diff --git a/.gitattributes b/.gitattributes
index a3934638ed8a0a9d9dd6caa4fc10bf906f7c4a0a..2b25f981ff57202c3ad532524c04592f5e8c6604 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2827,3 +2827,5 @@ dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_ho
 dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/mesh/storage_bin_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/storage_bin_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material.mtl b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe22104a3c1c1e995517cb2c874c19496773d304
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material_0.png b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..415b949e48fa214f68154db17f275453578d3be2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad0ca5c808bceea4756d2241a7825988130b94936dfd24b4df4405b0fbe39e0
+size 10629238
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.glb b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c0955dcfdf3a90c92ee4f82aa33194bafe6212d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13822576
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.mtl b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..029d4805283cc2742dcb14cdd5acbdb83616d33f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_004_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/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef735b21cc83881460c6a51c0707e965c3097fe9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004.obj
@@ -0,0 +1,114166 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_004_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004_collision.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524c0115e467cf8d03e81dd1ad1191a004fe69f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mesh/storage_bin_004_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24ce8f2ad4a42cca9d61699647179130c5fa718
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision.obj
@@ -0,0 +1,7699 @@
+# https://github.com/mikedh/trimesh
+
+o storage_bin_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_0.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3205df4fb40ccb0e13e35c4b84591a62915e9b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_1.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bcc191b99dd327fc9414d0e95e50f137938df5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_1.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_10.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b028ac612f5fe9aa2c92299df421775df19d97aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_10.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_11.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e445aa8f355498ea25ef5514af7e2aa7f32837
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_11.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00001455 0.02539377 -0.01217375
+v -0.00001455 0.02638658 0.00746731
+v -0.00001455 0.03019091 -0.01217373
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+v -0.00001455 0.03114750 0.00746732
+v 0.03697845 0.02552209 0.00746730
+v 0.00307092 0.03125087 0.00746732
+v 0.00307092 0.03024029 -0.01217373
+v 0.03697845 0.02994796 -0.01217373
+v 0.03697845 0.03107113 0.00746732
+v 0.01692654 0.03125482 0.00746732
+v 0.00342582 0.03024029 -0.01217373
+v 0.03671408 0.03001248 -0.01217373
+v 0.03671408 0.03103361 0.00543323
+v 0.03697845 0.03095724 0.00543323
+v 0.03697845 0.03107047 0.00745001
+v 0.03670322 0.03115014 0.00746732
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+v 0.03113345 0.03023898 -0.01217373
+v 0.03473316 0.03019486 -0.01217373
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+v 0.03697845 0.03106586 0.00735004
+v 0.03697845 0.03105138 0.00709434
+v 0.03474402 0.03123705 0.00746732
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+f 1 13 9
+f 1 9 4
+f 1 4 2
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+f 19 24 20
+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_12.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a09997c3e57c0386faf5472637a01b4903e52c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04793516 0.02370231 0.02077663
+v 0.04780154 0.02446207 0.02077663
+v 0.04771032 0.02408317 0.02269379
+v 0.04777071 0.02370231 0.02269379
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+v 0.04775786 0.02370232 0.01802470
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_13.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b352e6ecb68d7e12ebe24651efa4aabeeef2df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_13.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.05234869 0.01482589 0.02195829
+v -0.05432826 0.01482589 0.02194892
+v -0.05432826 0.01341192 0.02185790
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_14.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8e3f5a65a8da5a864d09fd0ab2447400cdca21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_14.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_15.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fba677ab362fc4f44cd9c4da45d1d4b65346295
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.03649620 -0.02649811 -0.01989201
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+v -0.03649620 -0.02829598 -0.01908742
+v -0.00001817 -0.02870793 -0.01907663
+v -0.00001817 -0.02930231 -0.01865813
+v -0.03649620 -0.02818711 -0.01914277
+f 1 2 6
+f 1 6 11
+f 1 11 20
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+f 1 62 57
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+f 1 46 26
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+f 1 15 13
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+f 1 7 3
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+f 1 4 5
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_16.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17240f7dd8436be4a17bbced28e44ef3fb53da12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_16.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.03697930 0.03107154 0.00746732
+v 0.03857357 0.03061175 0.00746732
+v 0.03697930 0.03106549 0.00735004
+v 0.03697930 0.02552085 0.00746730
+v 0.03869436 0.03057546 0.00746732
+v 0.03869436 0.03056940 0.00735004
+v 0.03812124 0.02967410 -0.01182766
+v 0.03697930 0.03095660 0.00543323
+v 0.03809469 0.02966200 -0.01217373
+v 0.03697930 0.02551783 0.00743461
+v 0.03989113 0.00017230 -0.01217384
+v 0.04045396 0.00017223 0.00741145
+v 0.04045567 0.00017223 0.00746721
+v 0.04014299 0.02989183 0.00746732
+v 0.04005304 0.02972850 0.00351450
+v 0.03995880 0.02967103 0.00159769
+v 0.03986371 0.02961357 -0.00032104
+v 0.03976691 0.02955610 -0.00223977
+v 0.03970694 0.02951980 -0.00342216
+v 0.03869436 0.03046052 0.00543323
+v 0.03826345 0.02973158 -0.00990893
+v 0.03953047 0.02943814 -0.00607339
+v 0.03939340 0.02937463 -0.00799020
+v 0.03890596 0.02931414 -0.01217373
+v 0.03697930 0.02994635 -0.01217373
+v 0.03697930 0.02452573 -0.01217375
+v 0.04491465 0.00017230 -0.01217384
+v 0.04556143 0.00017223 0.00746721
+v 0.04024151 0.02984343 0.00746732
+v 0.04023636 0.02984041 0.00735004
+v 0.04123096 0.02919610 0.00746732
+v 0.04104249 0.02906303 0.00351450
+v 0.04067327 0.02854279 -0.00799021
+v 0.04067327 0.02841272 -0.00990894
+v 0.03962642 0.02948049 -0.00470067
+v 0.03869436 0.03034861 0.00351450
+v 0.03840395 0.02978904 -0.00799020
+v 0.04081548 0.02815258 -0.01217374
+v 0.03937798 0.02906005 -0.01217373
+v 0.03925291 0.02931112 -0.00990893
+v 0.03911070 0.02924759 -0.01182766
+v 0.03908500 0.02923550 -0.01217373
+v 0.04493949 0.00539327 -0.01217382
+v 0.04524704 0.00308223 -0.00415476
+v 0.04562140 0.00209910 0.00638096
+v 0.04554687 0.00017224 0.00646554
+v 0.04555972 0.00017223 0.00730763
+v 0.04564025 0.00186617 0.00746722
+v 0.04234892 0.02821604 0.00746731
+v 0.04234549 0.02821301 0.00735003
+v 0.04228038 0.02814950 0.00543322
+v 0.04188631 0.02776235 -0.00607340
+v 0.04181778 0.02769581 -0.00799021
+v 0.04174582 0.02762625 -0.00990894
+v 0.04169356 0.02757785 -0.01126051
+v 0.04085831 0.02814351 -0.01186997
+v 0.04121211 0.02786522 -0.01217374
+v 0.04494120 0.00699646 -0.01217381
+v 0.04573020 0.01662766 0.00746727
+v 0.04562397 0.00308219 0.00630790
+v 0.04566081 0.00308218 0.00734994
+v 0.04566423 0.00308218 0.00746722
+v 0.04563853 0.00189037 0.00734994
+v 0.04333837 0.02716942 0.00746731
+v 0.04326984 0.02708474 0.00543322
+v 0.04263847 0.02657056 -0.00990894
+v 0.04235920 0.02671273 -0.01217374
+v 0.04202681 0.02710294 -0.01217374
+v 0.04494292 0.01873911 -0.01217377
+v 0.04572506 0.01862107 0.00746728
+v 0.04400144 0.02624985 0.00746731
+v 0.04393462 0.02602603 0.00351449
+v 0.04377185 0.02578406 -0.00223979
+v 0.04367419 0.02563888 -0.00567159
+v 0.04363649 0.02558141 -0.00695011
+v 0.04313877 0.02692442 0.00159768
+v 0.04360480 0.02552696 -0.00799022
+v 0.04277040 0.02657055 -0.00799021
+v 0.04329297 0.02552697 -0.01217375
+v 0.04489409 0.02069622 -0.01217376
+v 0.04562740 0.02171252 0.00622722
+v 0.04569936 0.02057817 0.00746729
+v 0.04404255 0.02618936 0.00746731
+v 0.04398773 0.02610467 0.00543322
+v 0.04487267 0.02461339 0.00746730
+v 0.04477073 0.02461340 0.00543321
+v 0.04467221 0.02461341 0.00351448
+v 0.04294173 0.02668246 -0.00415467
+v 0.04436980 0.02461343 -0.00223979
+v 0.04426786 0.02461344 -0.00415468
+v 0.04398773 0.02433516 -0.01182768
+v 0.04354483 0.02542110 -0.00990895
+v 0.04347201 0.02529406 -0.01217375
+v 0.04457540 0.02265635 -0.01217376
+v 0.04459339 0.02265635 -0.01182769
+v 0.04468848 0.02265635 -0.00990896
+v 0.04478186 0.02265634 -0.00799023
+v 0.04487353 0.02265633 -0.00607342
+v 0.04496519 0.02265633 -0.00415469
+v 0.04505429 0.02265632 -0.00223980
+v 0.04523076 0.02265630 0.00159766
+v 0.04531814 0.02265630 0.00351447
+v 0.04544321 0.02248084 0.00552548
+v 0.04545863 0.02280752 0.00735001
+v 0.04546120 0.02281962 0.00746729
+v 0.04564025 0.02190005 0.00746729
+v 0.04565138 0.02183956 0.00746729
+v 0.04565567 0.02176091 0.00746729
+v 0.04409567 0.02608953 0.00746731
+v 0.04490522 0.02451659 0.00746730
+v 0.04447432 0.02293766 -0.01217376
+v 0.04397745 0.02431399 -0.01217375
+v 0.04356453 0.02511559 -0.01217375
+f 1 2 3
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+f 1 10 4
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+f 1 13 28
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+f 1 48 62
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+f 10 26 11
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+f 11 28 13
+f 11 13 12
+f 14 29 30
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+f 16 31 17
+f 17 31 18
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+f 19 35 20
+f 20 36 21
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+f 21 37 22
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+f 101 104 102
+f 102 104 103
+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_17.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90a59adc15ab558f67effea925d1c41ec86a71c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_17.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.03649620 -0.02967956 -0.01316703
+v -0.03649620 -0.02403642 -0.01316701
+v -0.03453233 -0.02987218 -0.01316703
+v -0.03649620 -0.03073027 0.00543317
+v -0.03649620 -0.02540435 0.00746510
+v -0.00001817 -0.02443715 -0.01316701
+v -0.03649620 -0.03084477 0.00746508
+v -0.03195787 -0.02989171 -0.01316703
+v -0.03453233 -0.03091616 0.00746508
+v -0.00001817 -0.02603002 0.00746509
+v -0.00001817 -0.02987352 -0.01316703
+v -0.02997972 -0.02989642 -0.01316703
+v -0.00425299 -0.02989306 -0.01316703
+v -0.00287114 -0.03089730 0.00746508
+v -0.00001817 -0.03079898 0.00746508
+v -0.00287114 -0.02989171 -0.01316703
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 13
+f 1 13 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 5 7 9
+f 5 9 14
+f 5 14 15
+f 5 15 10
+f 5 10 6
+f 6 10 15
+f 6 15 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 11 15 14
+f 11 14 16
+f 13 16 14
+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_18.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90352370b2c928529bb9ba8497b4afce53f05a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_18.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00001476 -0.02985679 -0.01433278
+v 0.00307002 -0.03090560 0.00746710
+v -0.00001476 -0.03079922 0.00746710
+v -0.00001476 -0.02239173 -0.01433275
+v 0.01434005 -0.02985763 -0.01433278
+v 0.02285897 -0.03090560 0.00746710
+v -0.00001476 -0.02602969 0.00746711
+v 0.03476570 -0.02588310 0.00746284
+v 0.03476570 -0.02234901 -0.01433275
+v 0.01692433 -0.02985763 -0.01433278
+v 0.03215078 -0.02985595 -0.01433278
+v 0.03077523 -0.03090309 0.00746710
+v 0.03473506 -0.02588980 0.00746711
+v 0.03476570 -0.02596435 0.00746711
+v 0.03476570 -0.02981826 -0.01433278
+v 0.03275344 -0.02985512 -0.01433278
+v 0.03473506 -0.03089722 0.00746710
+v 0.03476570 -0.03089555 0.00746710
+v 0.03473506 -0.02982161 -0.01433278
+v 0.03412900 -0.02983585 -0.01433278
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 20
+f 1 20 16
+f 1 16 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 12
+f 2 12 17
+f 2 17 18
+f 2 18 14
+f 2 14 13
+f 2 13 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 18
+f 8 18 15
+f 8 15 9
+f 11 16 12
+f 12 16 17
+f 15 18 19
+f 16 20 17
+f 17 20 19
+f 17 19 18
+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_19.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33513b9c06f6a544bdcc74f6ac7e1f6d5b4145b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03649470 -0.02540462 0.00746712
+v -0.03658762 -0.02540462 0.00851809
+v -0.04424047 -0.02540462 0.00746712
+v -0.04035307 -0.02041255 0.00746714
+v -0.04047270 -0.02041258 0.01502340
+v -0.03674906 -0.02540463 0.01027665
+v -0.04836017 -0.02239503 0.01304111
+v -0.04836017 -0.02101018 0.01116288
+v -0.04482701 -0.02432421 0.00746712
+v -0.04729744 -0.02540466 0.01825781
+v -0.04836017 -0.02397045 0.01724499
+v -0.04570159 -0.02041255 0.00746714
+v -0.04140651 -0.02041260 0.02254671
+v -0.03726591 -0.02540465 0.01563558
+v -0.03718112 -0.02540464 0.01477364
+v -0.03701968 -0.02540464 0.01310700
+v -0.04836017 -0.02072969 0.01089060
+v -0.04485489 -0.02425482 0.00746712
+v -0.04745075 -0.02540466 0.01880411
+v -0.04746469 -0.02540466 0.01938683
+v -0.04836017 -0.02395970 0.01766295
+v -0.04835785 -0.02041256 0.01071371
+v -0.04557267 -0.02188143 0.00746713
+v -0.04226367 -0.02041261 0.02428273
+v -0.04143555 -0.02105469 0.02369826
+v -0.03933098 -0.02540468 0.02375895
+v -0.03901507 -0.02540467 0.02269410
+v -0.04836017 -0.02048781 0.01074665
+v -0.04534154 -0.02296771 0.00746713
+v -0.04744262 -0.02540467 0.02077599
+v -0.04836017 -0.02386394 0.01882492
+v -0.04836017 -0.02041256 0.01073105
+v -0.04227412 -0.02041261 0.02429140
+v -0.04049709 -0.02540468 0.02448388
+v -0.04743797 -0.02540467 0.02085056
+v -0.04735667 -0.02540467 0.02185991
+v -0.04740429 -0.02531573 0.02177493
+v -0.04731370 -0.02499127 0.02305310
+v -0.04836017 -0.02292867 0.02069969
+v -0.04836017 -0.02041260 0.02239409
+v -0.04443095 -0.02041261 0.02517935
+v -0.04245183 -0.02432427 0.02500763
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_2.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cffb08d1b0939d99466a34485c6433c0c628db5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_2.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_20.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4acb056a35606313409fcc0b4bae87a5cafe8c24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03681787 -0.02037600 -0.01433274
+v 0.04480838 -0.02037600 -0.01433274
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_21.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d3739d5a6ce0edc005cca44205873918edf0cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_21.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_22.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81950aad2ea6adb0fae89cbeabeb72d5f7625f9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_22.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.04049517 0.00016180 0.00746721
+v -0.04004002 0.00015784 -0.01181968
+v -0.04006731 0.00016187 -0.01088705
+v -0.04558073 0.00016180 0.00746721
+v -0.04034713 -0.02043227 0.00746713
+v -0.03982348 -0.02043220 -0.01181976
+v -0.04489685 0.00016187 -0.01181968
+v -0.04557899 0.00016180 0.00741057
+v -0.04566665 -0.00279173 0.00746720
+v -0.04569974 -0.02043227 0.00746713
+v -0.04490149 -0.02043220 -0.01181976
+v -0.04494039 0.00016187 -0.01181968
+v -0.04566258 -0.00279173 0.00735015
+v -0.04575373 -0.01834363 0.00746714
+v -0.04573109 -0.02029518 0.00746714
+v -0.04490497 -0.02040801 -0.01181975
+v -0.04498219 -0.00279166 -0.01181969
+v -0.04575373 -0.01844645 0.00746714
+v -0.04498974 -0.01061196 -0.01181972
+v -0.04497754 -0.01845041 -0.01181975
+v -0.04490556 -0.02039995 -0.01181975
+v -0.04498974 -0.01062003 -0.01181972
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+f 1 8 4
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+f 1 14 18
+f 1 18 15
+f 1 15 10
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+f 2 22 19
+f 2 19 17
+f 2 17 12
+f 2 12 7
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+f 5 11 6
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+f 9 12 13
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+f 13 17 14
+f 14 17 19
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+f 14 22 18
+f 15 18 20
+f 15 20 21
+f 15 21 16
+f 18 22 20
+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_23.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d9eef4d06b57aee19f39ac30b9afa7b629ee05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04443151 -0.02041261 0.02518072
+v -0.04641074 -0.01845176 0.02477672
+v -0.04641074 -0.02041261 0.02475765
+v -0.04227357 -0.02041261 0.02429123
+v -0.04250167 -0.01845176 0.02441260
+v -0.04250637 0.00011198 0.02440920
+v -0.04350108 0.00011198 0.02480453
+v -0.04443151 0.00011198 0.02517212
+v -0.04641074 0.00011198 0.02477679
+v -0.04767038 -0.01649292 0.02401555
+v -0.04767195 -0.01845176 0.02401380
+v -0.04764922 -0.02041261 0.02399300
+v -0.04226338 -0.02041261 0.02428256
+v -0.04151637 0.00011199 0.02271171
+v -0.04149364 -0.01974760 0.02306536
+v -0.04766490 0.00011198 0.02401387
+v -0.04836017 -0.01824683 0.02283128
+v -0.04836017 -0.01845175 0.02283128
+v -0.04836017 -0.02041260 0.02239260
+v -0.04836017 -0.01913483 0.02269430
+v -0.04836017 -0.02040858 0.02239607
+v -0.04140663 -0.02041260 0.02254692
+v -0.04062826 0.00011201 0.01502357
+v -0.04047306 -0.02041258 0.01502350
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+v -0.04836017 -0.01644871 0.02272379
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+v -0.04035235 -0.02041255 0.00746714
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+v -0.04836017 -0.01496402 0.02241863
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+v -0.04836017 -0.01848586 0.00986339
+v -0.04558064 0.00011204 0.00746721
+v -0.04570135 -0.02041255 0.00746714
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+v -0.04836017 -0.00858522 0.01698459
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+v -0.04836017 -0.00924421 0.02020618
+v -0.04836017 -0.01322618 0.02202330
+v -0.04836017 -0.01838541 0.00983739
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+v -0.04566608 -0.00279307 0.00746720
+v -0.04836017 -0.01653707 0.00992583
+v -0.04836017 -0.01559884 0.01020845
+v -0.04836017 -0.01461038 0.01080146
+v -0.04575387 -0.01834321 0.00746714
+v -0.04575387 -0.01844768 0.00746714
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_24.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6b9aaf67110917568c7dc73e7508684c2f5c1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_24.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04443204 0.02049453 0.02517794
+v -0.04250386 0.01874078 0.02441340
+v -0.04230216 0.02049453 0.02429726
+v -0.04463789 0.02049453 0.02513460
+v -0.04641085 0.01874078 0.02477746
+v -0.04641085 0.00699727 0.02477742
+v -0.04545382 0.00011198 0.02496809
+v -0.04443204 0.00011198 0.02517266
+v -0.04250635 0.00011198 0.02440986
+v -0.04147959 0.02049453 0.02325189
+v -0.04641085 0.02049453 0.02476014
+v -0.04766504 0.01874078 0.02401294
+v -0.04766670 0.01482429 0.02401465
+v -0.04766587 0.00504002 0.02401462
+v -0.04766504 0.00112352 0.02401460
+v -0.04641085 0.00011198 0.02477566
+v -0.04766670 0.01286703 0.02401465
+v -0.04151694 0.00011199 0.02271092
+v -0.04049185 0.02049456 0.01502413
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+v -0.04062880 0.00011201 0.01502405
+v -0.04035489 0.02049459 0.00746729
+v -0.04769409 0.02049453 0.02386039
+v -0.04883456 0.01691123 0.02121140
+v -0.04883456 0.01519539 0.02159799
+v -0.04883456 0.01286704 0.02133968
+v -0.04804520 0.00011199 0.02269358
+v -0.04049517 0.00011204 0.00746721
+v -0.04566465 0.02049459 0.00746729
+v -0.04809002 0.02049454 0.02249430
+v -0.04883456 0.01845349 0.02066705
+v -0.04883456 0.01098760 0.02065315
+v -0.04822615 0.00011199 0.02077620
+v -0.04558081 0.00011204 0.00746721
+v -0.04883456 0.01740208 0.01041269
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+v -0.04571279 0.01102756 0.00746725
+v -0.04883456 0.00747215 0.01502408
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_25.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b63a59f5609de5557961a0dfad6e4278ee69368
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_25.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04463092 0.02069809 0.02517964
+v 0.04661007 0.01873993 0.02468724
+v 0.04463092 0.02265395 0.02517617
+v 0.04265272 0.02370230 0.02489878
+v 0.04463092 0.00011198 0.02517783
+v 0.04779585 0.01482591 0.02392262
+v 0.04779206 0.01873993 0.02392437
+v 0.04661007 0.02069809 0.02466991
+v 0.04661007 0.00011198 0.02467676
+v 0.04463092 0.02370230 0.02515885
+v 0.04104608 0.02370230 0.02409257
+v 0.04265272 0.00011198 0.02447564
+v 0.04360911 0.00011198 0.02481547
+v 0.04872761 0.01482592 0.02227205
+v 0.04779490 0.01678176 0.02392263
+v 0.04717689 0.00011198 0.02430920
+v 0.04778353 0.00011198 0.02391563
+v 0.04777784 0.02069809 0.02390704
+v 0.04661007 0.02265395 0.02457282
+v 0.04667263 0.02370230 0.02439945
+v 0.04053423 0.02370231 0.02269514
+v 0.04162617 0.00011198 0.02371278
+v 0.04212286 0.00011198 0.02408208
+v 0.04872761 0.01378218 0.02210041
+v 0.04872761 0.01678177 0.02217150
+v 0.04808116 0.00011199 0.02269505
+v 0.04770770 0.02265395 0.02380995
+v 0.04763850 0.02370230 0.02371114
+v 0.03951432 0.02370233 0.01621945
+v 0.04059395 0.00011201 0.01502478
+v 0.03936835 0.02370233 0.01502487
+v 0.04872761 0.01218194 0.02165308
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_26.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9deff81d2fbc97184d8b58cb809ed1e74a19a05d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_26.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.03649620 -0.02540413 0.00746712
+v -0.03651512 -0.03084381 0.00746710
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+v -0.03982423 -0.02043220 -0.01181976
+v -0.03998370 -0.02961563 0.00746710
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_27.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9721f724c26f45faed3ef46a8d51c9b4589c1441
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.04035702 0.02049459 0.00755224
+v -0.04035566 0.02049459 0.00746902
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_28.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35faee19af61e0934b36a919629fe69c469a2fb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_28.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.04872761 0.01482543 0.02227222
+v 0.05452771 0.01482543 0.02224332
+v 0.04872761 0.01678197 0.02217109
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+v 0.05254947 0.00011200 0.01841724
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_3.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f626a7ec146952638500ae4b62442c77b6e7b898
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_4.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea83b213af8a24a06a744b40f99c0a40537e29d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_4.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_5.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e54ebaff577e38cee7dfc325281094ce6894e4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_6.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e8e3c5f0f2eeaec32fcaeb3795643bba086c64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_7.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffcd6dbc36b591f260d62b81be622b91f7f8d35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_7.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_8.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360a881ff210d922950ddf91d3ca7457c4d887e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_8.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+v -0.04494039 0.00016389 -0.01181968
+v -0.04003983 0.00015803 -0.01181968
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+
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_9.obj b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27234b1da385f148f87cd03140565e8c164365bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/mesh/storage_bin_004_collision_9.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04463135 -0.02040811 0.02518271
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diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/storage_bin_004.xml b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/storage_bin_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e078285b8d4c722bc17e95468bcc4a4758659b4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/mjcf/storage_bin_004.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_004">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.urdf b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..08ff0a658195b3d9e622671bd587b54de9a06c3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_004">
+   <link name="storage_bin_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>bdfe48ab5e735a22827d761f1c9e5a3a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>red storage bin</name>
+         <color>red,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>red rectangular plastic storage bin with blue side handles</description>
+         <min_height>0.0450</min_height>
+         <max_height>0.0450</max_height>
+         <real_height>0.0450</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135317</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059899 -0.035002 -0.019849</min>
+            <max>0.060101 0.035298 0.025181</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.usd b/dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.usd
new file mode 100644
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