 5
+f 5 12 6
+f 6 8 7
+f 6 12 13
+f 9 14 19
+f 9 19 29
+f 9 29 23
+f 9 23 15
+f 9 15 11
+f 9 11 10
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 20 21
+f 14 21 18
+f 15 23 22
+f 16 24 17
+f 17 24 26
+f 17 26 25
+f 18 21 27
+f 18 27 28
+f 18 22 23
+f 18 23 29
+f 18 29 19
+f 20 30 27
+f 20 27 21
+f 25 26 28
+f 25 28 31
+f 27 30 28
+f 28 30 32
+f 28 32 31
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_51.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c68c662c318b84f73d3be001be1b781cffb4108
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_51.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04930764 0.02907523 -0.01892999
+v 0.04930764 0.02907525 -0.02474585
+v 0.04899342 0.02907523 -0.01892999
+v 0.04930764 0.02822838 -0.01893000
+v 0.04712562 0.02907525 -0.02474585
+v 0.04930764 0.00212380 -0.02474595
+v 0.04930722 0.02656898 -0.01893000
+v 0.04767610 0.00212380 -0.02474595
+v 0.04930764 0.00212378 -0.01969927
+v 0.04930764 0.02656106 -0.01893341
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 6 9 8
+f 7 9 10
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_52.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc4082e275b8c9af88470f13593c5a78e0ad79c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_52.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05142562 0.02235319 0.01160661
+v 0.04884945 0.03505581 0.01160666
+v 0.05519738 0.02235319 0.01160661
+v 0.05208309 0.02235312 0.03101266
+v 0.05352647 0.03505581 0.01160666
+v 0.05026212 0.03505574 0.03101271
+v 0.05519808 0.02261679 0.01160661
+v 0.05520018 0.02235319 0.01166170
+v 0.05597491 0.02235312 0.03101266
+v 0.05360185 0.03505580 0.01287178
+v 0.05382729 0.03432842 0.01160666
+v 0.05460761 0.03505574 0.03101271
+v 0.05520018 0.02459008 0.01160662
+v 0.05527974 0.02261678 0.01335422
+v 0.05527904 0.02235318 0.01335422
+v 0.05597561 0.02252968 0.03101266
+v 0.05590302 0.02235312 0.02897252
+v 0.05367444 0.03505580 0.01413879
+v 0.05386987 0.03422397 0.01160666
+v 0.05486515 0.03445642 0.03101271
+v 0.05456782 0.03505574 0.03028137
+v 0.05518622 0.02656336 0.01160663
+v 0.05526788 0.02656335 0.01335424
+v 0.05528114 0.02459007 0.01335423
+v 0.05536908 0.02261677 0.01530698
+v 0.05536838 0.02235317 0.01530698
+v 0.05597979 0.02459001 0.03101267
+v 0.05590372 0.02261672 0.02897252
+v 0.05590790 0.02459001 0.02897253
+v 0.05583322 0.02235313 0.02701976
+v 0.05393548 0.03402752 0.01160665
+v 0.05488470 0.03439300 0.03101271
+v 0.05444917 0.03248321 0.01160665
+v 0.05511642 0.02832899 0.01160663
+v 0.05519180 0.02853663 0.01335424
+v 0.05554706 0.02764758 0.02005594
+v 0.05535652 0.02656334 0.01530700
+v 0.05536978 0.02459006 0.01530699
+v 0.05546261 0.02235317 0.01746870
+v 0.05538025 0.02235317 0.01556722
+v 0.05597700 0.02656329 0.03101268
+v 0.05590511 0.02656329 0.02897254
+v 0.05583671 0.02459002 0.02701977
+v 0.05577041 0.02235314 0.02532913
+v 0.05576134 0.02261674 0.02506889
+v 0.05576482 0.02459003 0.02506890
+v 0.05537676 0.03275295 0.03101270
+v 0.05454061 0.03248320 0.01335426
+v 0.05488260 0.03050992 0.01160664
+v 0.05510805 0.02853664 0.01160663
+v 0.05528393 0.02853662 0.01530700
+v 0.05553938 0.02947413 0.02219677
+v 0.05560569 0.02656332 0.02116529
+v 0.05555404 0.02656333 0.01988118
+v 0.05551426 0.02656333 0.01890479
+v 0.05544376 0.02656334 0.01725976
+v 0.05537397 0.02853662 0.01725976
+v 0.05547378 0.02839735 0.01932840
+v 0.05561127 0.02870446 0.02295470
+v 0.05570620 0.02853659 0.02506891
+v 0.05578367 0.02853658 0.02701978
+v 0.05586044 0.02853657 0.02897254
+v 0.05593792 0.02853657 0.03101268
+v 0.05575854 0.02656331 0.02506891
+v 0.05568316 0.02656332 0.02311615
+v 0.05545423 0.02459006 0.01725975
+v 0.05551844 0.02459005 0.01879081
+v 0.05552333 0.02235316 0.01893897
+v 0.05576063 0.02235314 0.02506889
+v 0.05568665 0.02235315 0.02311613
+v 0.05569014 0.02459004 0.02311614
+v 0.05559173 0.03181045 0.03101270
+v 0.05556521 0.03160032 0.02942655
+v 0.05553589 0.03145237 0.02812535
+v 0.05503965 0.03248317 0.02311617
+v 0.05474162 0.03248319 0.01725978
+v 0.05464181 0.03248319 0.01530702
+v 0.05496985 0.03050991 0.01335425
+v 0.05556800 0.02970912 0.02349797
+v 0.05578088 0.03050985 0.03101269
+v 0.05506547 0.03050990 0.01530701
+v 0.05515969 0.03050990 0.01725977
+v 0.05561407 0.02459004 0.02116528
+v 0.05555823 0.02459005 0.01976719
+v 0.05555753 0.02235316 0.01978428
+v 0.05561127 0.02235315 0.02116527
+v 0.05560150 0.03176694 0.03101270
+v 0.05561127 0.03169979 0.03101270
+v 0.05544027 0.03042409 0.02295470
+v 0.05525182 0.03050989 0.01921253
+f 1 2 5
+f 1 5 11
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+f 55 66 56
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+f 74 76 75
+f 79 82 90
+f 79 90 89
+f 83 85 84
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_53.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeebbc8df38e77cb86a1dc9990ac0b4cff4999af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_53.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05113792 0.01472312 0.02506930
+v 0.05123964 0.01476145 0.02367176
+v 0.05122651 0.01303270 0.02367176
+v 0.05123800 0.01472311 0.02702639
+v 0.05129269 0.01633027 0.02702640
+v 0.05129269 0.01633027 0.02702147
+v 0.05190688 0.02235314 0.02367179
+v 0.05128176 0.01271022 0.02367176
+v 0.05151911 0.01147710 0.02367175
+v 0.05153060 0.01367635 0.02702639
+v 0.05199766 0.02235313 0.02702642
+v 0.05570794 0.02235314 0.02367179
+v 0.05244723 0.01017789 0.02367175
+v 0.05257521 0.01327324 0.02702639
+v 0.05455285 0.00885225 0.02367174
+v 0.05206877 0.02235313 0.02702642
+v 0.05576099 0.02235314 0.02506933
+v 0.05672465 0.01472312 0.02506930
+v 0.05662785 0.01472312 0.02367176
+v 0.05455285 0.01301023 0.02702639
+v 0.05598960 0.01108059 0.02367175
+v 0.05592998 0.01341069 0.02702639
+v 0.05583318 0.02235313 0.02702149
+v 0.05583318 0.02234784 0.02702642
+v 0.05662347 0.01472311 0.02702146
+v 0.05649495 0.01276308 0.02367176
+v 0.05652120 0.01669505 0.02702147
+v 0.05652175 0.01668976 0.02702640
+v 0.05662183 0.01471915 0.02702639
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 19
+f 2 19 26
+f 2 26 21
+f 2 21 15
+f 2 15 13
+f 2 13 9
+f 2 9 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 14
+f 4 14 20
+f 4 20 22
+f 4 22 29
+f 4 29 28
+f 4 28 24
+f 4 24 16
+f 4 16 11
+f 4 11 5
+f 5 11 7
+f 5 7 6
+f 7 11 16
+f 7 16 23
+f 7 23 17
+f 7 17 12
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 12 17 18
+f 12 18 19
+f 14 15 20
+f 15 21 22
+f 15 22 20
+f 16 24 23
+f 17 23 18
+f 18 25 26
+f 18 26 19
+f 18 23 27
+f 18 27 28
+f 18 28 25
+f 21 26 29
+f 21 29 22
+f 23 24 28
+f 23 28 27
+f 25 29 26
+f 25 28 29
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_54.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e398402822a92042e4aa243601f4c63eeb25e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_54.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.04935120 0.03709964 0.03557627
+v 0.05062902 0.03505572 0.03557626
+v 0.05074441 0.03505571 0.03873743
+v 0.04935120 0.03731292 0.03873744
+v 0.04935120 0.04142901 0.03557628
+v 0.04935226 0.04143042 0.03557553
+v 0.05496852 0.03505572 0.03557626
+v 0.05084922 0.03505570 0.04070648
+v 0.04935120 0.03733269 0.03894543
+v 0.04935120 0.04142898 0.04302896
+v 0.04935226 0.04948601 0.03787843
+v 0.04935226 0.04941820 0.03720249
+v 0.04935226 0.04901989 0.03614148
+v 0.04935226 0.04900576 0.03612189
+v 0.04935226 0.04801276 0.03569537
+v 0.04935226 0.04235280 0.03557554
+v 0.05051151 0.04143042 0.03557553
+v 0.05399136 0.03788076 0.03557627
+v 0.05695141 0.03505572 0.03558304
+v 0.05126634 0.03505570 0.04197471
+v 0.04935120 0.03780023 0.04174866
+v 0.04935120 0.03751631 0.04068840
+v 0.04935120 0.04037806 0.04292271
+v 0.04935226 0.04235135 0.04325353
+v 0.04935226 0.04432464 0.04326935
+v 0.04935226 0.04629652 0.04311112
+v 0.04935226 0.04819071 0.04231085
+v 0.04935226 0.04910603 0.04109913
+v 0.04935226 0.04916112 0.04100720
+v 0.04935226 0.04933910 0.03994845
+v 0.04935226 0.04946764 0.03873748
+v 0.04973444 0.04932639 0.03743157
+v 0.05174910 0.04739690 0.03573831
+v 0.05059726 0.04769071 0.03567201
+v 0.05247534 0.04621745 0.03566974
+v 0.04960846 0.04216776 0.03557553
+v 0.05049245 0.04144878 0.03557553
+v 0.05447835 0.04424275 0.03566898
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+v 0.05931966 0.03505572 0.03571039
+v 0.05805349 0.03840480 0.03564937
+v 0.05245735 0.03505569 0.04268532
+v 0.04935120 0.03854180 0.04217743
+v 0.05257592 0.03643149 0.04306436
+v 0.05455352 0.03505569 0.04326857
+v 0.05257592 0.04235135 0.04326860
+v 0.05059726 0.04432464 0.04326408
+v 0.05059726 0.04235135 0.04327011
+v 0.05455352 0.03840477 0.04327311
+v 0.05257592 0.04432464 0.04303198
+v 0.05059726 0.04629652 0.04293629
+v 0.05059726 0.04780369 0.04214055
+v 0.04938614 0.04914276 0.04103282
+v 0.04961375 0.04925999 0.03973142
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+v 0.05204340 0.04762007 0.03678500
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+v 0.05377010 0.04550695 0.03571948
+v 0.05011556 0.04179203 0.03557553
+v 0.05569371 0.04353084 0.03572625
+v 0.05642419 0.04217058 0.03569383
+v 0.05959915 0.03505572 0.03573074
+v 0.05695353 0.04142901 0.03570212
+v 0.05770730 0.04037809 0.03571493
+v 0.05956210 0.03581707 0.03575711
+v 0.05653006 0.03505569 0.04326179
+v 0.05455352 0.03643149 0.04327083
+v 0.05455352 0.04037806 0.04325051
+v 0.05455352 0.04235135 0.04299205
+v 0.05451011 0.04426532 0.04224301
+v 0.05250075 0.04624991 0.04222343
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+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_55.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a8daca2f5680eba29cd38e3c3017c475c271af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_55.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04861805 0.04432338 0.04327323
+v 0.04935120 0.04432338 0.04326946
+v 0.04664009 0.04523803 0.04326495
+v 0.04466213 0.04523803 0.04326645
+v 0.04279266 0.04523803 0.04326645
+v 0.04279266 0.04432338 0.04326720
+v 0.04935120 0.04234986 0.04325364
+v 0.04935120 0.04523803 0.04314288
+v 0.04861805 0.04523803 0.04324536
+v 0.04279266 0.04523806 0.03598921
+v 0.04279266 0.04219291 0.04233737
+v 0.04935120 0.03854148 0.04217838
+v 0.04935120 0.04037715 0.04292359
+v 0.04861805 0.04234986 0.04324384
+v 0.04935120 0.04523805 0.03858650
+v 0.04279266 0.04520061 0.03557629
+v 0.04279266 0.04213634 0.04228990
+v 0.04935120 0.03779972 0.04174964
+v 0.04664009 0.04394018 0.03557628
+v 0.04588704 0.04422541 0.03557628
+v 0.04466213 0.04468592 0.03557628
+v 0.04411580 0.04486678 0.03557628
+v 0.04935120 0.04235228 0.03557628
+v 0.04876635 0.04277695 0.03557628
+v 0.04777705 0.04343106 0.03557628
+v 0.04279266 0.04110779 0.03557627
+v 0.04279266 0.04131731 0.04068949
+v 0.04345198 0.04133563 0.04170972
+v 0.04935120 0.03751529 0.04068948
+v 0.04935120 0.03709862 0.03557626
+v 0.04279266 0.04121454 0.03873718
+v 0.04935120 0.03731213 0.03873717
+v 0.04935120 0.03733205 0.03894514
+f 1 2 3
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+f 27 33 29
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_56.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed4ba553ec02cb05449e4e17ca37f0ff686b679
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_56.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00010870 0.03596330 -0.02619214
+v 0.00010870 0.03596329 -0.02538239
+v 0.00010870 0.04184348 -0.02619212
+v 0.04071219 0.03596330 -0.02619214
+v 0.00010870 0.03851562 -0.01892996
+v 0.04071219 0.03596329 -0.02515489
+v 0.04071219 0.03811748 -0.01892996
+v 0.00010870 0.04205460 -0.02569731
+v 0.01499321 0.04205662 -0.02569731
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+v 0.00010870 0.04280661 -0.01892994
+v 0.04071219 0.03814497 -0.01892996
+v 0.00010870 0.04250770 -0.02374437
+v 0.01499321 0.04251105 -0.02374437
+v 0.02883639 0.04251172 -0.02374437
+v 0.01696853 0.04205662 -0.02569731
+v 0.01696853 0.04184415 -0.02619212
+v 0.04071219 0.04161961 -0.02582244
+v 0.04035449 0.04154790 -0.02619212
+v 0.00010870 0.04265984 -0.02179286
+v 0.01011252 0.04280930 -0.01892994
+v 0.01301390 0.04276372 -0.01983993
+v 0.04071219 0.04250031 -0.01893349
+v 0.04070425 0.04250232 -0.01892994
+v 0.00010870 0.04258745 -0.02272418
+v 0.01499321 0.04266319 -0.02179286
+v 0.03081172 0.04266118 -0.02179286
+v 0.03279102 0.04266051 -0.02179286
+v 0.03081172 0.04251105 -0.02374437
+v 0.02883639 0.04205460 -0.02569731
+v 0.02883639 0.04184147 -0.02619212
+v 0.04071219 0.04164843 -0.02573926
+v 0.04065655 0.04165312 -0.02576130
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+v 0.03872495 0.04194133 -0.02569731
+v 0.01301390 0.04280996 -0.01892994
+v 0.01499321 0.04276372 -0.01983993
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+v 0.04070425 0.04245138 -0.01983993
+v 0.03872495 0.04257874 -0.02179286
+v 0.03872495 0.04268530 -0.01983993
+v 0.03872495 0.04273289 -0.01892994
+v 0.03477032 0.04280527 -0.01892994
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+v 0.03674565 0.04275165 -0.01983993
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+v 0.03477032 0.04250502 -0.02374437
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+v 0.04071219 0.04214107 -0.02374438
+v 0.03674565 0.04182472 -0.02619212
+v 0.03558112 0.04183276 -0.02619212
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+f 63 68 64
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_57.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083a241ae7912a0e9daa0026c91158faf5a83a82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_57.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05088379 0.01077531 0.03287864
+v -0.05098904 0.01242199 0.03293101
+v -0.05107431 0.01077530 0.03420360
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+v -0.05102550 0.00879721 0.03420359
+v -0.05091613 0.00879722 0.03287863
+v -0.05096434 0.01242200 0.03123954
+v -0.05102138 0.01242199 0.03315479
+v -0.05108077 0.01088032 0.03420360
+v -0.05689041 0.00879721 0.03420359
+v -0.05115839 0.00879722 0.03176225
+v -0.05115780 0.00880219 0.03176225
+v -0.05099610 0.01242200 0.03101998
+v -0.05102315 0.01242199 0.03316661
+v -0.05109547 0.01242199 0.03353395
+v -0.05117603 0.01210443 0.03409382
+v -0.05112076 0.01129829 0.03420360
+v -0.05689099 0.00880218 0.03420359
+v -0.05645527 0.00879722 0.03287863
+v -0.05226857 0.00879723 0.03128006
+v -0.05411378 0.01242202 0.02557656
+v -0.05129422 0.01242198 0.03420361
+v -0.05123660 0.01220839 0.03420360
+v -0.05685277 0.01077530 0.03420360
+v -0.05604425 0.01242200 0.03078353
+v -0.05429607 0.01242202 0.02557656
+v -0.05576493 0.00879722 0.03147175
+v -0.05424608 0.00879723 0.03098956
+v -0.05424608 0.01240180 0.02557656
+v -0.05669224 0.01242198 0.03420361
+v -0.05646115 0.01242199 0.03287865
+f 1 2 3
+f 1 3 4
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+f 1 7 2
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+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 11 20 21
+f 11 21 13
+f 11 13 12
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 20 28 29
+f 20 29 21
+f 21 29 26
+f 24 30 31
+f 24 31 25
+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_58.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac14714bb5b9ccaa0818a53f71680aa3544f3af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_58.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.05690182 -0.00667170 0.03420354
+v -0.05643770 -0.00667169 0.03287890
+v -0.05101594 -0.00667170 0.03420354
+v -0.05690182 -0.00501215 0.03420354
+v -0.05645528 0.00879722 0.03287895
+v -0.05573800 -0.00667169 0.03151619
+v -0.05576496 0.00879722 0.03147220
+v -0.05091924 -0.00667169 0.03287890
+v -0.05101535 -0.00501215 0.03420354
+v -0.05690123 -0.00303765 0.03420355
+v -0.05689830 0.00682726 0.03420359
+v -0.05647520 0.00879722 0.03293903
+v -0.05448335 -0.00667168 0.03114972
+v -0.05424602 0.00879723 0.03098997
+v -0.05117123 -0.00667169 0.03178577
+v -0.05115834 0.00879722 0.03176255
+v -0.05091573 0.00879722 0.03287895
+v -0.05101535 -0.00282112 0.03420355
+v -0.05689068 0.00879721 0.03420359
+v -0.05424602 -0.00667168 0.03108051
+v -0.05226824 0.00879723 0.03128063
+v -0.05226824 -0.00667169 0.03135010
+v -0.05258351 -0.00667168 0.03130669
+v -0.05134586 -0.00667169 0.03171625
+v -0.05102532 0.00879721 0.03420359
+v -0.05101770 0.00703319 0.03420359
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 23
+f 1 23 22
+f 1 22 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 26
+f 1 26 25
+f 1 25 19
+f 1 19 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 12 19
+f 5 19 25
+f 5 25 17
+f 5 17 16
+f 5 16 21
+f 5 21 14
+f 5 14 7
+f 5 10 11
+f 6 7 14
+f 6 14 13
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 11 19 12
+f 13 14 20
+f 14 21 22
+f 14 22 23
+f 14 23 20
+f 15 24 21
+f 15 21 16
+f 17 25 26
+f 17 26 18
+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_59.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f892d5671357a6f2f93028fac02193edcdf581
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_59.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04935120 0.04523803 0.04314279
+v 0.04935120 0.04629800 0.04311142
+v 0.04861805 0.04523803 0.04324587
+v 0.04935120 0.04523805 0.03858646
+v 0.04935120 0.04819212 0.04231146
+v 0.04868225 0.04839903 0.04240333
+v 0.04664009 0.04827075 0.04295457
+v 0.04861805 0.04629800 0.04321375
+v 0.04664009 0.04629800 0.04326230
+v 0.04664009 0.04523803 0.04326454
+v 0.04279266 0.04523806 0.03598936
+v 0.04935120 0.04613783 0.03671912
+v 0.04935120 0.04910668 0.04109917
+v 0.04806594 0.04944601 0.04190288
+v 0.04664009 0.04969194 0.04215310
+v 0.04466213 0.04994082 0.04234134
+v 0.04466213 0.04827075 0.04314205
+v 0.04279266 0.04827075 0.04320554
+v 0.04466213 0.04629800 0.04326454
+v 0.04279266 0.04629800 0.04326603
+v 0.04466213 0.04523803 0.04326603
+v 0.04279266 0.04903280 0.03564951
+v 0.04935120 0.04693591 0.03568984
+v 0.04935120 0.04665747 0.03601700
+v 0.04279266 0.04523803 0.04326603
+v 0.04935120 0.04916225 0.04100730
+v 0.04868225 0.04954533 0.04050536
+v 0.04664009 0.05027839 0.04068911
+v 0.04466213 0.05076433 0.04068912
+v 0.04279266 0.05006732 0.04241080
+v 0.04279266 0.05100671 0.04068912
+v 0.04279266 0.04981847 0.03564951
+v 0.04466213 0.04895181 0.03563607
+v 0.04664009 0.04868460 0.03565698
+v 0.04935120 0.04752235 0.03568984
+v 0.04935120 0.04934019 0.03994889
+v 0.04861805 0.04979304 0.03873736
+v 0.04664009 0.05052492 0.03873737
+v 0.04450356 0.05103864 0.03862234
+v 0.04373831 0.05124201 0.03789482
+v 0.04279266 0.05102208 0.04056587
+v 0.04279266 0.05075075 0.03645995
+v 0.04466213 0.04971975 0.03563607
+v 0.04664009 0.04954653 0.03565698
+v 0.04935120 0.04801362 0.03569508
+v 0.04935120 0.04946849 0.03873736
+v 0.04935120 0.04948622 0.03787838
+v 0.04935120 0.04941883 0.03720240
+v 0.04865015 0.04958791 0.03678187
+v 0.04664009 0.05022755 0.03678486
+v 0.04373831 0.05124201 0.03769315
+v 0.04279266 0.05127748 0.03829294
+v 0.04279266 0.05119531 0.03916835
+v 0.04279266 0.05080691 0.03653315
+v 0.04801137 0.04938514 0.03572421
+v 0.04935120 0.04900620 0.03612158
+v 0.04935120 0.04902039 0.03614100
+v 0.04933065 0.04902807 0.03612905
+v 0.04450356 0.05075015 0.03693949
+v 0.04279266 0.05127748 0.03750566
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 25
+f 1 25 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 23
+f 1 23 35
+f 1 35 45
+f 1 45 56
+f 1 56 57
+f 1 57 48
+f 1 48 47
+f 1 47 46
+f 1 46 36
+f 1 36 26
+f 1 26 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 19 10
+f 9 18 19
+f 10 19 20
+f 10 20 21
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 25 20
+f 11 20 18
+f 11 18 30
+f 11 30 31
+f 11 31 41
+f 11 41 53
+f 11 53 52
+f 11 52 60
+f 11 60 54
+f 11 54 42
+f 11 42 32
+f 11 32 22
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 30 17
+f 16 29 31
+f 16 31 30
+f 17 30 18
+f 18 20 19
+f 20 25 21
+f 22 32 43
+f 22 43 33
+f 22 33 23
+f 23 33 34
+f 23 34 44
+f 23 44 35
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 31
+f 31 40 41
+f 32 42 43
+f 33 43 44
+f 33 44 34
+f 35 44 45
+f 36 46 37
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 40
+f 38 40 39
+f 40 51 60
+f 40 60 52
+f 40 52 53
+f 40 53 41
+f 42 54 44
+f 42 44 43
+f 44 55 45
+f 44 54 55
+f 45 55 56
+f 48 57 58
+f 48 58 49
+f 49 58 55
+f 49 55 50
+f 50 55 59
+f 50 59 51
+f 51 59 54
+f 51 54 60
+f 54 59 55
+f 55 58 56
+f 56 58 57
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_6.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5965e36ed9691ce51436a1d40ca3292d37ed7db6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05427146 -0.03671675 0.03484448
+v 0.04967161 -0.03671675 0.03484448
+v 0.05426753 -0.03672714 0.03484448
+v 0.05307925 -0.03671668 0.01718845
+v 0.04088984 -0.04148175 0.03484218
+v 0.04088984 -0.04162289 0.03484446
+v 0.04944103 -0.03671674 0.03287688
+v 0.04088984 -0.04122283 0.03092519
+v 0.04088984 -0.04133714 0.03269716
+v 0.05374348 -0.03780864 0.03484447
+v 0.05271373 -0.03671666 0.01190438
+v 0.04088984 -0.04556270 0.03484444
+v 0.04925499 -0.03671673 0.03092521
+v 0.04088984 -0.04020707 0.01160865
+v 0.04088984 -0.04069374 0.02098486
+v 0.04088984 -0.04089810 0.02488820
+v 0.04088984 -0.04100202 0.02683988
+v 0.04088984 -0.04121157 0.03074549
+v 0.05301636 -0.03878969 0.03484447
+v 0.05188965 -0.03797999 0.01160866
+v 0.05267704 -0.03674350 0.01160867
+v 0.05269276 -0.03671666 0.01160867
+v 0.04154883 -0.04549602 0.03484444
+v 0.04088984 -0.04425511 0.01160864
+v 0.04861696 -0.03671671 0.02324136
+v 0.04765664 -0.03671666 0.01160867
+v 0.05201805 -0.04004524 0.03484446
+v 0.05201805 -0.04004524 0.03483081
+v 0.05195254 -0.03996643 0.03287686
+v 0.05123459 -0.03914551 0.01530728
+v 0.05115206 -0.03905111 0.01335561
+v 0.05107738 -0.03896625 0.01160866
+v 0.04257335 -0.04531852 0.03484444
+v 0.04268471 -0.04396071 0.01160864
+v 0.05108786 -0.04102543 0.03484446
+v 0.05108131 -0.04103149 0.03483081
+v 0.05099353 -0.04095355 0.03287686
+v 0.05008823 -0.04000878 0.01160865
+v 0.04261920 -0.04530726 0.03484444
+v 0.04402890 -0.04361868 0.01160864
+v 0.04466300 -0.04478686 0.03483080
+v 0.05107476 -0.04103755 0.03484446
+v 0.05009216 -0.04192422 0.03483081
+v 0.05000438 -0.04185061 0.03287686
+v 0.04902965 -0.04106778 0.01335560
+v 0.04894187 -0.04099590 0.01160865
+v 0.04466300 -0.04478686 0.03484445
+v 0.04501805 -0.04325847 0.01160864
+v 0.04560105 -0.04347584 0.01852820
+v 0.04664129 -0.04404652 0.03483080
+v 0.04467610 -0.04478253 0.03484445
+v 0.05009216 -0.04192422 0.03484446
+v 0.04872046 -0.04291134 0.03483080
+v 0.04795273 -0.04174489 0.01160865
+v 0.04664129 -0.04249649 0.01160864
+v 0.04768808 -0.04352957 0.03352968
+v 0.04679457 -0.04386641 0.03287913
+v 0.04773132 -0.04355556 0.03483080
+v 0.04664129 -0.04404652 0.03484445
+v 0.04872046 -0.04291134 0.03484445
+v 0.04871391 -0.04291567 0.03484445
+v 0.04773132 -0.04355556 0.03484445
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 33
+f 1 33 39
+f 1 39 47
+f 1 47 51
+f 1 51 59
+f 1 59 62
+f 1 62 61
+f 1 61 60
+f 1 60 52
+f 1 52 42
+f 1 42 35
+f 1 35 27
+f 1 27 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 26
+f 1 26 25
+f 1 25 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 4
+f 4 10 11
+f 5 9 8
+f 5 8 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 24
+f 5 24 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 12 24 23
+f 13 25 14
+f 14 25 26
+f 14 26 22
+f 14 22 21
+f 14 21 20
+f 14 20 32
+f 14 32 38
+f 14 38 46
+f 14 46 54
+f 14 54 55
+f 14 55 48
+f 14 48 40
+f 14 40 34
+f 14 34 24
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 30 31
+f 20 31 32
+f 20 29 30
+f 23 24 34
+f 23 34 33
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 31
+f 31 38 32
+f 33 34 39
+f 34 40 41
+f 34 41 39
+f 35 42 36
+f 36 43 44
+f 36 44 37
+f 36 42 43
+f 37 44 38
+f 38 45 46
+f 38 44 45
+f 39 41 47
+f 40 48 49
+f 40 49 41
+f 41 50 51
+f 41 51 47
+f 41 49 50
+f 42 52 43
+f 43 52 60
+f 43 60 53
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 45 54 46
+f 48 55 49
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 50 57 56
+f 50 56 58
+f 50 58 62
+f 50 62 59
+f 50 59 51
+f 53 60 61
+f 53 61 58
+f 53 58 56
+f 53 56 54
+f 54 56 55
+f 58 61 62
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_60.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b89cfef2e7084fb873ae594798e486e895ae3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_60.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.05500829 -0.01885142 0.01160646
+v -0.05500884 -0.01861774 0.01160646
+v -0.05118350 -0.01885142 0.01160646
+v -0.05566265 -0.01885147 0.02557644
+v -0.05619124 -0.01685210 0.02557645
+v -0.05650374 -0.01487896 0.02506776
+v -0.05635857 -0.01487895 0.02311503
+v -0.05639625 -0.01093386 0.02116367
+v -0.05645553 -0.00667165 0.02116369
+v -0.05501161 -0.01467146 0.01160648
+v -0.05118350 -0.01882638 0.01160646
+v -0.05084330 -0.00667165 0.02116369
+v -0.05084386 -0.00698639 0.02116368
+v -0.05085217 -0.00895953 0.02116368
+v -0.05085826 -0.01487896 0.02506776
+v -0.05089372 -0.01529386 0.02557645
+v -0.05102005 -0.01642766 0.02557645
+v -0.05168605 -0.01885147 0.02557644
+v -0.05647050 -0.01487896 0.02557646
+v -0.05501106 -0.00667161 0.01160651
+v -0.05501272 -0.01290577 0.01160648
+v -0.05636356 -0.00667165 0.02143035
+v -0.05121121 -0.00667161 0.01160651
+v -0.05099180 -0.00667165 0.02229732
+v -0.05088375 -0.01487896 0.02557646
+v -0.05578233 -0.01311923 0.02557646
+v -0.05588317 -0.00667165 0.02280601
+v -0.05102005 -0.00667165 0.02251201
+v -0.05106881 -0.01379642 0.02557646
+v -0.05439659 -0.01259226 0.02557646
+v -0.05424588 -0.00667166 0.02356906
+v -0.05226839 -0.00667166 0.02327505
+v -0.05114250 -0.01352816 0.02557646
+v -0.05424588 -0.01254934 0.02557646
+v -0.05270334 -0.01270910 0.02557646
+v -0.05215591 -0.01278898 0.02557646
+f 1 2 10
+f 1 10 21
+f 1 21 20
+f 1 20 23
+f 1 23 11
+f 1 11 3
+f 1 3 18
+f 1 18 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 4 18 17
+f 4 17 16
+f 4 16 25
+f 4 25 29
+f 4 29 33
+f 4 33 36
+f 4 36 35
+f 4 35 34
+f 4 34 30
+f 4 30 26
+f 4 26 19
+f 4 19 5
+f 5 19 6
+f 6 19 9
+f 6 9 8
+f 6 8 7
+f 9 20 21
+f 9 21 10
+f 9 19 22
+f 9 22 27
+f 9 27 31
+f 9 31 32
+f 9 32 28
+f 9 28 24
+f 9 24 12
+f 9 12 23
+f 9 23 20
+f 11 23 12
+f 12 24 25
+f 12 25 15
+f 12 15 13
+f 13 15 14
+f 15 25 16
+f 19 26 27
+f 19 27 22
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 31 36 32
+f 32 36 33
+
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_61.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12305c0857ea99b431e90264f4b4d9f98480b5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_61.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05132722 0.03257632 0.03420368
+v -0.05122483 0.03257633 0.03287872
+v -0.05584142 0.03257632 0.03420368
+v -0.05129425 0.01242198 0.03420361
+v -0.05109584 0.01242199 0.03353395
+v -0.05103568 0.01242199 0.03323163
+v -0.05102296 0.01242199 0.03316661
+v -0.05102122 0.01242199 0.03315479
+v -0.05098941 0.01242199 0.03293101
+v -0.05108890 0.03257634 0.03092631
+v -0.05492285 0.03257636 0.02557663
+v -0.05496276 0.03244418 0.02557663
+v -0.05521612 0.03135518 0.02557663
+v -0.05584778 0.03254672 0.03420368
+v -0.05669174 0.01242198 0.03420361
+v -0.05096396 0.01242200 0.03123954
+v -0.05089396 0.01472231 0.02897469
+v -0.05078290 0.03257636 0.02557663
+v -0.05084537 0.03257635 0.02692946
+v -0.05614626 0.03050880 0.03420367
+v -0.05592299 0.03204760 0.03420368
+v -0.05591373 0.03211073 0.03420368
+v -0.05585530 0.03249938 0.03420368
+v -0.05534280 0.03039442 0.02557662
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_7.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1f0aaa38c4f3edac1f31882d8e7844ceed16aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_7.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_8.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e407234fb3ac0d7a0da194a505bfef835f54a2d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_8.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_9.obj b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_9.obj
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index 0000000000000000000000000000000000000000..d5732e0ee3dd75af0ea062a86e44093210601637
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/storage_bin_005.xml b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/storage_bin_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e20a606775797bda3cd68f394fda61112e36967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/storage_bin_005.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_bin_005_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_bin_005_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/storage_bin_005_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/storage_bin_005_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/storage_bin_005_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/storage_bin_005_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/storage_bin_005_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/storage_bin_005_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/storage_bin_005_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/storage_bin_005_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/storage_bin_005_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/storage_bin_005_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/storage_bin_005_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/storage_bin_005_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/storage_bin_005_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/storage_bin_005_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/storage_bin_005_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/storage_bin_005_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/storage_bin_005_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/storage_bin_005_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_005">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_61" 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/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.urdf b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3df16c64b710dd9dd6435e9f883358ab776a12e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_005">
+   <link name="storage_bin_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>15bb5c7e8a4d5a1ab70a7684ac8a0da9</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>plastic bin</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular beige plastic storage bin with rounded corners and side handles</description>
+         <min_height>0.0732</min_height>
+         <max_height>0.0732</max_height>
+         <real_height>0.0732</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135339</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059845 -0.051237 -0.029909</min>
+            <max>0.060155 0.051078 0.043265</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a5c4bd47e7f779aed8149482100ebb6aec02a2ffcd1dceb6fc0e0b5000f065
+size 4612777
diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/textures/material_0.png b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/video.mp4 b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/video.mp4
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34843052dc4d0f8656dc23b06e3368bf6a8764c5382d60102db55b548423236a
+size 240516