diff --git a/.gitattributes b/.gitattributes
index ad205b8760e1bb1f4203cd7c9a6e2c0b0f48c436..2da191d70dea23d55d4a43a21d5f0bf16f43ac11 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2716,3 +2716,5 @@ dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_c
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material.mtl b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..72d9ea489cca78e7a59561c579cb7f59d550be05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material_0.png b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64e8230e1e9433a7e72695ede463493122547014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5058b6e948c478f461b0837e0ac7682b81e2b7a27c853e1dbc86c15dc4c859e4
+size 10047469
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.glb b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11fe8437201a5ec4b4a3581813a1608838ae92af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fb3eabbb120797a3b9ac572f19f4d2668b5abc4b4ccaadbbb4be0bbab2151a
+size 13159488
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.mtl b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c7176a5b773e5eeaa203d0c367282358053075d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_013_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/2194c25c070259bab73263556019c716/mesh/storage_bin_013.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8381510d2c1036472915d8422186ce1999afcd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013.obj
@@ -0,0 +1,107332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_013_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_collision.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c5d1f9d5087b4ad3e26f72bf80468b37e99ec0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64e8230e1e9433a7e72695ede463493122547014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_bin_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10047469
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64e8230e1e9433a7e72695ede463493122547014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5058b6e948c478f461b0837e0ac7682b81e2b7a27c853e1dbc86c15dc4c859e4
+size 10047469
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83897f0bbfc0735b3ce66e485294602d9bd68b0c
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+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189ab64c55bb75fa25e753401946c87b36c7e9f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision.obj
@@ -0,0 +1,9905 @@
+# https://github.com/mikedh/trimesh
+
+o storage_bin_013_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_0.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ecd9ada15df6d657f32532d57d4dc8cd44e376
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_1.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee426c92140837aa35f842e7e1b94d49432e1ec6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_1.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_10.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4641adc0306397799f57140ea5df7d51a39f2251
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_10.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_11.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90cb42a9167bc488ac0eb1d3ee57133593d595a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_12.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0559ec59b688a83becb7432a95022de357c73f19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_13.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99adb3147564293592593f74f578bb1f650d5c65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_14.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680a47a2f50fd98d2452bd072b33ff70882a39a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_15.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a4765d2f07f0a13db0648dc79c2d13f2a277bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_15.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.05213481 -0.03965389 -0.01448832
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+v -0.05213481 -0.03962256 -0.01053364
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+v -0.05406370 -0.03875030 0.02232784
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+v -0.05846856 -0.03387204 -0.01893984
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_16.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c72c9065725a9584f931bcacce50e02c8dc1e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.05360496 0.03696951 0.02269949
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_17.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b923d162fdcd33f4ae5764e568de91eca235773a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_17.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.05360496 0.03486839 -0.01985069
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+v -0.03426852 0.03181395 0.01289398
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_18.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522f60866ba38ec8085953aa7ebf82fef5c7fb63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_19.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b7ad02e4aaff5eae33706426f7174611f58a4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_19.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_2.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a401f6eeb2f54b3b1edf2fa06184225b5e541f7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_2.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_20.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1126a34b7f170a28c0a971bf7e8d8fcf79a5f281
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_20.obj
@@ -0,0 +1,241 @@
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_21.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430476ef4b6cab0ac6fcd6a19b4e980fd10dea05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00025029 0.03285705 0.00181359
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_22.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e30c6badb5612c6f1c1d0ff40a0d987af039b24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_22.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05923189 0.02977026 0.00181110
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+
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_23.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2219dc4e57e5893a5a7b3f7daa71dcaf64c7bd55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_23.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_24.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2ada81bde3e124bc1818229dd5cf10fe0dbd7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_24.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_25.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4663fdfc904fcc98f31f6c6673cd1545038a07bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_25.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.03844221 -0.03275274 -0.02944919
+v 0.04834072 -0.03275274 -0.02944919
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_26.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b2ef2bbb582d35fa6733d0e326920e52d319b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_26.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.00025029 0.03463134 -0.02347970
+v 0.00025029 0.03285760 0.00181111
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_27.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820635ec0f465584c4a51b74e976018d97ea40f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_28.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c90c00ddf354d27f9abd7cdb93718c90216c5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_29.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d93f4abc9bc0b886f821f7922f7ed342d25e6a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_29.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_3.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963e3ad6b999a77d6bbce12a212f0cc95beab57e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_3.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_4.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d55d0bae2947909a0287916d351657a68e2d9da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_4.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_5.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47abb787ca1e7387b9727e5a889a4f6d5210f8c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_6.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c146839eec3ef284d850df5f1a3c454512db103
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_7.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ed32592004da68f6bf7a985a99f92ebbea1d28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05570807 0.02977118 0.00181706
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_8.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a160af2a87ba257e6ca8579fc496dcdb4d2c530
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_8.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v 0.02709483 0.03844211 -0.02348028
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_9.obj b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0adfc99e12394d443b4c9c29ab50b273503e1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/mesh/storage_bin_013_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/storage_bin_013.xml b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/storage_bin_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c3acd3408909482dcb6c614b6e111c0e952dde0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mjcf/storage_bin_013.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_013">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_013_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_013_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_013_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_013_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_013">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.urdf b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5be4fbd61403b203a68d772286175767959c2e1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_013">
+   <link name="storage_bin_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_013.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_013_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>2194c25c070259bab73263556019c716</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>tree storage bin</name>
+         <color>white,green</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>rectangular white fabric storage bin with green tree print</description>
+         <min_height>0.0666</min_height>
+         <max_height>0.0666</max_height>
+         <real_height>0.0666</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135702</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059626 -0.040776 -0.029086</min>
+            <max>0.060374 0.039022 0.037506</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.usd b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:987887baa32e0fca3a673599efe004bedfe01bcbc0360eee20338e711c8c4afd
+size 4779958
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/textures/material_0.png b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10047469
diff --git a/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/video.mp4 b/dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4cdde39815985efcfa2841e200e64b5fcb823ab
--- /dev/null
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+size 519867