diff --git a/.gitattributes b/.gitattributes
index b9369942a3fb5094d689e05301c725f75fb49153..3f8931547263beedb8d4afb154a078c127771afa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2689,3 +2689,5 @@ dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh
 dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/alarm_clock_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/mesh/alarm_clock_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/0626293c5f3e591b9df5fe282051c4cd.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material.mtl b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d0bd11fa0cfe1693b3ce75add4189aba6aaddad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material_0.png b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05969ad8651e2b964688b5a1ccb146899265dd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11dc8b9fa9b78ceae963e10f860abfc8fe53e0ea305b7c15105229505779e203
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.glb b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5334743acc227f3f52861191e4e95aabbc817746
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13157192
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.mtl b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4815b036d66288ccd1f678c9182198113b8fc618
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_025_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/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326160175c0f8583b6b799006aefd5aeabb5983a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025.obj
@@ -0,0 +1,110726 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025_collision.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5730e8c13c6c5f0925f1efd9a7fdf0c92c117af1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025_collision.obj
@@ -0,0 +1,9567 @@
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mesh/storage_bin_025_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025.obj
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+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025.obj
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416105eb83401394aa6ce0765dcd7446bb84583a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision.obj
@@ -0,0 +1,9567 @@
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_0.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9634ea53237e4d78ebd2e3cd07b88f428ebcc126
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_1.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b583af26d227cca62a4d7ece1ee878f589a8ea2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_1.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.05551842 -0.02839196 -0.02677898
+v -0.05553117 -0.02835437 -0.02677898
+v -0.05159000 -0.02839196 -0.02677898
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_10.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d1556ea4b990eca8e3960aefff014415065861
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05253007 -0.02476552 -0.02601968
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_11.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef1000783e36e5b8af01d1f0c389e2d0ec99424
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_11.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_12.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161df78009e4e398d46803b18f6de44c21a4e8c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_12.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_13.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82914ae8643588e49b8023ba3dde55fa235cace5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_14.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283f297d1274949f2db1cd9a72ccfe34999e7043
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_14.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_15.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9c9d4be6324df2cb3596a04161c3e18a35a4ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_15.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_16.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bcca8038a15e783dbe17890fa34f96bee1077d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_17.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704dd50793a992a922e6bbb567dc3a0a3cedc83b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04993229 0.03979657 -0.02602110
+v -0.05259719 0.03293459 -0.02602113
+v -0.05459814 0.03979657 -0.02602110
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+v -0.06025637 0.03293434 0.04174159
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_18.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81885aa03808622bb36e7f2aa93b59e2815282d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_18.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00003349 0.00361075 -0.02997258
+v -0.00003349 -0.02839195 -0.02992771
+v -0.00003349 0.00361076 -0.03347771
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_19.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da914c0c778b23eef149104015a4ec500234973
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05202734 0.00361375 -0.02836047
+v 0.05190285 0.03444344 -0.02836035
+v 0.05599228 0.00361375 -0.02836047
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_2.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53ad655c1fb2ceb3df51ff246a916876b5b59fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04851222 0.04626220 0.04401776
+v 0.04651619 0.04626220 0.04408633
+v 0.04851222 0.04429041 0.04381887
+v 0.04851222 0.04627490 0.04401090
+v 0.04453917 0.04626220 0.04410691
+v 0.04651619 0.04769549 0.04324968
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+v 0.01882363 0.04771565 0.04327711
+v 0.04651619 0.04826313 0.04174094
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+v -0.00002937 0.04626220 0.04410691
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+v -0.00002937 0.04771715 0.04327711
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+v 0.04293284 0.04525043 -0.02594661
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_20.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9737dc8af2d90543b948dcc413037b97ed307fc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_20.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02910145 -0.02839194 -0.03345911
+v -0.02910145 -0.02864240 -0.03345767
+v -0.02910145 -0.02839195 -0.02992756
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_21.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81e714149dea5de1a5e925e494a84bb0720b31c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_21.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.05912118 -0.03177200 0.04173672
+v 0.05891272 -0.03177200 0.04217639
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_22.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038b7b5d1bd2b7ce5b3e432b9f7a230f66f62733
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_22.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.05620063 0.00361074 -0.02602125
+v -0.05620665 0.01863973 -0.02602119
+v -0.05266886 0.00361074 -0.02602125
+v -0.06027055 0.00361049 0.04173872
+v -0.06027130 0.00483037 0.04173873
+v -0.05620740 0.02061164 -0.02602118
+v -0.05259671 0.03293392 -0.02602114
+v -0.05505219 0.00361049 0.03977606
+v -0.06006837 0.00361048 0.04231517
+v -0.06027356 0.01272088 0.04173876
+v -0.05620740 0.02343890 -0.02602117
+v -0.06027506 0.01863948 0.04173878
+v -0.05616080 0.03293392 -0.02602114
+v -0.05501987 0.03293367 0.03977617
+v -0.05510329 0.03293367 0.04173883
+v -0.05511157 0.00361049 0.04099071
+v -0.05974292 0.00361048 0.04323474
+v -0.05974367 0.00680227 0.04324161
+v -0.05620514 0.02850501 -0.02602116
+v -0.06027431 0.02061139 0.04173879
+v -0.05974442 0.01074896 0.04324163
+v -0.05974442 0.01666756 0.04324165
+v -0.05974292 0.02455806 0.04324168
+v -0.05618334 0.03244883 -0.02602114
+v -0.06025626 0.03293367 0.04173883
+v -0.05521979 0.03293366 0.04258978
+v -0.05529420 0.00361048 0.04282985
+v -0.05514839 0.00361049 0.04173872
+v -0.05833217 0.00361048 0.04407882
+v -0.05833217 0.01469565 0.04408572
+v -0.05620364 0.03047692 -0.02602115
+v -0.06026979 0.02850476 0.04173881
+v -0.05833217 0.02850475 0.04407891
+v -0.05974142 0.03047666 0.04323484
+v -0.05619537 0.03133228 -0.02602114
+v -0.06026454 0.03244858 0.04173883
+v -0.06013075 0.03293367 0.04209568
+v -0.05526564 0.03293366 0.04287800
+v -0.05594885 0.00361048 0.04335140
+v -0.05635471 0.00361048 0.04367394
+v -0.05635471 0.03293366 0.04371522
+v -0.05784814 0.03293366 0.04399658
+v -0.06026829 0.03047667 0.04173882
+v -0.05833217 0.03244857 0.04407207
+v -0.05973841 0.03244857 0.04322798
+v -0.05973315 0.03293366 0.04322112
+v -0.05608113 0.03293366 0.04350935
+v -0.05833217 0.03293366 0.04406521
+v -0.05939493 0.03293366 0.04342700
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 31
+f 1 31 35
+f 1 35 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 27
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+f 1 39 40
+f 1 40 29
+f 1 29 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 12 22 23
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+f 17 29 18
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+f 29 40 41
+f 29 41 30
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+f 44 48 45
+f 45 48 49
+f 45 49 46
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_23.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615d73c98bf4826550d10ac05c719ff61ce88331
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00003412 0.04626266 0.04410742
+v -0.04434825 0.04626266 0.04411429
+v -0.04434825 0.04429010 0.04360625
+v -0.00003412 0.04521418 0.04383281
+v -0.00003412 0.04771750 0.04327674
+v -0.01283473 0.04771750 0.04327674
+v -0.03657072 0.04771684 0.04327674
+v -0.04434825 0.04771554 0.04326987
+v -0.00003412 0.04429010 0.04358565
+v -0.04434825 0.04334517 0.04282361
+v -0.00003412 0.04829775 0.04173892
+v -0.04434825 0.04829775 0.04173892
+v -0.04434825 0.04775592 0.04316689
+v -0.00003412 0.04328525 0.04274809
+v -0.04434825 0.04327614 0.04276182
+v -0.00003412 0.04525938 -0.02602109
+v -0.00491839 0.04526263 -0.02602109
+v -0.00690073 0.04527304 -0.02580826
+v -0.01876872 0.04527500 -0.02584946
+v -0.02043875 0.04526785 -0.02602109
+v -0.02074672 0.04527501 -0.02586319
+v -0.04090410 0.04527305 -0.02602109
+v -0.04156343 0.04527305 -0.02602109
+v -0.04172827 0.04527762 -0.02591811
+v -0.04181936 0.04527240 -0.02602109
+v -0.04289945 0.04526394 -0.02602109
+v -0.04304693 0.04527239 -0.02580140
+v -0.04434825 0.04521444 -0.02602109
+v -0.04434825 0.04319930 0.04180755
+v -0.04434825 0.04319409 0.04173890
+v -0.00003412 0.04321037 0.04173890
+v -0.00003412 0.04171541 -0.02602111
+v -0.00651033 0.04526329 -0.02602109
+v -0.00849267 0.04526394 -0.02602109
+v -0.01844339 0.04526719 -0.02602109
+v -0.04434825 0.04164573 -0.02602111
+v -0.04434825 0.04313222 0.03977544
+v -0.00003412 0.04314069 0.03977544
+v -0.00003412 0.04317325 0.04069538
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
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+f 1 38 32
+f 1 32 16
+f 1 16 11
+f 1 11 5
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+f 30 39 31
+f 32 38 36
+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_24.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9150a68e0459e1dc77ee8f37e78b8a37367f6edd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_24.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.04851697 0.03444648 -0.03343877
+v 0.05045287 0.03444648 -0.03330918
+v 0.04851697 0.03444647 -0.02990516
+v 0.04851697 0.03637782 -0.03340990
+v 0.05047484 0.03444648 -0.03330726
+v 0.04851697 0.03639867 -0.03340926
+v 0.05047484 0.03639867 -0.03324182
+v 0.05240341 0.03444646 -0.02688607
+v 0.04851697 0.04060788 -0.02688605
+v 0.05243051 0.03444648 -0.03286267
+v 0.04851697 0.03835086 -0.03330789
+v 0.05245249 0.03639867 -0.03272025
+v 0.05245249 0.03444648 -0.03285689
+v 0.04851697 0.03837172 -0.03330596
+v 0.05047484 0.03837172 -0.03305320
+v 0.05599979 0.03444646 -0.02688607
+v 0.04851697 0.04459072 -0.02688604
+v 0.05258286 0.03844023 -0.03229297
+v 0.05360831 0.03782757 -0.03191125
+v 0.05378776 0.03639867 -0.03204984
+v 0.05390935 0.03444648 -0.03214992
+v 0.04851697 0.04032292 -0.03298518
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+v 0.05047484 0.04034377 -0.03254765
+v 0.05579178 0.03444647 -0.02882994
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+v 0.05408441 0.03844022 -0.03092071
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+v 0.05533838 0.03697062 -0.02930531
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+v 0.04882900 0.04305261 -0.03148525
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+v 0.05512890 0.03854150 -0.02688606
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+v 0.05351602 0.04141815 -0.02688605
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+v 0.04851697 0.04364938 -0.03072887
+v 0.05392034 0.04045894 -0.02872791
+v 0.04851697 0.04341703 -0.03109006
+v 0.05511498 0.03857129 -0.02688606
+v 0.05512377 0.03855341 -0.02688606
+v 0.05420087 0.04035666 -0.02688605
+v 0.05420819 0.04034474 -0.02688605
+f 1 2 5
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+f 1 35 54
+f 1 54 42
+f 1 42 25
+f 1 25 16
+f 1 16 8
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+f 59 70 60
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+f 62 65 63
+f 67 72 69
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_25.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c984a485c5030515acc2f73d51501a5181d09dbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_25.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.05240400 0.03444646 -0.02688542
+v 0.04851697 0.04060807 -0.02688540
+v 0.05599951 0.03444646 -0.02688542
+v 0.05416577 0.03444631 0.01384274
+v 0.04851697 0.04216011 0.01384276
+v 0.04851697 0.04459012 -0.02688539
+v 0.05573227 0.03639820 -0.02688542
+v 0.05600131 0.03444646 -0.02686948
+v 0.05770908 0.03444631 0.01384274
+v 0.04851697 0.04591095 0.01384278
+v 0.05033002 0.04385387 -0.02688539
+v 0.04851697 0.04459124 -0.02686945
+v 0.05572958 0.03641167 -0.02688542
+v 0.05573318 0.03639820 -0.02686948
+v 0.05583755 0.03639819 -0.02490802
+v 0.05609939 0.03444645 -0.02490802
+v 0.05767399 0.03479536 0.01384274
+v 0.05750034 0.03444633 0.00841285
+v 0.05739956 0.03542164 0.00739225
+v 0.04885529 0.04582453 0.01384278
+v 0.04851697 0.04587279 0.01233581
+v 0.05065304 0.04372255 -0.02688539
+v 0.05047488 0.04392007 -0.02490799
+v 0.04851697 0.04468438 -0.02490799
+v 0.05047488 0.04401658 -0.02294653
+v 0.05548214 0.03756767 -0.02688541
+v 0.05548304 0.03756879 -0.02686947
+v 0.05593292 0.03639818 -0.02294656
+v 0.05602380 0.03639818 -0.02098909
+v 0.05618846 0.03444644 -0.02297048
+v 0.05752463 0.03620725 0.01384274
+v 0.05743285 0.03444634 0.00666667
+v 0.05695507 0.03639810 0.00057100
+v 0.05703695 0.03639809 0.00253246
+v 0.05725650 0.03653050 0.00841285
+v 0.05729699 0.03676730 0.01037432
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_26.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd69e1964bba18f38c37aac5f8b3d0060f2b2923
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_27.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23da85c4f723b76bfb9e38d6f9ece8bfb52421e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_27.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+v -0.04052600 -0.02871504 -0.03345727
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_28.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da85037cca699cbd68ed6a65af534bdbce52638f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_29.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2e67c1fcc66d97bf39acdf3f759a10b81acefd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_29.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+f 20 28 29
+f 20 29 30
+f 20 30 26
+f 21 23 22
+f 24 31 32
+f 24 32 25
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 29 36 30
+f 31 37 38
+f 31 38 32
+f 33 39 34
+f 33 40 39
+f 34 39 35
+f 35 41 40
+f 35 40 36
+f 35 39 41
+f 36 40 42
+f 37 42 40
+f 37 40 38
+f 39 40 41
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_3.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b05701a8948bc9cc54e82ec8e7131edcd60d5fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_3.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.06029485 -0.02476852 0.04173716
+v 0.06029363 -0.02476578 0.04173716
+v 0.05977972 -0.02476579 0.04321492
+v 0.05973211 -0.02674160 0.04316679
+v 0.06020574 -0.02674159 0.04173715
+v 0.05608955 -0.02476827 -0.02601968
+v 0.05608955 -0.02476553 -0.02601968
+v 0.05838691 -0.02476579 0.04406721
+v 0.05838691 -0.02476853 0.04406721
+v 0.05838691 -0.02674160 0.04401908
+v 0.05838691 -0.02871468 0.04386786
+v 0.05961249 -0.02871468 0.04302931
+v 0.05997259 -0.02871467 0.04173714
+v 0.05986761 -0.02871467 0.03977826
+v 0.06008245 -0.02674159 0.03977827
+v 0.05600044 -0.02562553 -0.02601968
+v 0.05253001 -0.02476553 -0.02601968
+v 0.05640938 -0.03068775 0.04419778
+v 0.05640938 -0.02476579 0.04373041
+v 0.05640938 -0.03177133 0.04412903
+v 0.05736762 -0.03177133 0.04377850
+v 0.05852118 -0.03070215 0.04342797
+v 0.05947821 -0.03005406 0.04285749
+v 0.05959295 -0.03042919 0.04173714
+v 0.05954534 -0.03027351 0.03977826
+v 0.05588326 -0.02674134 -0.02601969
+v 0.04782545 -0.03177107 -0.02601971
+v 0.05503976 -0.02476578 0.03977828
+v 0.05532174 -0.03177133 0.04407405
+v 0.05352731 -0.03177133 0.04326300
+v 0.05531441 -0.02476579 0.04288500
+v 0.05822943 -0.03177133 0.04333861
+v 0.05891424 -0.03177132 0.04217702
+v 0.05912298 -0.03177132 0.04173713
+v 0.05928656 -0.03141538 0.04173713
+v 0.05924749 -0.03126039 0.03977826
+v 0.05557564 -0.02822475 -0.02601969
+v 0.05266916 -0.03177132 0.03977825
+v 0.05513741 -0.02476578 0.04173716
+v 0.05384714 -0.03177107 -0.02601971
+v 0.05321604 -0.03177133 0.04288497
+v 0.05286326 -0.03177132 0.04173713
+v 0.05305979 -0.03177133 0.04253443
+v 0.05905341 -0.03177132 0.04049307
+v 0.05901312 -0.03177132 0.03977825
+v 0.05525460 -0.02921094 -0.02601970
+v 0.05452828 -0.03068749 -0.02601970
+f 1 2 3
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+f 1 7 2
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+f 2 17 28
+f 2 28 39
+f 2 39 31
+f 2 31 19
+f 2 19 8
+f 2 8 3
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+f 6 40 27
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+f 6 17 7
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+f 8 18 9
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+f 10 20 11
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+f 15 26 16
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+f 20 29 30
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+f 20 41 43
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+f 20 42 38
+f 20 38 27
+f 20 27 40
+f 20 40 45
+f 20 45 44
+f 20 44 34
+f 20 34 33
+f 20 33 32
+f 20 32 21
+f 21 32 22
+f 22 32 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 32 33
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 27 38 39
+f 27 39 28
+f 30 31 41
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+f 31 42 43
+f 31 43 41
+f 34 44 35
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 38 42 39
+f 40 47 45
+f 45 47 46
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_30.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7463ed3937369b9bdfe56bf4714ab2b38162a929
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_30.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00003349 -0.03593440 -0.02601788
+v 0.00569555 -0.03974776 -0.01118911
+v 0.00420263 -0.03943597 -0.00774976
+v -0.00003349 -0.03693379 -0.00717992
+v -0.00003349 -0.03242032 -0.02601787
+v 0.01091077 -0.03663741 -0.02601788
+v 0.01091077 -0.03931099 -0.02367582
+v 0.01091077 -0.03995495 -0.02269659
+v 0.00970331 -0.03976128 -0.02230378
+v 0.01091077 -0.04046332 -0.02098891
+v 0.00942071 -0.03994817 -0.02098891
+v 0.00885837 -0.04000434 -0.01896403
+v 0.00893259 -0.04026677 -0.01706825
+v 0.00735403 -0.03991720 -0.01510977
+v 0.00544435 -0.03980490 -0.00922878
+v 0.00491055 -0.03974390 -0.00717993
+v 0.00488772 -0.03973518 -0.00717993
+v -0.00003349 -0.03317956 -0.00717990
+v -0.00003349 -0.03317569 -0.00726842
+v 0.00893259 -0.03240579 -0.02601787
+v 0.02912838 -0.03594215 -0.02601788
+v 0.01252073 -0.03988910 -0.02260438
+v 0.01091077 -0.04057856 -0.01902858
+v 0.02079886 -0.04229740 -0.00717994
+v 0.01882067 -0.04218507 -0.00717993
+v 0.00488772 -0.03317763 -0.00717990
+v 0.01091077 -0.03240482 -0.02601787
+v 0.02912838 -0.03240676 -0.02601787
+v 0.02912838 -0.03595281 -0.02578552
+v 0.02370763 -0.04156437 -0.00717993
+v 0.02277705 -0.04196816 -0.00717993
+v 0.02247733 -0.04204757 -0.00717993
+v 0.01288896 -0.03317763 -0.00717990
+v 0.00695440 -0.03317375 -0.00726842
+v 0.01091077 -0.03317375 -0.00726842
+v 0.02785241 -0.03240579 -0.02601787
+v 0.02912838 -0.03318634 -0.00717990
+v 0.02912838 -0.03599251 -0.02490954
+v 0.02912838 -0.03615326 -0.02098889
+v 0.02912838 -0.03616973 -0.02057764
+v 0.02912838 -0.03623171 -0.01902856
+v 0.02912838 -0.03653677 -0.01118909
+v 0.02912838 -0.03655226 -0.01077784
+v 0.02912838 -0.03662489 -0.00881751
+v 0.02912838 -0.03668493 -0.00717991
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 19
+f 1 19 5
+f 1 5 20
+f 1 20 27
+f 1 27 36
+f 1 36 28
+f 1 28 21
+f 1 21 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
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+f 1 12 13
+f 1 13 14
+f 1 14 2
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+f 2 13 15
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+f 3 16 17
+f 3 17 4
+f 4 17 16
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+f 4 25 24
+f 4 24 32
+f 4 32 31
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+f 4 30 45
+f 4 45 37
+f 4 37 33
+f 4 33 26
+f 4 26 18
+f 5 19 20
+f 6 21 7
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+f 10 22 24
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+f 10 25 23
+f 11 13 12
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+f 19 26 27
+f 19 27 20
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+f 21 37 45
+f 21 45 44
+f 21 44 43
+f 21 43 42
+f 21 42 41
+f 21 41 40
+f 21 40 39
+f 21 39 38
+f 21 38 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 24
+f 26 33 35
+f 26 35 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 28 36 37
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 33 37 36
+f 33 36 35
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_31.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6208a09a446618ee379fe2539ced72c25ba689a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_31.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.04647037 -0.02839195 -0.02988370
+v -0.04647037 -0.03205290 -0.02686725
+v -0.04647037 -0.02839194 -0.03343022
+v -0.05158364 -0.02839196 -0.02686723
+v -0.04647037 -0.03569241 -0.02686726
+v -0.04647037 -0.02870779 -0.03342316
+v -0.04678641 -0.02839194 -0.03342444
+v -0.05551330 -0.02839196 -0.02686723
+v -0.04647037 -0.03562952 -0.02773526
+v -0.04670319 -0.03566597 -0.02686726
+v -0.04718212 -0.03558522 -0.02724761
+v -0.04647037 -0.02871494 -0.03342252
+v -0.04844096 -0.02871494 -0.03334928
+v -0.04844096 -0.02839194 -0.03336276
+v -0.05539911 -0.02839196 -0.02801150
+v -0.05522560 -0.02928737 -0.02687110
+v -0.05522560 -0.02928737 -0.02686724
+v -0.04647037 -0.03548659 -0.02878444
+v -0.04793016 -0.03542586 -0.02686726
+v -0.04826479 -0.03533582 -0.02686726
+v -0.04844096 -0.03506854 -0.02883134
+v -0.04649870 -0.03547802 -0.02881464
+v -0.04647037 -0.03068798 -0.03322592
+v -0.04844096 -0.03068798 -0.03308008
+v -0.05041952 -0.02871494 -0.03312377
+v -0.04876497 -0.02839194 -0.03333770
+v -0.05530173 -0.02839195 -0.02872980
+v -0.05514947 -0.02871067 -0.02899323
+v -0.05425624 -0.03068799 -0.02883132
+v -0.05451473 -0.03068800 -0.02687110
+v -0.05451473 -0.03068800 -0.02686724
+v -0.04647037 -0.03547945 -0.02882363
+v -0.05041952 -0.03453546 -0.02686726
+v -0.05041952 -0.03453546 -0.02687112
+v -0.05006984 -0.03396590 -0.03034631
+v -0.04846132 -0.03421030 -0.03091685
+v -0.04647037 -0.03469981 -0.03079670
+v -0.04647037 -0.03485273 -0.03041185
+v -0.05060542 -0.03416814 -0.02899389
+v -0.05138711 -0.03363432 -0.02975522
+v -0.04647037 -0.03265315 -0.03261621
+v -0.04846132 -0.03278893 -0.03226991
+v -0.05041952 -0.03068798 -0.03270487
+v -0.05258840 -0.02889931 -0.03235214
+v -0.05254414 -0.02839194 -0.03245429
+v -0.05074264 -0.02839194 -0.03306850
+v -0.05041952 -0.02839194 -0.03314881
+v -0.05521143 -0.02839195 -0.02922516
+v -0.05372596 -0.03068799 -0.03033088
+v -0.05341435 -0.03170845 -0.02986059
+v -0.05352855 -0.03184494 -0.02883133
+v -0.05366400 -0.03200788 -0.02687111
+v -0.05366577 -0.03200574 -0.02686725
+v -0.05169164 -0.03384872 -0.02686725
+v -0.05168898 -0.03385014 -0.02687111
+v -0.05156416 -0.03375939 -0.02844841
+v -0.04913412 -0.03353212 -0.03165377
+v -0.05060542 -0.03325916 -0.03091684
+v -0.04781508 -0.03375080 -0.03186386
+v -0.04647037 -0.03386871 -0.03196409
+v -0.05229273 -0.03298689 -0.02899388
+v -0.05229007 -0.03216437 -0.03062451
+v -0.05155885 -0.03181277 -0.03186900
+v -0.04647037 -0.03266101 -0.03261300
+v -0.05041952 -0.03218509 -0.03208681
+v -0.05200768 -0.03068798 -0.03210350
+v -0.05337629 -0.02968038 -0.03176234
+v -0.05355865 -0.02839194 -0.03197114
+v -0.05465372 -0.02839195 -0.03047736
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+v -0.05267870 -0.03299404 -0.02686725
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+v -0.05360557 -0.02839194 -0.03194672
+v -0.05435185 -0.02839195 -0.03091232
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+f 41 64 42
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+f 48 69 49
+f 49 67 50
+f 49 69 70
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+f 50 63 62
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+f 52 73 53
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+f 54 56 55
+f 54 73 72
+f 54 72 56
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+f 63 71 67
+f 63 67 66
+f 67 70 74
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+f 67 75 68
+f 69 76 70
+f 70 76 74
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_32.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca4598b1dad7f084c74ec11988dbaad62de5041
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_32.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00003349 -0.03793091 0.01732124
+v -0.00003349 -0.03972572 0.02085274
+v -0.00003349 -0.03406119 0.01732125
+v 0.01610316 -0.04338832 0.01732122
+v -0.00003349 -0.03975774 0.02213885
+v -0.00003349 -0.03352198 0.02280968
+v 0.02475524 -0.03404519 0.01732125
+v 0.01724212 -0.04363543 0.01732122
+v -0.00003349 -0.03959868 0.02315968
+v -0.00003349 -0.03352199 0.02344719
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+v 0.02871162 -0.03404319 0.01732125
+v 0.01830401 -0.04370747 0.01732122
+v 0.01882067 -0.04366645 0.01761980
+v 0.01730207 -0.04361242 0.01742713
+v -0.00003349 -0.03912046 0.02349357
+v 0.02018514 -0.03971073 0.02762627
+v 0.01964849 -0.03964270 0.02762627
+v 0.00497621 -0.03351998 0.02344719
+v -0.00003349 -0.03411225 0.02389807
+v 0.01928311 -0.03355201 0.02762630
+v 0.00695440 -0.03352098 0.02280766
+v 0.02912838 -0.03404319 0.01732125
+v 0.01882067 -0.04374048 0.01732122
+v 0.02079886 -0.04362043 0.01760366
+v 0.02079886 -0.04330930 0.01858413
+v 0.02068468 -0.03972074 0.02762627
+v -0.00003349 -0.03858022 0.02386982
+v 0.01851524 -0.03857023 0.02762628
+v -0.00003349 -0.03660735 0.02467680
+v 0.00695440 -0.03352099 0.02344618
+v -0.00003349 -0.03463448 0.02429551
+v 0.01902049 -0.03363605 0.02762630
+v 0.01998532 -0.03356602 0.02762630
+v 0.01804995 -0.03355000 0.02485435
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+v 0.00893259 -0.03352299 0.02344114
+v 0.00893259 -0.03352298 0.02281069
+v 0.02912838 -0.03791690 0.01732124
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+v 0.02912838 -0.03433535 0.02760712
+v 0.02038496 -0.04370046 0.01732122
+v 0.02079886 -0.04366845 0.01732122
+v 0.02192069 -0.04355140 0.01740595
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+v 0.01791579 -0.03492862 0.02762629
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_33.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766c521cbe1acc3b52729d25d807f58919a09159
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_33.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_34.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2332a99c81e20d41f8c7798d8576b0787288b816
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_34.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_35.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2682ea68b306d17243b96cbe39a86720b1f3f454
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_35.obj
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+f 101 120 121
+f 101 121 119
+f 102 119 122
+f 102 122 106
+f 102 106 103
+f 104 106 122
+f 104 122 105
+f 105 122 114
+f 105 114 112
+f 107 123 109
+f 107 108 123
+f 108 124 123
+f 108 111 125
+f 108 125 126
+f 108 126 124
+f 109 123 127
+f 110 128 111
+f 111 126 125
+f 111 128 129
+f 111 129 130
+f 111 130 115
+f 111 115 126
+f 113 115 130
+f 113 130 116
+f 114 122 119
+f 114 119 126
+f 114 126 115
+f 116 130 117
+f 117 130 129
+f 117 129 128
+f 119 121 126
+f 120 131 121
+f 121 131 132
+f 121 132 124
+f 121 124 126
+f 123 132 127
+f 123 124 132
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_36.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf05ca4b854453d731b507b49acdec4ca79edd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_36.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01935783 -0.03353937 0.02997957
+v -0.01872480 -0.03357223 0.03178625
+v -0.01873587 -0.03357100 0.02624579
+v -0.01936397 -0.03354180 0.02801939
+v -0.01997733 -0.03353937 0.02997957
+v -0.01706051 -0.03430764 0.03178624
+v -0.01756938 -0.03371516 0.02624579
+v -0.01986178 -0.03359716 0.03109797
+v -0.02910145 -0.03443963 0.03178624
+v -0.01874447 -0.03357100 0.02624579
+v -0.01998101 -0.03354180 0.02801939
+v -0.02910145 -0.03429727 0.02624578
+v -0.01687613 -0.03453270 0.03178624
+v -0.01686876 -0.03453085 0.02624578
+v -0.02910145 -0.03810205 0.03178623
+v -0.01876905 -0.03357221 0.02624579
+v -0.01986793 -0.03360019 0.02691347
+v -0.02910145 -0.03791286 0.02624577
+v -0.01686261 -0.03454119 0.02624578
+v -0.01664505 -0.03660752 0.03178624
+v -0.01654426 -0.03660750 0.02624578
+v -0.02197104 -0.03969937 0.02997954
+v -0.02187762 -0.03965194 0.03152263
+v -0.02183583 -0.03963125 0.03178622
+v -0.02910145 -0.03809293 0.03149986
+v -0.02195137 -0.03969024 0.02801936
+v -0.02185181 -0.03963914 0.02667967
+v -0.02910145 -0.03795909 0.02758004
+v -0.02115118 -0.03970179 0.02624576
+v -0.01724365 -0.03807650 0.03178623
+v -0.01728668 -0.03814644 0.02624577
+v -0.02074556 -0.03975290 0.02997954
+v -0.02105531 -0.03972736 0.03178622
+v -0.02074556 -0.03975289 0.02801936
+v -0.02141914 -0.03968965 0.03178622
+v -0.02910145 -0.03804182 0.02997955
+v -0.02910145 -0.03797429 0.02801937
+v -0.02081070 -0.03973342 0.02624576
+v -0.01833884 -0.03899013 0.03178623
+v -0.01799836 -0.03884717 0.02624577
+v -0.01941437 -0.03971276 0.03178622
+v -0.02088200 -0.03973466 0.03178622
+v -0.01901612 -0.03967989 0.02624576
+v -0.01932955 -0.03970181 0.03178622
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 15
+f 2 15 24
+f 2 24 35
+f 2 35 33
+f 2 33 42
+f 2 42 41
+f 2 41 44
+f 2 44 39
+f 2 39 30
+f 2 30 20
+f 2 20 13
+f 2 13 6
+f 3 10 11
+f 3 11 4
+f 3 7 14
+f 3 14 19
+f 3 19 21
+f 3 21 31
+f 3 31 40
+f 3 40 43
+f 3 43 38
+f 3 38 29
+f 3 29 18
+f 3 18 12
+f 3 12 16
+f 3 16 10
+f 5 11 12
+f 5 12 9
+f 5 9 8
+f 6 13 14
+f 6 14 7
+f 9 12 18
+f 9 18 28
+f 9 28 37
+f 9 37 36
+f 9 36 25
+f 9 25 15
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 12 17 16
+f 13 19 14
+f 13 20 21
+f 13 21 19
+f 15 22 23
+f 15 23 24
+f 15 25 26
+f 15 26 22
+f 18 27 26
+f 18 26 28
+f 18 29 27
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 22 33 23
+f 22 26 34
+f 22 34 32
+f 23 33 35
+f 23 35 24
+f 25 36 26
+f 26 36 37
+f 26 37 28
+f 26 27 29
+f 26 29 38
+f 26 38 34
+f 30 39 40
+f 30 40 31
+f 32 41 42
+f 32 42 33
+f 32 34 41
+f 34 38 43
+f 34 43 41
+f 39 44 43
+f 39 43 40
+f 41 43 44
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_37.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09997bf1f964b4a9215b94d19890ac6554df469
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_37.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00497292 -0.04435899 0.00645447
+v 0.00663661 -0.04403829 0.00645447
+v 0.00515617 -0.04411163 0.00859136
+v 0.00101726 -0.04434807 0.01037571
+v 0.00299599 -0.04433489 0.00057620
+v 0.00497292 -0.04434256 0.00253562
+v 0.00677112 -0.04407879 0.00449504
+v 0.00918857 -0.04297440 0.01069228
+v 0.00918857 -0.04274893 0.01233513
+v 0.00307363 -0.04406129 0.01051001
+v 0.00101726 -0.04385333 0.01166360
+v -0.00003259 -0.04384567 0.01165401
+v -0.00003259 -0.04433384 0.01037571
+v -0.00003259 -0.04429986 -0.00138562
+v 0.00101726 -0.04431190 -0.00138562
+v 0.00918857 -0.04267669 0.01256776
+v 0.00514354 -0.04409737 0.00041072
+v 0.00664113 -0.04402186 0.00253562
+v 0.00918857 -0.04307287 0.00057620
+v 0.00918857 -0.04199259 0.01416505
+v 0.00918857 -0.04186015 0.01440968
+v 0.00918857 -0.03886654 0.01732124
+v -0.00003259 -0.03793069 0.01732124
+v -0.00003259 -0.04377556 -0.00259677
+v 0.00101726 -0.04378541 -0.00260636
+v 0.00300231 -0.04403607 -0.00148155
+v 0.00459830 -0.04386314 -0.00089396
+v 0.00918857 -0.04266130 -0.00138562
+v 0.00918857 -0.03406252 0.01732125
+v -0.00003259 -0.03406143 0.01732125
+v -0.00003259 -0.03693456 -0.00717992
+v 0.00488536 -0.03973444 -0.00717993
+v 0.00490973 -0.03974429 -0.00717993
+v 0.00234785 -0.04366064 -0.00249124
+v 0.00513270 -0.03974757 -0.00717993
+v 0.00638205 -0.03976289 -0.00717993
+v 0.00918857 -0.04194437 -0.00290614
+v 0.00192177 -0.03406143 0.01732125
+v 0.00918857 -0.03405705 0.01718215
+v -0.00003259 -0.03406034 0.01729727
+v -0.00003259 -0.03317913 -0.00717990
+v 0.00918857 -0.03894526 -0.00717992
+v 0.00918857 -0.03317803 -0.00717990
+v 0.00695166 -0.03317694 -0.00717990
+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 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 10 16
+f 4 16 11
+f 5 15 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 28
+f 8 28 37
+f 8 37 42
+f 8 42 43
+f 8 43 39
+f 8 39 29
+f 8 29 22
+f 8 22 21
+f 8 21 20
+f 8 20 16
+f 8 16 9
+f 9 16 10
+f 11 16 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 30
+f 12 30 40
+f 12 40 41
+f 12 41 31
+f 12 31 24
+f 12 24 14
+f 12 14 13
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 17
+f 17 19 18
+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 22 29 38
+f 22 38 30
+f 22 30 23
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 26 28 27
+f 26 34 37
+f 26 37 28
+f 29 39 38
+f 30 38 40
+f 31 41 44
+f 31 44 43
+f 31 43 42
+f 31 42 36
+f 31 36 35
+f 31 35 33
+f 31 33 32
+f 34 36 37
+f 36 42 37
+f 38 39 40
+f 39 43 44
+f 39 44 40
+f 40 44 41
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_38.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1801df0220ae9f168a98fb98ed53a71d4c499c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02912838 -0.03660751 0.04407756
+v 0.02912838 -0.03816578 0.04375696
+v 0.02912838 -0.03521491 0.04324468
+v 0.02277789 -0.03660751 0.04408078
+v 0.02080082 -0.03857968 0.04367964
+v 0.02475631 -0.03857968 0.04367642
+v 0.02912838 -0.03857968 0.04367158
+v 0.02871316 -0.03521491 0.04324468
+v 0.02277789 -0.03521553 0.04324629
+v 0.01526721 -0.03660751 0.04408400
+v 0.02912838 -0.03473510 0.04174164
+v 0.02673473 -0.03473448 0.04174164
+v 0.02080082 -0.03473386 0.04174164
+v 0.01526721 -0.03817995 0.04376341
+v 0.01684398 -0.03857968 0.04368125
+v 0.02277789 -0.03964769 0.04284353
+v 0.02912838 -0.03964461 0.04283870
+v 0.01684398 -0.03521553 0.04324629
+v 0.01526721 -0.03521614 0.04324629
+v 0.02912838 -0.03463840 0.03978109
+v 0.01808558 -0.03354203 0.03313744
+v 0.01526721 -0.03473510 0.04174164
+v 0.01729720 -0.03354203 0.03313744
+v 0.01526721 -0.03857968 0.04368125
+v 0.01526721 -0.03943211 0.04301430
+v 0.01684398 -0.03964830 0.04284514
+v 0.01882240 -0.03964830 0.04284353
+v 0.02277789 -0.03983368 0.04174162
+v 0.02912838 -0.03982814 0.04174162
+v 0.02912838 -0.03433593 0.02762790
+v 0.02002465 -0.03354325 0.02997993
+v 0.01729720 -0.03354203 0.03250433
+v 0.01526721 -0.03398858 0.03541375
+v 0.01526721 -0.03964830 0.04284514
+v 0.01684398 -0.03983307 0.04174162
+v 0.02068684 -0.03972092 0.02762788
+v 0.02912838 -0.03976655 0.04019831
+v 0.02180903 -0.03970491 0.02762788
+v 0.02912838 -0.03796740 0.02762789
+v 0.01998937 -0.03356603 0.02762791
+v 0.02003008 -0.03354447 0.02801937
+v 0.01944931 -0.03354325 0.02997993
+v 0.01526721 -0.03424541 0.03381726
+v 0.01942760 -0.03354447 0.02801937
+v 0.01928648 -0.03355125 0.02762791
+v 0.01902187 -0.03363563 0.02762791
+v 0.01526721 -0.03979550 0.04196394
+v 0.01526721 -0.03983245 0.04174162
+v 0.02018884 -0.03971107 0.02762788
+v 0.01526721 -0.03977946 0.03585996
+v 0.02912838 -0.03974992 0.03978751
+v 0.02199358 -0.03968273 0.02762788
+v 0.01526721 -0.03438769 0.03341291
+v 0.01832440 -0.03429713 0.02762790
+v 0.01965149 -0.03964270 0.02762788
+v 0.01526721 -0.03966860 0.03467267
+v 0.01526721 -0.03503810 0.03277818
+v 0.01791868 -0.03492845 0.02762790
+v 0.01851709 -0.03856915 0.02762789
+v 0.01526721 -0.03854330 0.03361910
+v 0.01527942 -0.03505720 0.03274919
+v 0.01526721 -0.03638265 0.03275080
+v 0.01775992 -0.03660745 0.02762790
+v 0.01789561 -0.03726525 0.02762789
+v 0.01526721 -0.03807582 0.03328885
+v 0.01526721 -0.03661301 0.03275241
+v 0.01526721 -0.03737798 0.03291027
+f 1 2 7
+f 1 7 17
+f 1 17 29
+f 1 29 37
+f 1 37 51
+f 1 51 39
+f 1 39 30
+f 1 30 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 18
+f 3 18 9
+f 3 9 10
+f 3 10 4
+f 3 11 12
+f 3 12 13
+f 3 13 8
+f 4 10 5
+f 5 10 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 8 13 18
+f 9 18 10
+f 10 18 19
+f 10 19 22
+f 10 22 33
+f 10 33 43
+f 10 43 53
+f 10 53 57
+f 10 57 62
+f 10 62 66
+f 10 66 67
+f 10 67 65
+f 10 65 60
+f 10 60 56
+f 10 56 50
+f 10 50 48
+f 10 48 47
+f 10 47 34
+f 10 34 25
+f 10 25 24
+f 10 24 14
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 22 18
+f 13 21 23
+f 13 23 22
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 27 28
+f 16 28 17
+f 16 26 27
+f 17 28 29
+f 18 22 19
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 23
+f 22 23 33
+f 23 32 33
+f 25 34 26
+f 26 34 28
+f 26 28 27
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 36 38
+f 29 38 37
+f 30 39 52
+f 30 52 38
+f 30 38 36
+f 30 36 49
+f 30 49 55
+f 30 55 59
+f 30 59 64
+f 30 64 63
+f 30 63 58
+f 30 58 54
+f 30 54 46
+f 30 46 45
+f 30 45 40
+f 30 40 41
+f 30 41 31
+f 31 41 44
+f 31 44 42
+f 31 42 32
+f 32 43 33
+f 32 42 44
+f 32 44 45
+f 32 45 46
+f 32 46 43
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 50
+f 36 50 49
+f 37 38 51
+f 38 52 51
+f 39 51 52
+f 40 45 41
+f 41 45 44
+f 43 46 53
+f 46 54 53
+f 49 50 55
+f 50 56 55
+f 53 54 58
+f 53 58 57
+f 55 56 59
+f 56 60 59
+f 57 61 62
+f 57 58 61
+f 58 63 61
+f 59 60 64
+f 60 65 64
+f 61 63 62
+f 62 63 66
+f 63 64 67
+f 63 67 66
+f 64 65 67
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_39.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d854679e985fef6b5ccf7115032c644e3b848eac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_39.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00003349 -0.04433296 0.01037484
+v -0.00003349 -0.04384567 0.01165436
+v -0.01079045 -0.04285028 0.01420128
+v -0.00096220 -0.04432092 0.01037484
+v -0.00491814 -0.04431652 0.00645371
+v -0.00294069 -0.04430555 0.00057566
+v -0.00003349 -0.04430006 -0.00138612
+v -0.00003349 -0.03783058 0.01689631
+v -0.01079045 -0.04193044 0.01576003
+v -0.01079045 -0.04275938 0.01436152
+v -0.01079045 -0.04305943 0.01360157
+v -0.01079045 -0.04338795 0.01265468
+v -0.01079045 -0.04341861 0.01233419
+v -0.01079045 -0.04353025 0.00057566
+v -0.00491814 -0.04430008 0.00253501
+v -0.01079045 -0.04335503 -0.00138612
+v -0.00096220 -0.04429021 -0.00138612
+v -0.00003349 -0.04377553 -0.00259766
+v -0.00003349 -0.03404609 0.01689632
+v -0.01079045 -0.04038533 0.01689630
+v -0.01079045 -0.04066895 0.01673120
+v -0.01079045 -0.04069194 0.01671421
+v -0.01079045 -0.04270348 -0.00287202
+v -0.00096220 -0.04376677 -0.00258795
+v -0.00648177 -0.03978077 -0.00790271
+v -0.00503607 -0.03977530 -0.00790271
+v -0.00416317 -0.03941283 -0.00790270
+v -0.00003349 -0.03682961 -0.00790270
+v -0.01079045 -0.03404609 0.01689632
+v -0.00003349 -0.03315134 -0.00790268
+v -0.00625223 -0.03314806 -0.00790268
+v -0.01020922 -0.03314696 -0.00790268
+v -0.01079045 -0.04253593 -0.00324349
+v -0.01079045 -0.04250637 -0.00330662
+v -0.01079045 -0.04243519 -0.00341345
+v -0.01079045 -0.03906461 -0.00790270
+v -0.01079045 -0.03316995 -0.00728598
+v -0.01079045 -0.03314806 -0.00790268
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 28
+f 1 28 30
+f 1 30 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 22
+f 3 22 21
+f 3 21 20
+f 3 20 29
+f 3 29 37
+f 3 37 38
+f 3 38 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 23
+f 3 23 16
+f 3 16 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 8 19 29
+f 8 29 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 14 16 15
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 19 30 31
+f 19 31 32
+f 19 32 29
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 36 38
+f 25 38 32
+f 25 32 31
+f 25 31 30
+f 25 30 28
+f 25 28 27
+f 25 27 26
+f 25 35 36
+f 29 32 37
+f 32 38 37
+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_4.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa06cca101da11fcec17dcac37b123a54690eef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_4.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.05416712 0.03444631 0.01384274
+v 0.04851698 0.04216037 0.01384276
+v 0.05770839 0.03444631 0.01384274
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_5.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3491c05afb15fcb183f460c791dc8de6729d9dc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_5.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04090290 0.04527325 -0.02602109
+v -0.04039865 0.04524022 -0.02669480
+v -0.04156084 0.04527325 -0.02602109
+v -0.02043970 0.04526775 -0.02602109
+v -0.00689681 0.04522528 -0.02687055
+v -0.01876845 0.04522842 -0.02687055
+v -0.03854490 0.04522764 -0.02687055
+v -0.04052351 0.04503809 -0.02883057
+v -0.04243488 0.04523550 -0.02669480
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+v -0.00003412 0.04522134 -0.02687055
+v -0.00003412 0.04513089 -0.02778981
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+v -0.01481123 0.04503416 -0.02883057
+v -0.01876845 0.04503494 -0.02883057
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_6.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fdffd791bb34e8a3954ef663467bb25754da66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04918306 -0.02757469 -0.02981494
+v 0.04918306 -0.03099074 -0.02601970
+v 0.04918306 -0.03437661 -0.02981497
+v -0.00003349 -0.02980297 -0.02981495
+v -0.00003349 -0.03241890 -0.02601971
+v 0.04918306 -0.03505344 -0.02601972
+v 0.04918306 -0.03476958 -0.02886876
+v 0.04849414 -0.03505876 -0.02883087
+v 0.04848932 -0.03465160 -0.02981497
+v -0.00003349 -0.03545705 -0.02981497
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+v 0.04918306 -0.03486716 -0.02815065
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+v 0.04453889 -0.03589969 -0.02601972
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+
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_7.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3791f55c9946258c035dc11b9375508f504cb42d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04058037 0.04526559 -0.02594661
+v 0.04084176 0.04526481 -0.02594661
+v 0.04058037 0.04522260 -0.02687079
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_8.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8986994f7225ffc2e8b90a5fc94661115a3ea0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_8.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_9.obj b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca25d89fb79981fd1710dfc227fcaa3efab50b36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/mesh/storage_bin_025_collision_9.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/storage_bin_025.xml b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/storage_bin_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a808b924e42cad0eff81f2a4ee63acdb49fb9822
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/mjcf/storage_bin_025.xml
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diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.urdf b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..570b4891a8df671b4998c65dac3f269c9900906e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_025">
+   <link name="storage_bin_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>058e78e14ce45c7ba68336d863500e59</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>plastic storage bin</name>
+         <color>green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular green plastic storage bin with cutout handle and bow decoration</description>
+         <min_height>0.0773</min_height>
+         <max_height>0.0773</max_height>
+         <real_height>0.0773</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140144</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059972 -0.044205 -0.033064</min>
+            <max>0.060028 0.047993 0.044236</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.usd b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a84a8853a1e603d40f512aed4db846b306c2c40b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:133b2302d2882431a6126c1ec21165f98a82fe6c3f5eb69eeddb60e6b647976e
+size 4621519
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/textures/material_0.png b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05969ad8651e2b964688b5a1ccb146899265dd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11dc8b9fa9b78ceae963e10f860abfc8fe53e0ea305b7c15105229505779e203
+size 10289055
diff --git a/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/video.mp4 b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3654318917acdef0e2fd668bedf8fb13011527b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b667a117965ce1297c4caaa75d33e7d5a7c36a53342201e7fcc3f7343e02f9
+size 257260