diff --git a/.gitattributes b/.gitattributes
index c9dc5c71e17af51487cdcd4833433b8cea286200..ad0fa17b04336bd654ae4b31253b981605212165 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2861,3 +2861,5 @@ dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/mesh/pill_orga
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/pill_organizer_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/storage_bin_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material.mtl b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b538f68d0c919073fab9a8cdcfa969b4bf713e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material_0.png b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9806b473c9780e6d6ed289a656f0600b88ade714
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc042da579fd0e0d586615d5aafa837746224576a07d292ff2bb54b2a847443
+size 8777064
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.glb b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4ca539163270c530ee10ecd541ff6ffc4bdf3157
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651a49d941516311b0a1aec201817a0b6119091bbec3df195b36105f05051149
+size 11329436
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.mtl b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d245f7e34a74fbdb591bc80aebb0da6669185f91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_026_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/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbbb75f93d418f14e91e5400570d3228e2f9eff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026.obj
@@ -0,0 +1,103810 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_026_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026_collision.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35eb05e607cc6432b31851b0190785d4a1236977
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026_collision.obj
@@ -0,0 +1,11967 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mesh/storage_bin_026_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026.obj
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+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026.obj
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0eaf814918f91104ef611cba7a0b8db58900005
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision.obj
@@ -0,0 +1,11967 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_0.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c926ba54dc3cb88b4c1d7ccabc5b7e8472829d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_0.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_1.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b26edd0631923209fbc6f7782417720bfb3bce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_1.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_10.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1048d60dc894b082fdf9a92cc49b160ebe4093af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_11.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a43cb89f3373fed98d8f29c0180c6461cbbc47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_11.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_12.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f33bc6fece7f3166462b4e8683be67240c3e1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_12.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_13.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0162216a8c8f50e86a27517fcede5365021036
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_14.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4530acf80ad850a641262b4a29d3bc17faec60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_14.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_15.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6471c5c00ea36eee13b67dad5f7f0963571d6fae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_15.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_16.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ec5ea1fcf6a2208bb39c6980f74f4f51223a75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_16.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_17.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941d72e9eedc43c512d66f8d5950cd86043225d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_17.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_18.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab0c19e3c456d5b9c5d890deed4b5ff775e67ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_19.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb12703a615c1f587129cdab578da7484685fae6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_19.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_2.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f9ae540e8313655a058b4b4e30755ccb51b730
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_2.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_20.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..979c0d798ad53aa2d656618de245b49cf7bf3f7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_20.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_21.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384d7ee610afec9c7bacda7430a2bba972c41452
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_21.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_22.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f924dee84f5d2e8ad94859a5199d6aebf16692db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_23.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a927d6027ecf26ca4dd186ad57c11377c68c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04836955 -0.05206952 0.00050691
+v -0.05193945 -0.04842844 0.00050692
+v -0.04836955 -0.05369128 0.00050690
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+v -0.04838046 -0.05896148 0.00050688
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+v -0.04836955 -0.05916222 -0.03961476
+v -0.04836955 -0.05916222 -0.03962697
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+
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_24.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512d425012ca71b1bd04a01b2f1639d16f16dee5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_24.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_25.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09300b0381280c4cc5559cdd21e041f544392b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_25.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_26.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3f08d1ff812d4e0b9ab2cf7fb4efff9a1d6ab2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_26.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_27.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c71db0a31ff2ce4898038163f8a81e569da89ea5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_27.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_28.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2eb18903ddb601c4b7eaa876c867134cd2ffa4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_28.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_29.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cfd4b6fa531803e5cb60e662947f1ae0c28cff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_29.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_3.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34be652bb1e051d396a74aad71e35b2b0a8462d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_3.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_30.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a840df98aba7ba593eeea43bb357db87ac49835
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_30.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_31.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b82d5fc41efd4abd7ee24cbb9340251b27c98ca8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_31.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_32.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0a18ce966f869dc45df439b93a21a71c929b3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_33.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e5fce39af80e1370390a025b894769e10ede58f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_33.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_4.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026848be5387b02e19ef724df005468017eca981
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_4.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_5.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47e98a44e5ddcdbe602c74c8bd52b30105a1ccd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_5.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_6.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78524d2fd7e7a61723d464ab19e7c3c35202eb2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_6.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_7.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce286c3776d4b614758972edb3bc163059c4b8f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_8.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7ec76d0abc2a3eafde3e00ba7c8b511f8a8b43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_9.obj b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a669d1f35a64bf59c97510f14f2bb5d3de0d5e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/mesh/storage_bin_026_collision_9.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/storage_bin_026.xml b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/storage_bin_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1bfa772836662d454f7f735dfd753b169af264ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/mjcf/storage_bin_026.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_026_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_026_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_026_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_026_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_026_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_026_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_026_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_026_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_026_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_026_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_026_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_026_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_026_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_026_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_026_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_026">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" 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/f53839263983585e83d69f8173d45c4f/storage_bin_026.urdf b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/storage_bin_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c735a5162aba7f66263895b3e824538be87bfbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/storage_bin_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_026">
+   <link name="storage_bin_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_026.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_026_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>f53839263983585e83d69f8173d45c4f</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>hello kitty bin</name>
+         <color>white,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>square translucent storage bin with red rim and hello kitty print</description>
+         <min_height>0.1186</min_height>
+         <max_height>0.1186</max_height>
+         <real_height>0.1186</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140212</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059754 -0.060061 -0.050216</min>
+            <max>0.060246 0.060460 0.068377</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/f53839263983585e83d69f8173d45c4f/storage_bin_026.usd b/dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/storage_bin_026.usd
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