diff --git a/.gitattributes b/.gitattributes
index 4c2f6d25e4f06a730189572cf722f7f0a2b33dc3..35ae8150ada6ac57038f5e3db3ed58a0a939b5cf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2736,3 +2736,5 @@ dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_c
 dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/storage_box_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material.mtl b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd2537d1714cfce560e78eb25c45562b7d5d5357
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_box_033_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_box_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material_0.png b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13e5b483919a2a3acbb00e7c15db6e202c35de06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26016db7a6072993671fa9295cb4e67c1fb8a848e232a57c0d77d483f2179241
+size 10294093
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.glb b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a1b5170dccf786e2d83e9fb454de20864ba397d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c43118e3ff9266150bccab7a02039b7677055847dc35278ef21267c908424a
+size 13623792
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.mtl b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e97e6c118dbcafbd40387898293ab7c3bd5bb5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.mtl
@@ -0,0 +1,6 @@
+newmtl storage_box_033_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/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c437398ac5e8d2d2f0f5b78461ce4bc157d43a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033.obj
@@ -0,0 +1,112374 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_box_033_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033_collision.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab374213d1f4d0c35f9664cf85e8edb042126ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mesh/storage_box_033_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10294093
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033.obj
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index 0000000000000000000000000000000000000000..963567943503a7036348d313f2dd092c331ad139
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+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c61d92b4e2da9105e4b65122539c41d7e4eccd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision.obj
@@ -0,0 +1,16072 @@
+# https://github.com/mikedh/trimesh
+
+o storage_box_033_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_0.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48b6d3ab86a8ff44dfeef76f7dd55b413952e82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_1.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e5991ba5f7b37a0a5571aa2062ee52e5369102
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_1.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_10.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f40db3f8deb074bb682954f13e9ae42745816099
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_10.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_11.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90bad82dfb3561c8ac0b0d2da1b75fadfdf38017
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_11.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_12.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52788df372ba382a3736bfb4126efad7b8a49923
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_12.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_13.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca81bc3dfa9cae90a64b3c197de4dec6a772cb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_14.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069af2b79a0c7cca540c5668eddb92bfa4f9535f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_15.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619a1da9d0b8f552becdf0d69f5e775518f1385f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_16.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a957beafd774bcec5d96f5fbcf0123b1aff702
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_17.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fafe78ee81186040cb3fdfa3c1ba048bd37f4fc4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_17.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_18.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb7270347e6afa77419a5d188826120e300808c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_19.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748aecd223e4ca021847df3bfc9dfae403f43452
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_19.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_2.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0dcb15615c6581255052e375ebd4bbee799a56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_20.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f99960e4e10ec37ba3da21394ea1b5f3e9a6ffe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_20.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_21.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92b8641e061e654473328340bfde228ed2ad13e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_21.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_22.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f9202ace555bf618d7d4c793ff241db9cc0bb80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_23.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4cd51e486ea79597b984d5c74c50a9d150c36f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_23.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_24.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d602833707a16c8d151c95f7a5d44088f75daf22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_24.obj
@@ -0,0 +1,1735 @@
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_25.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf4ff0814639bb63f6b56d4bc7e2cf61509510f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_25.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_26.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21599a3f1fed48bfe3f402de2bd34b2a37385fa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_26.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_27.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a446ef81865ca364aadc7bb8d2a7b8c4a94f6504
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_27.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_28.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e7fbc488be5cc926ed4d52ad4d331d7f75d708
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_29.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4de186574e8ce14acca2985a1ba623d4eb527fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_3.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b0c6cae504f54a05a5bdde773a680595e4298e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_3.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_30.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fdbf413d0a7e36e88e68acb9b3488395959f8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03721726 0.05298508 0.02384944
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+v 0.03721726 0.05298509 0.02192595
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_31.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa045bb515c4feaffba4445c7e37588dc67b7a12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00228579 -0.03933674 0.02575628
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_32.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b557109e21bb8c355d873ba7beef4ba258b8e256
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_32.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04726752 -0.04220043 0.02586167
+v 0.04726620 -0.04315400 0.02586167
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_33.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8cb5e05b5fe8d5b22b45569bf4b3c5b08e2567
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_33.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_34.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3871b37582a8343a87b13ba3b001c4d77b08120
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_34.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_35.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ff20f40fafebd3719846552d29064905722ab6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_35.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_36.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8026688826cfe5dd8e3ef9cf9d636816bb95b3f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_36.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02844342 -0.07380152 0.02192549
+v -0.02844342 -0.07379867 0.02092754
+v -0.02727572 -0.07418399 0.02192549
+v -0.02844342 -0.06088063 0.02192554
+v -0.02844342 -0.07377152 0.01352762
+v -0.02724255 -0.07417397 0.01599453
+v -0.02727041 -0.07418256 0.02092754
+v -0.02548304 -0.07461639 0.02092754
+v -0.02548304 -0.07461782 0.02192549
+v -0.01488750 -0.06581548 0.01352765
+v -0.02844342 -0.06086207 0.02092759
+v -0.01488750 -0.06618941 0.02192552
+v -0.02722928 -0.07416825 0.01352762
+v -0.02844342 -0.06084350 0.01352767
+v -0.02548304 -0.07459495 0.01352762
+v -0.02548304 -0.07460924 0.01846063
+v -0.02302954 -0.07499882 0.01352761
+v -0.02302954 -0.07501026 0.01846062
+v -0.02302954 -0.07501741 0.02192548
+v -0.01488750 -0.07531135 0.01352761
+v -0.02844209 -0.06074217 0.01352767
+v -0.02844342 -0.06074360 0.01363042
+v -0.01488750 -0.07532138 0.02192548
+v -0.02057738 -0.07520718 0.01352761
+v -0.02057738 -0.07522291 0.02192548
+v -0.01567172 -0.07530993 0.01352761
+v -0.01567172 -0.07531995 0.02192548
+v -0.01812521 -0.07528852 0.01352761
+v -0.01958616 -0.07525431 0.02192548
+v -0.01713267 -0.07530853 0.02192548
+v -0.01812521 -0.07529997 0.02192548
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+f 1 19 25
+f 1 25 29
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+f 1 30 27
+f 1 27 23
+f 1 23 12
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+f 24 28 25
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+f 26 30 31
+f 26 31 28
+f 28 31 29
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_37.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861f4d3efd5f1e1f1632587b204691fe8985fc95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_37.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00455106 -0.00004711 0.02192576
+v 0.00458372 -0.00004711 0.02092728
+v -0.00079752 -0.00004711 0.02192576
+v 0.00501810 -0.04255567 0.02192560
+v 0.00486774 -0.00004707 0.01221101
+v -0.00140125 -0.00004707 0.01221101
+v -0.00273859 -0.04313777 0.01221085
+v -0.00177413 -0.04313781 0.02092712
+v -0.00165262 -0.04313781 0.02192560
+v 0.00501810 -0.04313781 0.02192560
+v 0.00501810 -0.04254302 0.02179913
+v 0.00501810 -0.04245865 0.02092712
+v 0.00501810 -0.04194819 0.01221086
+v 0.00501810 -0.04313777 0.01221085
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 9
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+f 1 10 4
+f 1 4 2
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+f 3 7 8
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+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 5 7 6
+f 7 14 10
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_38.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6647ed463a69f414becf517c1d69d113c8c8d236
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00501886 0.04964999 0.02192594
+v 0.00395496 0.04965078 0.02192594
+v 0.00501886 0.04306634 0.02192592
+v 0.00501886 0.05117079 0.01173889
+v -0.00194330 0.04965078 0.02192594
+v -0.00186341 0.04306634 0.02192592
+v 0.00501886 0.04306653 -0.02960506
+v 0.00501886 0.05117094 -0.02961512
+v -0.01076243 0.05117079 0.01173889
+v -0.01488750 0.04964919 0.02192594
+v -0.01488750 0.04452840 0.02192592
+v -0.01488750 0.04306638 0.01192564
+v -0.01488750 0.04306653 -0.02960506
+v 0.00501886 0.04407562 -0.02964039
+v 0.00501886 0.04462458 -0.02964039
+v 0.00095614 0.05117094 -0.02962522
+v -0.01488750 0.05117079 0.01173384
+v -0.01488750 0.05063070 -0.02962017
+v -0.00721607 0.04444609 -0.02964039
+v -0.00400876 0.04423666 -0.02964544
+v -0.00400876 0.04493080 -0.02964543
+v -0.00038641 0.05117094 -0.02962522
+v -0.01488750 0.05117094 -0.02961512
+v -0.00721607 0.04447544 -0.02964039
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+f 1 6 3
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+f 1 14 15
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+f 1 8 4
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_39.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36b1b2c6ed59561128f7fcbeeb3b2b83709bd91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_39.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03485340 -0.05972716 0.02192554
+v 0.03485340 -0.05917669 0.01214487
+v 0.02603514 -0.06491182 0.01214580
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_4.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0aaa557cf2bfa962a913e2229ea512cceb03a55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_4.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.01114106 -0.05302773 0.07976538
+v -0.00173717 -0.05302777 0.09071390
+v -0.00331125 -0.05302773 0.07976538
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_40.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b53f73d4d53175e42162458d0282fac66ad20e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_40.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00345900 0.04306638 0.01218502
+v -0.00345789 0.04306216 0.01218092
+v -0.00345789 0.04306639 0.00870415
+v -0.01488750 0.04306638 0.01192703
+v -0.01488750 -0.00004286 0.01098908
+v -0.01452165 -0.00004286 0.01099317
+v -0.00345789 -0.00004286 0.01106279
+v -0.00345789 0.04306653 -0.02959360
+v -0.01488750 0.04306653 -0.02960589
+v -0.01488750 -0.00004271 -0.02960605
+v -0.00345789 -0.00004271 -0.02959376
+v -0.01060363 0.04306653 -0.02960179
+v -0.00345789 0.03834460 -0.02961410
+v -0.01076362 0.03828974 -0.02961820
+v -0.01321714 0.01495438 -0.02964285
+v -0.01462458 0.01486577 -0.02963876
+v -0.01488750 0.01514849 -0.02963056
+v -0.01446907 -0.00004271 -0.02961014
+v -0.01488750 0.00045101 -0.02961014
+v -0.00576037 -0.00004271 -0.02959786
+v -0.00345789 0.00374243 -0.02961833
+v -0.00345789 0.01502190 -0.02964284
+v -0.00528152 0.01505144 -0.02964694
+v -0.01321714 0.01470963 -0.02964285
+v -0.01462458 0.01481091 -0.02963876
+v -0.01488750 0.01452818 -0.02963057
+v -0.01488750 0.00361584 -0.02962242
+v -0.00474114 0.00965434 -0.02964286
+v -0.00425335 0.00965434 -0.02964286
+v -0.01083970 -0.00004271 -0.02960605
+v -0.00345789 0.01474761 -0.02964285
+v -0.00528152 0.01471385 -0.02964695
+f 1 2 3
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+f 1 6 7
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+f 28 32 29
+f 29 32 31
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_41.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b00ad63f5f72132155f352e24583be370e2232c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_41.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02589393 0.06548129 0.02192600
+v 0.03706761 0.05298727 0.02192595
+v 0.03707537 0.05298726 0.02339520
+v 0.02589393 0.06549000 0.02339525
+v 0.02589393 0.07524681 0.02192604
+v 0.03721726 0.05298727 0.02192595
+v 0.03711971 0.05298726 0.02353770
+v 0.02589393 0.06608931 0.02535367
+v 0.02589393 0.07524680 0.02586200
+v 0.02603693 0.07524027 0.02192604
+v 0.03721726 0.05298726 0.02384962
+v 0.03721726 0.07102547 0.02192602
+v 0.02589393 0.06842988 0.03017414
+v 0.02603693 0.07524026 0.02586200
+v 0.02589393 0.07507681 0.02832784
+v 0.02849003 0.07493298 0.02339529
+v 0.02749793 0.07505721 0.02192604
+v 0.03721726 0.05371297 0.02496699
+v 0.03678494 0.07139378 0.02192602
+v 0.03721726 0.07104726 0.02586198
+v 0.02589393 0.07037383 0.03077106
+v 0.03721726 0.06086983 0.03003075
+v 0.02603693 0.07507027 0.02832784
+v 0.02849003 0.07476516 0.02832783
+v 0.02849003 0.07493080 0.02586200
+v 0.02589393 0.07449056 0.02998823
+v 0.02603693 0.07448838 0.02998649
+v 0.03077909 0.07439687 0.02339528
+v 0.03077798 0.07439688 0.02192603
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+v 0.03555783 0.07221538 0.02192603
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+v 0.02589393 0.07284082 0.03058601
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+v 0.03339626 0.07339874 0.02339528
+v 0.03339626 0.07339221 0.02586199
+v 0.03587154 0.07045011 0.03016633
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_42.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1e4131e15ae35450df5f7156c34b594463ef49
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_42.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00501886 -0.04313877 0.02192560
+v -0.00165491 -0.04313877 0.02192560
+v 0.00501886 -0.04990039 0.02192558
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+v 0.00150173 -0.05303131 0.01118220
+v 0.00501886 -0.05303116 -0.02959516
+v 0.00501886 -0.04441982 -0.02964057
+v 0.00223049 -0.04446534 -0.02964562
+v -0.00585598 -0.04396853 -0.02965067
+v -0.01488750 -0.05303131 0.01116705
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+v -0.00422895 -0.05209662 -0.02964060
+v -0.00340861 -0.05303116 -0.02962041
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+f 1 7 3
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+f 27 34 31
+f 27 31 29
+f 28 30 31
+f 28 31 35
+f 31 34 33
+f 31 33 35
+f 32 35 33
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_43.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167c05a8f949c8d7a19fbd315a531a68ddfbba37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_43.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02876760 0.05938979 0.01257955
+v -0.01488750 0.06521382 0.01257957
+v -0.02876760 0.06007199 0.02192598
+v -0.02876760 0.07369951 0.01257960
+v -0.01488750 0.07536911 0.01257961
+v -0.01488750 0.06594923 0.02192600
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+v -0.02848500 0.07383252 0.01352833
+v -0.02848364 0.07383095 0.01257960
+v -0.01567145 0.07536755 0.01257961
+v -0.01567145 0.07537534 0.02192604
+v -0.01488750 0.07537378 0.02160675
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+v -0.02850131 0.07384031 0.02192603
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+v -0.02849179 0.07383407 0.01599485
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+v -0.02778529 0.07407662 0.01257960
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+v -0.02725677 0.07426126 0.01257960
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+v -0.02548371 0.07472753 0.02092790
+v -0.02548371 0.07472597 0.01846137
+v -0.02548371 0.07471974 0.01257960
+v -0.02197293 0.07520168 0.01257961
+v -0.02057758 0.07530806 0.02092791
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+v -0.02302997 0.07512967 0.02192604
+v -0.02302997 0.07512967 0.02092791
+v -0.02302997 0.07512500 0.01257961
+v -0.02157076 0.07523608 0.02192604
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_44.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead48a2e36660d1527384017e37ab4f2e2ec4a5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_44.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.00501886 -0.05095224 0.01214490
+v 0.00501886 -0.04989991 0.02192558
+v 0.00501886 -0.04187993 0.01214494
+v 0.03485340 -0.05129412 0.01214490
+v 0.03485340 -0.05044728 0.02192557
+v 0.00501886 -0.04255913 0.02192560
+v 0.00501886 -0.04245960 0.02092705
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+v 0.03485340 -0.04465188 0.02192560
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+f 2 5 9
+f 2 9 6
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+f 4 9 5
+f 6 9 7
+f 7 9 8
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_45.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b667cb758a88619e11ff7686329b987eb5744d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_45.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04257611 -0.04461771 0.02192560
+v -0.04254706 -0.04808795 0.01132968
+v -0.04257196 -0.04708588 0.02192559
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_46.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd5319d04c621bc752fad4bbb3fd4d258237207
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_46.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02943383 -0.04461224 0.02192598
+v -0.02943383 -0.05055880 0.02192595
+v -0.02943383 -0.04467628 0.02325871
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_47.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bf84e634e4cc95eb76e0f349f17320f086c8ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_47.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02548460 -0.07030059 0.03080087
+v -0.02793701 -0.07030059 0.03076785
+v -0.02172256 -0.07276832 0.03057150
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+v -0.02548460 -0.07461909 0.02192636
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_48.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293555a376667c080a283a54b87508d07263957a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_48.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.02172021 -0.06547244 0.02339535
+v -0.02172021 -0.06547339 0.02192638
+v -0.02172021 -0.06603889 0.02532433
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_49.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b594e822763ac31f49a06397fa1f8af3e7908e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_49.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_5.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08fd989da0bc789d6c8a6aca6027b3b75d9eed2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_5.obj
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_50.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a832608bf8e83f4b6c0f01b0dec02fddad01c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_50.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00028762 -0.00004271 -0.02960713
+v 0.00014822 0.00242164 -0.02964246
+v 0.00129245 -0.00004271 -0.02960713
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+v -0.00015298 0.03970759 -0.02964232
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+v -0.00345789 0.03828974 -0.02961708
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+v 0.00501886 -0.00004286 0.01194530
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_51.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1e5ae8136b051ef95e255e86a524a5107adca3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_51.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.04257078 0.02694892 0.02192482
+v -0.04257078 0.03582218 0.02192485
+v -0.04255592 -0.00365761 0.01132792
+v -0.04255862 -0.00365762 0.01352841
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+v -0.04255592 -0.00859363 0.01352839
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_52.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbcef36a04916515b00651288b46d45c73437200
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_52.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00486688 -0.00004707 0.01220692
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+v -0.00140160 -0.00004707 0.01220692
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_53.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81d019d39de6924ff59a8674c1e660fdfb27cff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_53.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.00340471 -0.07533311 -0.01113875
+v -0.01076243 -0.07532219 -0.01113875
+v -0.01076243 -0.07524577 -0.01360446
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+v -0.01488750 -0.06951251 -0.02745533
+v -0.01076243 -0.06950596 -0.02744724
+v 0.00501886 -0.06999283 -0.02702616
+v 0.00501886 -0.05903073 -0.02951613
+v -0.01076243 -0.06043019 -0.02947563
+v -0.01488750 -0.05875127 -0.02952017
+v -0.01488750 -0.05796312 -0.02954850
+v -0.01488750 -0.06783359 -0.02820030
+v -0.01076243 -0.06783359 -0.02820435
+v -0.00585598 -0.06949286 -0.02743509
+v 0.00501886 -0.06945793 -0.02741080
+v 0.00501886 -0.06043019 -0.02944730
+v -0.01488750 -0.06043019 -0.02945944
+v -0.01076243 -0.06289944 -0.02931369
+v -0.01488750 -0.06289944 -0.02930155
+v -0.01488750 -0.06121834 -0.02941085
+v -0.01488750 -0.06536433 -0.02892907
+v -0.01321565 -0.06536433 -0.02894122
+v -0.01076243 -0.06536433 -0.02894527
+v 0.00501886 -0.06783359 -0.02813147
+v 0.00501886 -0.06149998 -0.02936228
+v 0.00501886 -0.06289944 -0.02924487
+v -0.01488750 -0.06368541 -0.02918413
+v 0.00501886 -0.06396705 -0.02908292
+v 0.00501886 -0.06536433 -0.02886024
+v 0.00501886 -0.06643413 -0.02854849
+f 1 2 3
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+f 1 6 7
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+f 1 8 2
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+f 24 30 25
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+f 24 33 30
+f 25 30 26
+f 26 30 34
+f 27 36 37
+f 27 37 35
+f 30 39 34
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+f 32 40 41
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+f 33 41 42
+f 33 42 39
+f 35 37 43
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+f 36 68 57
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+f 36 49 45
+f 36 45 37
+f 37 45 38
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+f 69 78 80
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+f 73 83 74
+f 74 83 84
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+f 77 87 78
+f 78 87 88
+f 78 88 89
+f 78 89 80
+f 83 90 91
+f 83 91 84
+f 84 92 85
+f 84 91 92
+f 85 92 93
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+f 87 95 88
+f 87 94 96
+f 87 96 97
+f 87 97 98
+f 87 98 95
+f 90 99 100
+f 90 100 101
+f 90 101 91
+f 91 101 102
+f 91 102 93
+f 91 93 92
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+f 96 103 104
+f 96 104 101
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+f 96 100 97
+f 97 100 105
+f 99 105 100
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+f 101 106 107
+f 101 107 108
+f 101 108 102
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_54.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d34e7f3ed93864399792a3e2640d655742d88aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00754112 -0.04467406 0.02192560
+v 0.00754112 -0.04989615 0.02192558
+v 0.00754112 -0.04471206 0.02282892
+v 0.03380691 -0.04480863 0.02192560
+v 0.03380691 -0.05006449 0.02192558
+v 0.03380691 -0.05006079 0.02217160
+v 0.03380691 -0.05004075 0.02339489
+v 0.00754112 -0.04987031 0.02339489
+v 0.00754112 -0.04474057 0.02339491
+v 0.03380691 -0.04488357 0.02339491
+v 0.03380691 -0.04965606 0.02500155
+v 0.00754112 -0.04957427 0.02498533
+v 0.00754112 -0.04973416 0.02412804
+v 0.00754112 -0.04525349 0.02444199
+v 0.03380691 -0.04589411 0.02536003
+v 0.03380691 -0.04808933 0.02573847
+v 0.03094277 -0.04808933 0.02577960
+v 0.02603464 -0.04808933 0.02578036
+v 0.01131798 -0.04808933 0.02577998
+v 0.00754112 -0.04808933 0.02573206
+v 0.00754112 -0.04572683 0.02535889
+v 0.03094277 -0.04592472 0.02541927
+v 0.02603464 -0.04592366 0.02542078
+v 0.02112909 -0.04592366 0.02542191
+v 0.01867889 -0.04592366 0.02542228
+v 0.01622354 -0.04592366 0.02542266
+v 0.01131798 -0.04592366 0.02542266
+f 1 2 8
+f 1 8 13
+f 1 13 12
+f 1 12 20
+f 1 20 21
+f 1 21 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 15
+f 4 15 16
+f 4 16 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 4 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 14 21 15
+f 15 22 16
+f 15 21 22
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 21
+f 19 21 20
+f 21 27 26
+f 21 26 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_55.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ec8d9ec31bbe89bc286126e65b9c997ea69da0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_55.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03132061 0.04693369 0.02611424
+v -0.03132061 0.04560584 0.02603512
+v -0.02795101 0.04816247 0.02553496
+v -0.03132061 0.04816246 0.02609375
+v -0.02795101 0.04580883 0.02538490
+v -0.03132061 0.04433842 0.02586128
+v -0.02795101 0.04950602 0.02477896
+v -0.03132061 0.05271145 0.02490319
+v -0.03132061 0.04159453 0.02490233
+v -0.03132061 0.04106774 0.02466127
+v -0.02795101 0.04579675 0.02537014
+v -0.02795101 0.04965342 0.02339529
+v -0.03125959 0.05311379 0.02339531
+v -0.03131764 0.05311379 0.02387048
+v -0.03132061 0.05311379 0.02389425
+v -0.03132061 0.04078380 0.02339403
+v -0.02795101 0.04453898 0.02327392
+v -0.02795101 0.04967639 0.02193496
+v -0.03125300 0.05311380 0.02192637
+v -0.03132061 0.05311380 0.02192637
+v -0.03132061 0.04077173 0.02192632
+v -0.02795101 0.04447858 0.02192633
+v -0.02795101 0.04967639 0.02192635
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 20
+f 1 20 21
+f 1 21 16
+f 1 16 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 11
+f 3 11 17
+f 3 17 22
+f 3 22 23
+f 3 23 18
+f 3 18 12
+f 3 12 7
+f 3 7 8
+f 3 8 4
+f 5 6 9
+f 5 9 10
+f 5 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 19 20
+f 13 20 15
+f 13 15 14
+f 13 18 19
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_56.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae5e6647cc7f1a8bf9b719db60c1b40f9310097
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_56.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01867527 0.07538074 0.02192604
+v 0.02112763 0.07537718 0.02192604
+v 0.02112763 0.07537718 0.02092814
+v 0.02112763 0.07537366 0.01145934
+v 0.01867527 0.07537839 0.01599498
+v 0.00501886 0.07537718 0.02149368
+v 0.00501886 0.07537718 0.02192604
+v 0.02358214 0.07535343 0.02192604
+v 0.02358214 0.07535343 0.02092814
+v 0.02318521 0.07535347 0.01145934
+v 0.01867527 0.07537603 0.01145934
+v 0.01867527 0.07537721 0.01352789
+v 0.00501886 0.07537128 0.01145934
+v 0.00501886 0.06596107 0.02192600
+v 0.02504326 0.07528695 0.02192604
+v 0.02358214 0.07535226 0.01846105
+v 0.02603450 0.07523713 0.01145934
+v 0.02358214 0.07534991 0.01352789
+v 0.02358214 0.07534872 0.01145934
+v 0.00501886 0.06385967 0.01145929
+v 0.02693777 0.06516917 0.02192600
+v 0.02603450 0.07524064 0.02192604
+v 0.02603450 0.07524064 0.02092814
+v 0.02693777 0.07512669 0.01755433
+v 0.02693777 0.07512433 0.01145934
+v 0.02693777 0.06325180 0.01145929
+v 0.02693777 0.07512786 0.02192604
+v 0.02693777 0.07512786 0.02092814
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 21
+f 1 21 27
+f 1 27 22
+f 1 22 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 19
+f 4 19 17
+f 4 17 25
+f 4 25 26
+f 4 26 20
+f 4 20 13
+f 4 13 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 20
+f 6 20 14
+f 6 14 7
+f 6 12 11
+f 6 11 13
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 16
+f 10 18 19
+f 10 16 18
+f 14 20 21
+f 15 22 23
+f 15 23 17
+f 16 17 18
+f 17 23 24
+f 17 24 25
+f 17 19 18
+f 20 26 21
+f 21 26 25
+f 21 25 24
+f 21 24 28
+f 21 28 27
+f 22 27 28
+f 22 28 23
+f 23 28 24
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_57.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c406d7d5a23d07b04c66259a0432daa2def192
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_57.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02844342 -0.04142190 0.01132971
+v -0.02844342 -0.05302496 0.01132967
+v -0.02844342 -0.04476225 0.02192560
+v -0.01488750 -0.04485538 0.02192560
+v -0.01488750 -0.04203635 0.01132971
+v -0.02841422 -0.05302496 0.01133070
+v -0.02844342 -0.05302496 0.01133900
+v -0.01488750 -0.05250932 0.01132967
+v -0.02844342 -0.05014127 0.02192558
+v -0.01488750 -0.04989595 0.02192558
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 8
+f 4 8 5
+f 6 8 7
+f 7 8 10
+f 7 10 9
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_58.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2c5f1424358cb432453161eea6e92a927d2c42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_58.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.02841571 0.05309116 0.01132813
+v -0.02876760 0.05309116 0.01132813
+v -0.02875537 0.05309116 0.01142876
+v -0.01488750 0.05255805 0.01132812
+v -0.02876760 0.05309116 0.01143188
+v -0.02876760 0.04076923 0.01132808
+v -0.01488750 0.04964880 0.02192490
+v -0.01488750 0.04180410 0.01132808
+v -0.02876760 0.05007094 0.02192490
+v -0.01488750 0.04452873 0.02192488
+v -0.02876760 0.04434419 0.02192488
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 4
+f 4 7 10
+f 4 10 8
+f 4 5 7
+f 5 9 7
+f 6 8 10
+f 6 10 11
+f 7 9 11
+f 7 11 10
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_59.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a29b0034f1885bd30c2638aa1de930fea2ca00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_59.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02795101 0.04967599 0.02193488
+v -0.02795101 0.04967599 0.02192594
+v -0.02795101 0.04965339 0.02339515
+v -0.00084601 0.04965080 0.02192594
+v -0.02795101 0.04447806 0.02192592
+v -0.02795101 0.04950570 0.02477886
+v -0.00084601 0.04949180 0.02477692
+v -0.00084601 0.04949788 0.02471822
+v -0.00084601 0.04962733 0.02339515
+v -0.00084601 0.04962907 0.02329021
+v -0.00084601 0.04080136 0.02192591
+v -0.02795101 0.04453887 0.02327387
+v -0.02795101 0.04816256 0.02553523
+v -0.02548354 0.04816256 0.02557799
+v -0.01812359 0.04816256 0.02557838
+v -0.00095214 0.04816256 0.02557915
+v -0.00084601 0.04816256 0.02557915
+v -0.00585789 0.04949267 0.02477847
+v -0.00084601 0.04091603 0.02339512
+v -0.02795101 0.04579599 0.02537042
+v -0.02795101 0.04580729 0.02538480
+v -0.00084601 0.04569434 0.02589670
+v -0.00084601 0.04313925 0.02522777
+f 1 2 5
+f 1 5 12
+f 1 12 20
+f 1 20 21
+f 1 21 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 11
+f 2 11 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 17
+f 4 17 22
+f 4 22 23
+f 4 23 19
+f 4 19 11
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 17
+f 11 19 12
+f 12 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 16
+f 16 22 17
+f 19 23 21
+f 19 21 20
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_6.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c94fe24f667e198c1ae9a04d831f3e7c0c418f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_6.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05060435 -0.04314552 0.03638436
+v -0.05059565 -0.05054033 0.03638433
+v -0.04948670 -0.05054034 0.03766789
+v -0.04948380 0.03333728 0.03766365
+v -0.05050856 0.03846483 0.03648689
+v -0.05059855 0.02616339 0.03638462
+v -0.05056662 -0.05301690 0.03638433
+v -0.04946929 -0.05548184 0.03766333
+v -0.04947800 -0.05301691 0.03766561
+v -0.02891320 -0.05799337 0.05959288
+v -0.02892482 -0.03327424 0.05959297
+v -0.02893062 0.02100089 0.05959317
+v -0.04947800 0.05062672 0.03766372
+v -0.05059565 0.04837108 0.03638470
+v -0.05046501 -0.05548183 0.03638432
+v -0.04943445 -0.05799329 0.03765424
+v -0.02096772 -0.05799337 0.05959288
+v -0.02891901 0.05133589 0.05959328
+v -0.02891611 0.05555651 0.05959329
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_60.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffbb6b4754bf2828f0f06042401f4c074f3257f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_60.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.02693777 0.06325182 0.01145929
+v 0.02754224 0.06203167 0.01145929
+v 0.02693777 0.06516997 0.02192600
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_61.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc34c23502c8844602c84eb466196e2b5e1622f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_61.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00501886 0.07537754 0.02192106
+v -0.00194330 0.07537754 0.02192106
+v 0.00501886 0.06596132 0.02192102
+v 0.00501886 0.07539839 -0.01113845
+v -0.01488750 0.07537443 0.02192106
+v 0.00395496 0.07539839 -0.01113845
+v -0.01488750 0.06594889 0.02192102
+v 0.00501886 0.06481090 0.01175346
+v 0.00501886 0.07536730 -0.01220505
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+v -0.00585598 0.07532585 -0.01360558
+v -0.01488750 0.06481090 0.01175346
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+v 0.00501886 0.06481105 -0.02891178
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+v -0.01488750 0.07531134 -0.01360558
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+v -0.00585598 0.07503565 -0.01607271
+v -0.01076243 0.07503565 -0.01607271
+v -0.01488750 0.06481105 -0.02899153
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+v -0.01488750 0.06543914 -0.02888686
+v -0.01321565 0.06543914 -0.02888686
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+v -0.01488750 0.07206416 -0.02523848
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_62.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88c9502629515420c7ce20895a4ddaa137f5497
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_62.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00501886 0.04176543 0.01214574
+v 0.00501886 0.04242796 0.02092742
+v 0.00501886 0.05091855 0.01214578
+v 0.03338314 0.04320622 0.01214575
+v 0.00501886 0.04251134 0.02192592
+v 0.00501886 0.04964986 0.02192594
+v 0.03338314 0.05092483 0.01214578
+v 0.03338314 0.04452594 0.02192018
+v 0.03338314 0.04459498 0.02192592
+v 0.03338314 0.04965614 0.02192594
+f 1 2 5
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+f 3 6 10
+f 3 10 7
+f 4 7 10
+f 4 10 9
+f 4 9 8
+f 4 8 5
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+f 5 9 10
+f 5 10 6
+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_63.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fb8cc7d2d8063304122a51c6d254dd0e9f6085
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_63.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02315624 0.07037291 0.03079198
+v -0.02315624 0.07022650 0.03076161
+v -0.02315624 0.07271547 0.03054726
+v -0.02548424 0.07037291 0.03078591
+v -0.03039037 0.06790547 0.03076247
+v -0.03132061 0.06697103 0.03075552
+v -0.03132061 0.06450144 0.03059757
+v -0.02315624 0.06818753 0.03019229
+v -0.03132061 0.06220410 0.03008726
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+v -0.03132061 0.06790547 0.03071734
+v -0.02315624 0.06807987 0.03010377
+v -0.03132061 0.06155602 0.02979740
+v -0.03132061 0.05361331 0.02458158
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_64.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514437e0a4dda6ed9f1569c34a02298b61e4be13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_64.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01076159 -0.06476017 0.01173691
+v 0.00154004 -0.06476741 0.01173691
+v -0.01321310 -0.06476327 0.01173691
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_65.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6563f1948307198788e1a4e941f6a860084945df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_65.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02844347 -0.07376266 0.01132959
+v -0.02735008 -0.07412043 0.01132959
+v -0.02722933 -0.07416844 0.01352762
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_66.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e22412543ccd19519d95c31b230f3a8ca48662
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_66.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00084601 0.07537844 0.02339536
+v -0.00084601 0.07537844 0.02329035
+v -0.00340548 0.07537844 0.02339536
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+v -0.02315624 0.07284207 0.03052500
+v -0.02302957 0.07284207 0.03053455
+v -0.02315624 0.07271525 0.03054757
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_67.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e88f2868391f4f273b3fa60ef5f165a074fb24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_67.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_7.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300e541a00e33cf3a9d70bb59da357033a63bcd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_7.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_8.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b357c94f8272040566bb003acdf8b75c0a8aa6db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_8.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_9.obj b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1437a3cca55952a6b369c1ef952979befbad6f13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/mesh/storage_box_033_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/storage_box_033.xml b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/storage_box_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d51a30aaa9f32be79239001ae54d30a0dc4190cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/mjcf/storage_box_033.xml
@@ -0,0 +1,150 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_box_033">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/storage_box_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_box_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_box_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_box_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_box_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_box_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_box_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_box_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_box_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/storage_box_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_box_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_box_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_box_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_box_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_box_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/storage_box_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/storage_box_033_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/storage_box_033_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/storage_box_033_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_66" file="mesh/storage_box_033_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/storage_box_033_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_box_033">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_67" 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/28ac391236fc5dffad66e45383072974/storage_box_033.urdf b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/storage_box_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..191369144a2ca0ca42ba3d78b8abeb120534900b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/storage_box_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_box_033">
+   <link name="storage_box_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_033.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>28ac391236fc5dffad66e45383072974</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_box</category>
+         <name>hinged storage box</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>dark gray rectangular storage box with hinged lid and vented rubberized base</description>
+         <min_height>0.1223</min_height>
+         <max_height>0.1223</max_height>
+         <real_height>0.1223</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140532</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051489 -0.074963 -0.028703</min>
+            <max>0.047052 0.075037 0.093622</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/28ac391236fc5dffad66e45383072974/storage_box_033.usd b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/storage_box_033.usd
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e0db980dd0bab91f6bb3ce61773c2258ab8aa4a3a595c09b99e6434f38ba57
+size 4904854
diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/textures/material_0.png b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/video.mp4 b/dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/video.mp4
new file mode 100644
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+size 359009