diff --git a/.gitattributes b/.gitattributes
index 77c09ab0f5be84f494810931b6b878372a053cb0..a5b3f0c342df6bf1d6a644087ce6655cdcd7a8d5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2855,8 +2855,5 @@ dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_bask
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/jewelry_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/mesh/jewelry_box_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/f2568c62ad0c563b8398e64b6a5ebf0c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f29f18d882545bfb8f2370e18ab27515/mesh/pill_organizer_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f29f18d882545bfb8f2370e18ab27515/pill_organizer_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material.mtl b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d542523ece5f8d566e4606d000acb7cf40c522e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_box_040_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_box_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material_0.png b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d97776f3601859df93980b349af0d4d65cc3e15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652aa6f59b18ae1984682e9b517a4eb4392991e7bb4bfa0479246e76056ebd65
+size 10513936
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.glb b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..280aaf9e5a63ab5d066bdb5b307fe88db1060940
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e6d72633d460f6724170440e20410b7b8f15b27ecf7251b72dfa7f54407b0a
+size 13884328
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.mtl b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00197fba21d274ab507b4897d28e48d8022620b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.mtl
@@ -0,0 +1,6 @@
+newmtl storage_box_040_geometry_Looks_material_0
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+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/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1becbd5e372d434c7dd56f26123b82bb96c319
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.obj
@@ -0,0 +1,116110 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_box_040_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040_collision.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b38a23cf74a2e966b00412115aa9f8d90ad81a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0497be6ddcd980c05f398ba718a88d2eb76db6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision.obj
@@ -0,0 +1,12147 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_0.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a47800442f009e5e32b54d33841c43d50f37b6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_1.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebede145219b7a96d0c374436c1868556e161890
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_1.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_10.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3a127333be90458023efdc6272204086382bd2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_10.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.13394471 -0.17052083 0.10979368
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+v 0.13426699 -0.17050935 0.10979368
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_11.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798b614b5005aa3b7166b220d6ad79acd28d5d68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.10782657 -0.10949521 0.06655659
+v -0.16468404 -0.10949521 0.06655659
+v -0.10782657 -0.16609980 0.06655638
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_12.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49573e6ec653d968b70abed60b51a048dc78959
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_12.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_13.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e05d50beb497c431c19636258394b5e26320ecd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_13.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_14.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50131296715ab97954a3259016babe4ba8cceba9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_15.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ff601971673a136e40cf240204e13ad3127014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_15.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_16.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8440726798a36daf03832778b8d53961c3bef550
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_17.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447f9db71b39e2de0c1bbc5f2c61332f53d87833
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_17.obj
@@ -0,0 +1,997 @@
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_18.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b880004941cab6d886445520c338e5bab640f10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_18.obj
@@ -0,0 +1,1003 @@
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_19.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33df7abc5cb0da1d22b1eedc0e156f2ddb31252c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.11804476 -0.10104532 0.13937946
+v 0.11542593 -0.10949548 0.13925290
+v 0.11804476 -0.10685077 0.13932070
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+v 0.14105524 -0.08367194 0.13580498
+v 0.14105524 -0.07786648 0.13580951
+v 0.14113932 0.10769311 0.13585088
+v 0.14113932 0.11016581 0.13585088
+v 0.12316894 0.08438527 0.13857575
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+v 0.09819538 -0.10949547 0.13625679
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_2.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffea231d8bd076348f044ded6016e07c75c6e07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_2.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.16462466 0.00194817 -0.03769192
+v -0.17532986 0.00194805 -0.00449768
+v -0.16462466 0.11016645 -0.03769153
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_20.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d4c3f55d2805a8d23b36decb7adc8672a0c35d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_20.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.16849614 -0.10950079 -0.01028421
+v 0.16845984 -0.10950080 -0.00765760
+v 0.16798792 -0.11845203 0.00125069
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_21.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388c1dc2d3fe00c73ba46a7382d0e581ddecc611
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_22.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e11385ee0e00f94d375f3c7a8d8bd734aa0753
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_22.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_23.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5f0e896b2598e45104f08073e268662dd8a8cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_23.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_24.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28196f1002cf94945e4c098b62dc9d35c160bbad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_24.obj
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+f 122 148 151
+f 122 151 149
+f 124 130 125
+f 124 128 152
+f 124 152 130
+f 125 130 129
+f 127 153 128
+f 128 153 154
+f 128 154 155
+f 128 155 156
+f 128 156 157
+f 128 157 158
+f 128 158 152
+f 130 152 131
+f 131 152 158
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+f 134 161 135
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+f 136 162 163
+f 136 163 137
+f 137 163 164
+f 137 164 165
+f 137 165 166
+f 137 166 138
+f 138 166 139
+f 139 166 167
+f 141 168 142
+f 142 169 170
+f 142 168 171
+f 142 171 167
+f 142 167 169
+f 143 172 144
+f 144 172 173
+f 144 173 174
+f 144 174 175
+f 144 175 145
+f 145 164 176
+f 145 176 146
+f 145 175 165
+f 145 165 164
+f 146 176 147
+f 147 176 148
+f 148 176 151
+f 149 151 177
+f 149 177 178
+f 149 178 150
+f 150 178 180
+f 150 180 179
+f 151 181 162
+f 151 162 182
+f 151 182 177
+f 151 176 181
+f 155 183 180
+f 155 180 184
+f 155 184 156
+f 156 184 180
+f 156 180 157
+f 157 160 159
+f 157 159 158
+f 157 180 185
+f 157 185 186
+f 157 186 161
+f 157 161 160
+f 161 186 162
+f 162 181 163
+f 162 186 182
+f 163 181 176
+f 163 176 164
+f 165 175 187
+f 165 187 166
+f 166 187 167
+f 167 187 188
+f 167 188 169
+f 169 188 174
+f 169 174 173
+f 169 173 170
+f 174 188 175
+f 175 188 187
+f 177 182 185
+f 177 185 180
+f 177 180 178
+f 179 180 183
+f 182 186 185
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_25.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f8bf3edebf2558a20f2ffda2b91993c32b4082
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_25.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.11246736 0.11016895 0.09356406
+v 0.11246736 0.14070675 0.09356418
+v 0.13621611 0.11016895 0.09356406
+v 0.11246736 0.11016878 0.13851805
+v 0.13621611 0.14070675 0.09356418
+v 0.11246736 0.14070659 0.13555279
+v 0.13621611 0.11016879 0.13552588
+v 0.11809591 0.11016878 0.13880386
+v 0.11246736 0.11035712 0.13855826
+v 0.13621611 0.14070659 0.13621822
+v 0.11246736 0.11337951 0.13918349
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 10
+f 7 10 8
+f 8 10 11
+f 8 11 9
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_26.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36eb167461e647b57f70a7c88b0420d439260a51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_26.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.10782656 -0.14512706 0.07414664
+v -0.10782656 -0.14512729 0.13624434
+v -0.10782656 -0.10949524 0.07414677
+v 0.10669196 -0.14512706 0.07414664
+v -0.10782656 -0.11849411 0.13909809
+v -0.10644067 -0.14512729 0.13624434
+v -0.07769402 -0.12424557 0.13935344
+v -0.08920109 -0.12424557 0.13934067
+v -0.09495460 -0.12424557 0.13928322
+v -0.10072914 -0.12424557 0.13902785
+v -0.10648267 -0.11844877 0.13931516
+v -0.10782656 -0.10949547 0.13706801
+v 0.10669196 -0.10949524 0.07414677
+v 0.10669196 -0.14512729 0.13619964
+v -0.10782656 -0.11255432 0.13803838
+v -0.02582825 -0.14512729 0.13623795
+v 0.08924236 -0.12424557 0.13935344
+v 0.10669196 -0.11828484 0.13930878
+v 0.10669196 -0.11244968 0.13772555
+v 0.10669196 -0.10949547 0.13675519
+v 0.10652397 -0.11844877 0.13930877
+v 0.10074943 -0.12424557 0.13900869
+v 0.09499590 -0.12424557 0.13927045
+v 0.10652397 -0.14512729 0.13620603
+v 0.09507990 -0.14512729 0.13622519
+f 1 2 5
+f 1 5 15
+f 1 15 12
+f 1 12 3
+f 1 3 13
+f 1 13 4
+f 1 4 14
+f 1 14 24
+f 1 24 25
+f 1 25 16
+f 1 16 6
+f 1 6 2
+f 2 6 17
+f 2 17 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 12 20
+f 3 20 13
+f 4 13 20
+f 4 20 19
+f 4 19 18
+f 4 18 14
+f 5 11 15
+f 6 16 17
+f 7 11 8
+f 7 17 11
+f 8 11 9
+f 9 11 10
+f 11 17 18
+f 11 18 15
+f 12 15 19
+f 12 19 20
+f 14 18 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 15 18 19
+f 16 25 17
+f 17 25 24
+f 17 24 23
+f 17 23 21
+f 17 21 18
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_27.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341b780801359bed716d01624b0c336349e5722d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.11804283 -0.17553448 0.12814348
+v 0.10669196 -0.17549966 0.12814348
+v 0.10669196 -0.17507405 0.12237584
+v 0.11228336 -0.17507017 0.12237584
+v 0.11804283 -0.17505471 0.12237584
+v 0.12379696 -0.17551514 0.12814348
+v 0.11804283 -0.17352652 0.14260376
+v 0.11228336 -0.17353425 0.14261943
+v 0.10669196 -0.17353425 0.14261551
+v 0.10669196 -0.17027645 0.10978976
+v 0.12379696 -0.17069043 0.10978976
+v 0.12850537 -0.17069817 0.10978976
+v 0.12379696 -0.17500828 0.12237584
+v 0.12955376 -0.17069430 0.10978976
+v 0.12955376 -0.17487673 0.12237584
+v 0.12955376 -0.17537585 0.12814348
+v 0.12513612 -0.17347235 0.14232929
+v 0.12130003 -0.17351492 0.14257239
+v 0.11804283 -0.17128252 0.14548562
+v 0.11228336 -0.17131346 0.14550522
+v 0.10669196 -0.17132507 0.14550131
+v 0.10669196 -0.13600878 0.10978989
+v 0.13394471 -0.17052020 0.10978976
+v 0.13394471 -0.17450530 0.12204256
+v 0.13394471 -0.17498121 0.12677509
+v 0.13394471 -0.17510116 0.12814348
+v 0.12955376 -0.17337950 0.14169802
+v 0.12955376 -0.17101169 0.14544249
+v 0.12345016 -0.17167715 0.14487396
+v 0.12379696 -0.16834598 0.14872430
+v 0.11804283 -0.16838466 0.14874390
+v 0.11228336 -0.16841561 0.14876351
+v 0.10669196 -0.16842722 0.14876743
+v 0.10669196 -0.17124382 0.14559541
+v 0.13394471 -0.13600878 0.10978989
+v 0.10669196 -0.13600888 0.13545609
+v 0.13394471 -0.17353039 0.13819666
+v 0.13355257 -0.17364258 0.13779674
+v 0.13394471 -0.17317830 0.14020024
+v 0.13394471 -0.17092656 0.14471321
+v 0.13394471 -0.17021081 0.14583850
+v 0.13394471 -0.16820668 0.14831653
+v 0.12955376 -0.16823764 0.14866940
+v 0.12955376 -0.16481358 0.14937909
+v 0.12379696 -0.16481358 0.14942615
+v 0.11804283 -0.16481358 0.14944575
+v 0.11228336 -0.16481358 0.14946142
+v 0.10669196 -0.16832663 0.14879094
+v 0.13394471 -0.13600888 0.13547178
+v 0.10669196 -0.15116376 0.14752848
+v 0.13394471 -0.14968969 0.14870084
+v 0.13394471 -0.16802098 0.14853218
+v 0.13394471 -0.16623350 0.14890858
+v 0.13394471 -0.16520047 0.14912032
+v 0.13394471 -0.16039133 0.14972023
+v 0.13394471 -0.15901783 0.14983003
+v 0.10669196 -0.16464334 0.14947713
+v 0.10669196 -0.16481358 0.14946536
+v 0.12955376 -0.15901783 0.14984179
+v 0.10669196 -0.15406165 0.14912036
+v 0.13394471 -0.15024682 0.14887337
+v 0.13394471 -0.15459944 0.14966145
+v 0.11228336 -0.15901783 0.14982219
+v 0.10669196 -0.15901783 0.14981436
+v 0.10669196 -0.15887467 0.14979474
+v 0.13394471 -0.15313309 0.14947717
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 21
+f 2 21 34
+f 2 34 33
+f 2 33 48
+f 2 48 58
+f 2 58 57
+f 2 57 64
+f 2 64 65
+f 2 65 60
+f 2 60 50
+f 2 50 36
+f 2 36 22
+f 2 22 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 13
+f 6 13 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 10 22 35
+f 10 35 23
+f 10 23 14
+f 10 14 12
+f 10 12 11
+f 13 14 15
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 15 23 24
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 22 36 49
+f 22 49 35
+f 23 35 49
+f 23 49 51
+f 23 51 61
+f 23 61 66
+f 23 66 62
+f 23 62 56
+f 23 56 55
+f 23 55 54
+f 23 54 53
+f 23 53 52
+f 23 52 42
+f 23 42 41
+f 23 41 40
+f 23 40 39
+f 23 39 37
+f 23 37 26
+f 23 26 25
+f 23 25 24
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 36 50 51
+f 36 51 49
+f 37 39 38
+f 42 52 43
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 45 56 46
+f 46 56 47
+f 47 57 58
+f 47 58 48
+f 47 56 59
+f 47 59 57
+f 50 60 51
+f 51 60 61
+f 56 62 59
+f 57 59 63
+f 57 63 64
+f 59 62 63
+f 60 65 66
+f 60 66 61
+f 62 66 64
+f 62 64 63
+f 64 66 65
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_28.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97899700a45a82c15c0e1f0b793ed4cd35c0f61a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_28.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.11246736 0.14071023 0.09355973
+v 0.11246736 0.16646197 0.09355982
+v 0.13621611 0.14071023 0.09355973
+v 0.11246736 0.14071007 0.13555281
+v 0.12030456 0.16870579 0.09355983
+v 0.11246736 0.16903572 0.10112233
+v 0.13621611 0.16748315 0.09355983
+v 0.13621611 0.14071007 0.13621928
+v 0.13621611 0.14099837 0.13686923
+v 0.13621611 0.14708719 0.14556640
+v 0.13621611 0.14979642 0.14889877
+v 0.11246736 0.15180058 0.14765946
+v 0.12379887 0.16901144 0.09355983
+v 0.11246736 0.17574971 0.12237227
+v 0.12774886 0.16874399 0.09355983
+v 0.13621611 0.17513493 0.12225109
+v 0.13621611 0.15395060 0.14966440
+v 0.11246736 0.15469738 0.14912462
+v 0.11804244 0.17573929 0.12237227
+v 0.12379887 0.17571846 0.12237227
+v 0.12955297 0.17562121 0.12237227
+v 0.13486767 0.17517661 0.12194263
+v 0.11246736 0.17616997 0.12813916
+v 0.11804244 0.17618734 0.12813916
+v 0.12379887 0.17619083 0.12813916
+v 0.13621611 0.17561076 0.12739008
+v 0.13621611 0.15974075 0.14979111
+v 0.13531173 0.15974075 0.14980763
+v 0.12955297 0.15974075 0.14982965
+v 0.11246736 0.15974075 0.14981864
+v 0.13531173 0.17572886 0.12813916
+v 0.12955297 0.17608661 0.12813916
+v 0.11246736 0.17424914 0.14259218
+v 0.11804244 0.17424914 0.14259218
+v 0.12179714 0.17424219 0.14258116
+v 0.12563089 0.17421788 0.14243795
+v 0.13621611 0.17559339 0.12813915
+v 0.12955297 0.16553784 0.14932846
+v 0.13621611 0.16588171 0.14898143
+v 0.12379887 0.16553784 0.14939454
+v 0.11246736 0.16553784 0.14942207
+v 0.11804244 0.16553784 0.14941106
+v 0.12955297 0.17411020 0.14169437
+v 0.13533497 0.17382887 0.13963437
+v 0.11246736 0.17198101 0.14547836
+v 0.11804244 0.17196364 0.14547836
+v 0.12374772 0.17237350 0.14487800
+v 0.12955297 0.17167535 0.14543981
+v 0.13564884 0.17056733 0.14598510
+v 0.13621611 0.17396434 0.13791587
+v 0.13564884 0.16602412 0.14898694
+v 0.12955297 0.16889661 0.14862893
+v 0.12379887 0.16902166 0.14869504
+v 0.13621611 0.16662154 0.14879417
+v 0.13395631 0.16868473 0.14849124
+v 0.11804244 0.16906681 0.14871706
+v 0.11246736 0.16908070 0.14872808
+v 0.13621611 0.17053953 0.14587495
+v 0.13621611 0.17364825 0.13963988
+v 0.11246736 0.16917449 0.14862343
+v 0.13621611 0.16996295 0.14659097
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 18
+f 1 18 30
+f 1 30 41
+f 1 41 57
+f 1 57 60
+f 1 60 45
+f 1 45 33
+f 1 33 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 16
+f 3 16 26
+f 3 26 37
+f 3 37 50
+f 3 50 59
+f 3 59 58
+f 3 58 61
+f 3 61 54
+f 3 54 39
+f 3 39 27
+f 3 27 17
+f 3 17 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 6 14
+f 5 14 13
+f 7 15 16
+f 11 17 18
+f 11 18 12
+f 13 14 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 15
+f 14 23 24
+f 14 24 25
+f 14 25 19
+f 15 22 16
+f 16 22 21
+f 16 21 26
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 25 20
+f 20 25 21
+f 21 31 26
+f 21 25 32
+f 21 32 31
+f 23 33 24
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 32
+f 26 31 37
+f 27 38 28
+f 27 39 38
+f 28 38 40
+f 28 40 29
+f 29 41 30
+f 29 40 42
+f 29 42 41
+f 31 32 43
+f 31 43 44
+f 31 44 37
+f 32 36 43
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 36 48 49
+f 36 49 43
+f 37 44 50
+f 38 39 51
+f 38 51 52
+f 38 52 53
+f 38 53 40
+f 39 54 55
+f 39 55 51
+f 40 53 56
+f 40 56 42
+f 41 42 57
+f 42 56 57
+f 43 49 58
+f 43 58 59
+f 43 59 44
+f 44 59 50
+f 45 60 46
+f 46 60 56
+f 46 56 53
+f 46 53 47
+f 47 53 52
+f 47 52 48
+f 48 52 55
+f 48 55 49
+f 49 55 61
+f 49 61 58
+f 51 55 52
+f 54 61 55
+f 56 60 57
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_29.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70bb20a17043d93bc23f0f0c8e13191a4bd1a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_29.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.11459349 0.14583424 0.04887489
+v -0.11459349 0.14583392 0.13626860
+v -0.11459349 0.16684413 0.04887496
+v 0.11246735 0.14583424 0.04887489
+v -0.10312487 0.14583392 0.13628837
+v -0.11459349 0.14992599 0.14479845
+v -0.11459349 0.17573483 0.12237190
+v -0.05467219 0.17596646 0.12237190
+v 0.05470197 0.17592488 0.12237190
+v 0.11246735 0.16642245 0.04887496
+v 0.11246735 0.14583392 0.13624883
+v -0.09899084 0.14583392 0.13628837
+v -0.11459349 0.15177010 0.14768456
+v 0.10075424 0.14583392 0.13625872
+v 0.11246735 0.14993490 0.14476879
+v 0.11246735 0.14999430 0.14486762
+v -0.11459349 0.17591598 0.12472428
+v -0.11459349 0.17617134 0.12813423
+v 0.11246735 0.17616838 0.12813423
+v 0.11246735 0.17574967 0.12237190
+v -0.11459349 0.15348652 0.14854447
+v 0.11246735 0.15179980 0.14765491
+v 0.11246735 0.15189186 0.14770433
+v 0.11246735 0.15469811 0.14911775
+v -0.11459349 0.17423809 0.14257465
+v -0.11223753 0.17424105 0.14257465
+v -0.08921140 0.17424402 0.14258454
+v 0.11226731 0.17424700 0.14259442
+v 0.11246735 0.17424700 0.14259442
+v -0.11459349 0.15466545 0.14912763
+v 0.11246735 0.15485848 0.14914739
+v -0.11459349 0.17196336 0.14546075
+v -0.11223753 0.17197821 0.14546075
+v -0.10648100 0.17198712 0.14546075
+v -0.07769832 0.17200791 0.14547063
+v -0.06618525 0.17201385 0.14547063
+v 0.11246735 0.17205245 0.14538167
+v -0.04891565 0.17201385 0.14547063
+v 0.10075424 0.17199602 0.14547063
+v 0.10651078 0.17199009 0.14547063
+v -0.11459349 0.15974643 0.14983929
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+v -0.04315912 0.16911550 0.14874221
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+v 0.10651078 0.16909472 0.14873231
+v -0.03740258 0.16553714 0.14943406
+v -0.10648100 0.16553714 0.14943406
+v -0.11459349 0.16317632 0.14959220
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+v -0.11459349 0.16763664 0.14899918
+v -0.11223753 0.16553714 0.14942418
+v 0.11246735 0.16917489 0.14862359
+v -0.02586729 0.16911253 0.14874221
+v -0.00859769 0.16910660 0.14874221
+v 0.11246735 0.16564998 0.14939454
+v 0.11246735 0.16908283 0.14872243
+v -0.11459349 0.16553714 0.14941430
+v 0.11246735 0.16553714 0.14941430
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 30
+f 1 30 41
+f 1 41 54
+f 1 54 64
+f 1 64 57
+f 1 57 43
+f 1 43 32
+f 1 32 25
+f 1 25 18
+f 1 18 17
+f 1 17 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 14
+f 1 14 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 20
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+f 4 19 29
+f 4 29 37
+f 4 37 48
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+f 4 59 63
+f 4 63 62
+f 4 62 65
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+f 4 22 16
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+f 18 29 19
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+f 26 36 27
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+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 37
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+f 34 45 46
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+f 35 47 36
+f 36 47 49
+f 36 49 38
+f 37 40 48
+f 38 49 39
+f 39 50 51
+f 39 51 40
+f 39 49 50
+f 40 51 48
+f 41 52 53
+f 41 53 54
+f 41 42 55
+f 41 55 56
+f 41 56 52
+f 43 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 53
+f 45 53 46
+f 46 53 47
+f 47 53 52
+f 47 52 49
+f 48 51 59
+f 49 52 60
+f 49 60 50
+f 50 60 61
+f 50 61 51
+f 51 56 62
+f 51 62 63
+f 51 63 59
+f 51 61 56
+f 52 61 60
+f 52 56 61
+f 53 58 54
+f 54 58 64
+f 55 65 56
+f 56 65 62
+f 57 64 58
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_3.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7288a94ea854b61bccd805fc121d5c753f7af3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.17036349 0.00194845 -0.11408255
+v 0.16466170 -0.03151964 -0.03777517
+v 0.16466170 -0.10105152 -0.03777542
+v 0.17033014 -0.10949455 -0.11408296
+v 0.17033014 -0.10949451 -0.12561254
+v 0.17033014 0.00194849 -0.12561213
+v 0.16462834 0.00194817 -0.03777504
+v 0.16462834 -0.10949483 -0.03777545
+v 0.16996336 -0.10949450 -0.12875785
+v 0.16979665 0.00194851 -0.13007924
+v -0.16460904 0.00194817 -0.03777504
+v -0.16464237 -0.10949483 -0.03777545
+v 0.16962991 -0.10949449 -0.13138215
+v 0.16962991 0.00194851 -0.13138174
+v -0.17024414 0.00194845 -0.11408255
+v -0.17027748 -0.00253502 -0.11408257
+v -0.16464237 -0.02437446 -0.03777514
+v -0.17024414 -0.10949455 -0.11408296
+v 0.16792938 -0.10949447 -0.13502917
+v 0.16796274 -0.07207772 -0.13503868
+v 0.16796274 -0.03151928 -0.13503854
+v 0.16832951 0.00194852 -0.13420867
+v -0.17024414 0.00194849 -0.12561213
+v -0.17024414 -0.10949451 -0.12561254
+v 0.16409483 -0.10949447 -0.13597469
+v 0.16409483 -0.08366273 -0.13598424
+v 0.16409483 0.00194853 -0.13598392
+v 0.16496178 0.00194853 -0.13577167
+v 0.16792938 0.00194853 -0.13503841
+v -0.17011076 0.00194850 -0.12692428
+v -0.16994405 -0.10949450 -0.12823685
+v 0.16096052 -0.10949447 -0.13608082
+v 0.15832635 -0.10685457 -0.13617729
+v 0.15832635 0.00194853 -0.13617689
+v -0.16957725 0.00194851 -0.13138174
+v -0.16957725 -0.03151930 -0.13138187
+v -0.16954392 -0.10949449 -0.13138215
+v 0.15832635 -0.10949447 -0.13616765
+v 0.14105424 -0.10949447 -0.13631238
+v 0.15385827 0.00194853 -0.13619619
+v -0.16791008 0.00194853 -0.13503841
+v -0.16791008 -0.03151928 -0.13503854
+v -0.16787672 -0.10949447 -0.13501951
+v 0.13528573 -0.10949447 -0.13633168
+v 0.14812312 0.00194853 -0.13620583
+v -0.16704312 0.00194853 -0.13525067
+v -0.16404217 -0.03151928 -0.13597441
+v -0.16404217 -0.10949447 -0.13595539
+v -0.16614284 -0.10949447 -0.13544405
+v 0.02591785 0.00194853 -0.13622514
+v 0.03872189 0.00194853 -0.13622514
+v -0.13526643 -0.10949447 -0.13632203
+v -0.16404217 0.00194853 -0.13597428
+v -0.15827369 -0.10105116 -0.13615798
+v -0.15827369 -0.10949447 -0.13614836
+v -0.10645731 0.00194853 -0.13621548
+v -0.13840074 -0.10949447 -0.13631238
+v -0.15253854 -0.00253494 -0.13618657
+v -0.15123814 0.00194853 -0.13618655
+v -0.14677006 0.00194853 -0.13619619
+v -0.13526643 0.00194853 -0.13620583
+v -0.15827369 0.00194853 -0.13614795
+v -0.15827369 -0.03151928 -0.13615773
+v -0.14416924 -0.10949447 -0.13628343
+v -0.15697329 0.00194853 -0.13615760
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 22
+f 1 22 29
+f 1 29 28
+f 1 28 27
+f 1 27 34
+f 1 34 40
+f 1 40 45
+f 1 45 51
+f 1 51 50
+f 1 50 56
+f 1 56 61
+f 1 61 60
+f 1 60 59
+f 1 59 65
+f 1 65 62
+f 1 62 53
+f 1 53 46
+f 1 46 41
+f 1 41 35
+f 1 35 30
+f 1 30 23
+f 1 23 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 8 4
+f 4 8 12
+f 4 12 18
+f 4 18 24
+f 4 24 31
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+f 4 32 25
+f 4 25 19
+f 4 19 13
+f 4 13 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 17
+f 12 17 16
+f 12 16 18
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 15 23 16
+f 16 23 24
+f 16 24 18
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
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+f 21 28 29
+f 21 29 22
+f 23 30 24
+f 24 30 31
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 32 38 33
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 35 41 42
+f 35 42 36
+f 36 42 37
+f 37 42 43
+f 39 44 40
+f 40 44 45
+f 41 46 42
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 44 50 51
+f 44 51 45
+f 44 52 50
+f 46 53 47
+f 47 53 63
+f 47 63 54
+f 47 54 48
+f 48 54 55
+f 50 52 56
+f 52 57 58
+f 52 58 59
+f 52 59 60
+f 52 60 61
+f 52 61 56
+f 53 62 63
+f 54 63 64
+f 54 64 55
+f 57 64 58
+f 58 64 65
+f 58 65 59
+f 62 65 63
+f 63 65 64
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_30.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b6f6bbbf4f454dac8538018c3dca4355408e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_30.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.11459349 0.11016613 0.04886488
+v -0.11459349 0.11016580 0.13911454
+v -0.11459349 0.14583424 0.04886502
+v 0.11246735 0.11016613 0.04886488
+v -0.11459349 0.11101770 0.13927399
+v 0.11208950 0.11016580 0.13857417
+v 0.11226731 0.11338138 0.13921199
+v -0.11459349 0.14583392 0.13627112
+v 0.11246735 0.14583424 0.04886502
+v 0.11246735 0.11016580 0.13851216
+v -0.10648100 0.11917710 0.13933603
+v 0.10651078 0.11917710 0.13936261
+v 0.11246735 0.11035782 0.13855646
+v 0.11246735 0.11337788 0.13917656
+v 0.11246735 0.14583392 0.13624454
+v -0.09496793 0.12497282 0.13924747
+v -0.08921140 0.12497282 0.13933605
+v -0.10312487 0.14583392 0.13628883
+v -0.07769832 0.12497282 0.13934491
+v 0.09499771 0.12497282 0.13928290
+v 0.08924117 0.12497282 0.13934491
+v 0.10651078 0.14583392 0.13625340
+v -0.09899084 0.14583392 0.13628883
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 18
+f 3 18 23
+f 3 23 22
+f 3 22 15
+f 3 15 9
+f 4 9 15
+f 4 15 14
+f 4 14 13
+f 4 13 10
+f 5 11 8
+f 5 7 12
+f 5 12 11
+f 6 10 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 8 11 16
+f 8 16 17
+f 8 17 18
+f 11 19 17
+f 11 17 16
+f 11 12 19
+f 12 15 20
+f 12 20 21
+f 12 21 19
+f 15 22 21
+f 15 21 20
+f 17 19 18
+f 18 19 21
+f 18 21 23
+f 21 22 23
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_31.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5092b34a25482dd011a5869b901b629dc17e53b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.10782656 -0.16609617 0.07414758
+v -0.10782656 -0.17509714 0.12237188
+v -0.10782656 -0.14512706 0.07414766
+v -0.04871638 -0.16806956 0.07414757
+v -0.10782656 -0.17553471 0.12813509
+v -0.05465890 -0.17531741 0.12237188
+v -0.10782656 -0.14512729 0.13623926
+v 0.10669196 -0.14512706 0.07414766
+v 0.04648986 -0.16809039 0.07414757
+v -0.10648267 -0.17354053 0.14263201
+v -0.10782656 -0.17354053 0.14263201
+v 0.10669196 -0.17549899 0.12813509
+v 0.10669196 -0.17353458 0.14261721
+v 0.04894666 -0.17528764 0.12237188
+v -0.10782656 -0.14929436 0.14463960
+v 0.10652397 -0.14929733 0.14464701
+v -0.02582825 -0.14512729 0.13623926
+v 0.10669196 -0.14512729 0.13620222
+v 0.10669196 -0.16610213 0.07414758
+v 0.05157144 -0.16795943 0.07414757
+v 0.10669196 -0.17507335 0.12237188
+v 0.05470019 -0.17526977 0.12237188
+v -0.08920109 -0.17133499 0.14550622
+v 0.10669196 -0.17132606 0.14549882
+v -0.09495460 -0.17133499 0.14550622
+v -0.10072914 -0.17132904 0.14551363
+v -0.10782656 -0.17183206 0.14484694
+v 0.10669196 -0.17508823 0.12253485
+v -0.10782656 -0.14972892 0.14531370
+v 0.10669196 -0.14929733 0.14464701
+v 0.09507990 -0.14512729 0.13622444
+v 0.10085442 -0.14512729 0.13621703
+v 0.10669196 -0.17124272 0.14559512
+v 0.10074943 -0.16842999 0.14877304
+v -0.10648267 -0.17131713 0.14551363
+v 0.04319313 -0.16843297 0.14877304
+v -0.08920109 -0.16843893 0.14877304
+v -0.09495460 -0.16843893 0.14877304
+v -0.10782656 -0.17131416 0.14551363
+v -0.10782656 -0.15116952 0.14752120
+v 0.10669196 -0.15111000 0.14744712
+v 0.10669196 -0.16842999 0.14876564
+v 0.10669196 -0.16832582 0.14878787
+v 0.10074943 -0.16481360 0.14946939
+v -0.10072914 -0.16843297 0.14876564
+v 0.08924236 -0.16481360 0.14946939
+v -0.10072914 -0.16481360 0.14946198
+v -0.10782656 -0.16481360 0.14945458
+v -0.10782656 -0.16908778 0.14801005
+v -0.10782656 -0.15184221 0.14789159
+v 0.10652397 -0.15116357 0.14752860
+v 0.10669196 -0.15116357 0.14752860
+v 0.10669196 -0.16481360 0.14946198
+v 0.10669196 -0.16464692 0.14947680
+v 0.10669196 -0.15901844 0.14981017
+v -0.10782656 -0.16841511 0.14875823
+v -0.10782656 -0.15901844 0.14981017
+v -0.10782656 -0.16036380 0.14972867
+v -0.10782656 -0.15406563 0.14911384
+v 0.10669196 -0.15397931 0.14906942
+v 0.10669196 -0.15887557 0.14979536
+v -0.10782656 -0.15522049 0.14927683
+v 0.10652397 -0.15406265 0.14911384
+v 0.10669196 -0.15406265 0.14911384
+f 1 2 5
+f 1 5 11
+f 1 11 27
+f 1 27 39
+f 1 39 49
+f 1 49 56
+f 1 56 48
+f 1 48 58
+f 1 58 57
+f 1 57 62
+f 1 62 59
+f 1 59 50
+f 1 50 40
+f 1 40 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
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+f 3 31 32
+f 3 32 18
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+f 4 9 6
+f 5 10 11
+f 5 6 12
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+f 5 13 10
+f 6 9 14
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+f 8 33 24
+f 8 24 13
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+f 8 12 28
+f 8 28 21
+f 8 21 19
+f 9 20 21
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+f 9 22 14
+f 10 23 25
+f 10 25 11
+f 10 13 24
+f 10 24 23
+f 11 25 26
+f 11 26 27
+f 12 14 22
+f 12 22 28
+f 15 29 16
+f 16 29 41
+f 16 41 30
+f 17 30 31
+f 18 32 30
+f 19 21 20
+f 21 28 22
+f 23 26 25
+f 23 24 33
+f 23 33 34
+f 23 34 26
+f 26 35 27
+f 26 34 36
+f 26 36 37
+f 26 37 38
+f 26 38 35
+f 27 35 39
+f 29 40 41
+f 30 32 31
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 36
+f 35 38 45
+f 35 45 39
+f 36 44 37
+f 37 44 46
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 45
+f 39 45 49
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 57
+f 44 57 46
+f 45 48 56
+f 45 56 49
+f 46 57 47
+f 47 57 58
+f 47 58 48
+f 50 59 51
+f 51 60 52
+f 51 59 60
+f 55 61 57
+f 57 61 62
+f 59 62 61
+f 59 61 63
+f 59 63 60
+f 60 63 64
+f 61 64 63
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_32.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8d18546074977fd44b4a489b152323dfffceab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.11459349 0.13894535 -0.13712866
+v -0.11459349 0.13332147 -0.13708610
+v -0.11459349 0.14250109 -0.13712257
+v 0.11246735 0.14236201 -0.13631951
+v 0.11246735 0.13656276 -0.13631953
+v 0.11246735 0.11016681 -0.13619188
+v -0.11459349 0.12731662 -0.13688535
+v 0.10651078 0.11016681 -0.13619795
+v -0.11459349 0.16553481 -0.13600307
+v -0.10648100 0.16553481 -0.13600916
+v -0.09496793 0.16553481 -0.13601524
+v -0.07194179 0.16553481 -0.13602132
+v -0.03740258 0.16553481 -0.13602132
+v 0.05470197 0.16553481 -0.13601524
+v 0.08348464 0.16553481 -0.13600916
+v 0.10651078 0.16553481 -0.13600307
+v 0.11246735 0.16553481 -0.13599699
+v 0.11246735 0.16535339 -0.13600307
+v 0.11246735 0.15955415 -0.13617952
+v 0.11246735 0.14798589 -0.13628300
+v 0.11246735 0.11016659 -0.07497730
+v -0.11459349 0.11016681 -0.13619795
+v 0.08348464 0.11016681 -0.13620404
+v 0.03485415 0.11016681 -0.13621012
+v 0.00289316 0.11016681 -0.13621012
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+v -0.11223753 0.17193265 -0.11407725
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+v 0.11246735 0.17191454 -0.12561202
+v -0.11459349 0.17192057 -0.11984464
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+f 1 32 42
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+f 1 52 58
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+f 1 55 46
+f 1 46 45
+f 1 45 44
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+f 1 34 26
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+f 1 9 3
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+f 38 48 49
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+f 48 57 50
+f 48 50 49
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+f 51 58 52
+f 53 54 56
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_33.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6fd6a73de92ecc939d5d46f3f7e32513cd517a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_33.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.11459349 0.11016659 -0.07497731
+v -0.11459349 0.11016613 0.04886488
+v -0.11459349 0.16682481 -0.07497710
+v 0.11246735 0.11016659 -0.07497731
+v -0.11459349 0.16684233 0.04886509
+v 0.11246735 0.11016613 0.04886488
+v -0.11459349 0.16969675 -0.01027997
+v -0.11223753 0.16979869 -0.01027997
+v -0.06042872 0.17139368 -0.01027996
+v -0.02586729 0.16862359 -0.05395689
+v -0.02011075 0.16862959 -0.05396901
+v 0.00289316 0.16863558 -0.05398113
+v 0.01440623 0.16863558 -0.05399325
+v 0.02016276 0.16862959 -0.05398113
+v 0.11246735 0.16640508 -0.07497710
+v -0.11459349 0.16868329 0.01694689
+v 0.11246735 0.16642260 0.04886509
+v 0.06045850 0.17142366 -0.01027996
+v -0.11459349 0.16880323 0.01483759
+v 0.02591929 0.16861760 -0.05395689
+v 0.11246735 0.16978070 -0.01027997
+v 0.11246735 0.16866530 0.01624379
+v 0.10651078 0.16907905 0.01278891
+v 0.11246735 0.16885719 0.01278891
+f 1 2 5
+f 1 5 16
+f 1 16 19
+f 1 19 7
+f 1 7 3
+f 1 3 15
+f 1 15 4
+f 1 4 6
+f 1 6 2
+f 2 6 17
+f 2 17 5
+f 3 7 8
+f 3 8 9
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+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 15 21
+f 4 21 24
+f 4 24 22
+f 4 22 17
+f 4 17 6
+f 5 9 16
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+f 5 18 9
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+f 8 19 9
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+f 14 20 15
+f 14 18 20
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+f 17 22 23
+f 17 23 18
+f 18 23 21
+f 21 23 24
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_34.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c8e73e49684d8f34a5ded466bf9af1c4997c24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_34.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.11543875 0.11016876 0.13928706
+v -0.11459349 0.11101644 0.13927314
+v -0.13515357 0.14044218 0.13610832
+v -0.11805706 0.11016876 0.13884687
+v -0.11459349 0.11016876 0.13911432
+v -0.11459349 0.14044218 0.13558176
+v -0.13515357 0.14044227 0.11082515
+v -0.13515357 0.11016877 0.13547857
+v -0.11459349 0.11016886 0.11082503
+v -0.11459349 0.14044227 0.11082515
+v -0.13515357 0.11016886 0.11082503
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 9
+f 1 9 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 7 10 9
+f 7 9 11
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_35.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a35d21cf0f95989ef497d9941b78ade8046e6dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_35.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.13515357 0.14044523 0.11082897
+v -0.13515357 0.17106476 0.11082908
+v -0.11459349 0.14044523 0.11082897
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+v -0.13515357 0.17114871 0.11084435
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+v -0.11459349 0.17091086 0.11082908
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+v -0.12376261 0.17131660 0.11082908
+v -0.12376261 0.17570277 0.12237619
+v -0.11800473 0.17573075 0.12237619
+v -0.11459349 0.17573425 0.12237619
+v -0.11459349 0.15176740 0.14768575
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+v -0.13515357 0.17570625 0.12814401
+v -0.12951646 0.17606653 0.12814401
+v -0.12376261 0.17617147 0.12814401
+v -0.11800473 0.17617845 0.12814401
+v -0.11459349 0.17591612 0.12472915
+v -0.11459349 0.15348480 0.14854901
+v -0.11459349 0.15466705 0.14913344
+v -0.13515357 0.15024586 0.14882402
+v -0.13515357 0.17377194 0.13953831
+v -0.12951646 0.17407623 0.14141380
+v -0.12480510 0.17418817 0.14223123
+v -0.12096719 0.17423363 0.14256355
+v -0.11800473 0.17423714 0.14257119
+v -0.11459349 0.17616796 0.12814401
+v -0.11459349 0.17424064 0.14257501
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+v -0.11800473 0.17193909 0.14545509
+v -0.11459349 0.17196007 0.14545891
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+v -0.13515357 0.15407243 0.14959945
+v -0.13515357 0.17008875 0.14655898
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+v -0.12951646 0.15974233 0.14984011
+v -0.13515357 0.15974233 0.14980575
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+v -0.13515357 0.16619222 0.14896159
+v -0.12951646 0.16553814 0.14932829
+v -0.12376261 0.16553814 0.14938559
+v -0.11459349 0.16763681 0.14900361
+v -0.11459349 0.16553814 0.14941997
+v -0.11800473 0.16553814 0.14940850
+v -0.13515357 0.15986474 0.14979428
+v -0.13515357 0.16597186 0.14900744
+f 1 2 6
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+f 1 7 3
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+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 34
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+f 1 42 52
+f 1 52 61
+f 1 61 62
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_36.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf84de408addf6f63d23f556f50a4e9f5e6ee3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_36.obj
@@ -0,0 +1,886 @@
+# https://github.com/mikedh/trimesh
+v 0.12379804 -0.16538731 -0.17175717
+v 0.11893046 -0.16358478 -0.17175716
+v 0.11936343 -0.16313686 -0.17751943
+v 0.12379804 -0.16449148 -0.17751943
+v 0.15257961 -0.16510327 -0.17175717
+v 0.15257961 -0.16484656 -0.16599489
+v 0.12379804 -0.16500498 -0.16599489
+v 0.11910821 -0.16338269 -0.16599488
+v 0.11624601 -0.15901290 -0.17175714
+v 0.11687952 -0.15901288 -0.17751941
+v 0.11649667 -0.15901292 -0.16599486
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+v 0.15257961 -0.16417468 -0.17751943
+v 0.12379804 -0.16282003 -0.18218335
+v 0.15257961 -0.16263977 -0.18198465
+v 0.15672708 -0.16296752 -0.17751943
+v 0.15714638 -0.16340453 -0.17175716
+v 0.15700053 -0.16322976 -0.16599488
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+v 0.12379804 -0.16344826 -0.16022708
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+v 0.11849293 -0.15360523 -0.18947447
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+v 0.11635995 -0.14742201 -0.18905498
+v 0.11575378 -0.14742213 -0.15445922
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+v 0.11976906 -0.15193378 -0.19295171
+v 0.11893502 -0.14742199 -0.19407765
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+v 0.14682329 -0.15830275 -0.18861346
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+v 0.15747908 -0.15923134 -0.18325410
+v 0.15257961 -0.15826452 -0.18845892
+v 0.16137132 -0.15647842 -0.17540547
+v 0.16094746 -0.15525487 -0.17925251
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+v 0.12185647 -0.14414464 -0.19762663
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_37.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f32399869d20c5018065813ef4a8a5d9a1673b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_37.obj
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_38.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2120a865bc9898e9d18ee656767660aa7a96ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_38.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_39.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db705fcd1d50a2c2682825a87c4599bade5b5b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.13515358 0.11016590 0.11082885
+v -0.17439715 0.11016585 0.12494739
+v -0.17465624 0.11917442 0.12814682
+v -0.17463304 0.12496932 0.12814684
+v -0.17451704 0.13076423 0.12814686
+v -0.17407231 0.13206559 0.12367230
+v -0.13515358 0.13206554 0.13548866
+v -0.13515358 0.11016581 0.13547712
+v -0.17465624 0.11016584 0.12814678
+v -0.17266468 0.11016579 0.14231113
+v -0.17266081 0.11337947 0.14227679
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+v -0.17262214 0.12496927 0.14200194
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+v -0.17249840 0.13076418 0.14121930
+v -0.14926858 0.13206549 0.14861073
+v -0.13515358 0.11337949 0.13548096
+v -0.14970557 0.11016577 0.14830521
+v -0.17166309 0.11016578 0.14371993
+v -0.17037535 0.11917436 0.14544184
+v -0.17028253 0.12496926 0.14544186
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+v -0.15258657 0.11016576 0.14911461
+v -0.15130269 0.11016576 0.14875954
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+v -0.17041401 0.11337946 0.14544182
+v -0.16757168 0.11337944 0.14873283
+v -0.16754075 0.11917434 0.14871759
+v -0.16747887 0.12496924 0.14868324
+v -0.16734738 0.13076415 0.14860309
+v -0.16728938 0.13206549 0.14856492
+v -0.16916880 0.13206550 0.14634673
+v -0.15254790 0.13206549 0.14939722
+v -0.15574601 0.11016576 0.14950785
+v -0.16757554 0.11016576 0.14873665
+v -0.16406033 0.11337944 0.14944296
+v -0.16406033 0.11917434 0.14942007
+v -0.16406033 0.12496924 0.14938573
+v -0.16406033 0.13076415 0.14931704
+v -0.16674798 0.13206549 0.14868709
+v -0.15701056 0.13206549 0.14979047
+v -0.15830219 0.11016576 0.14982474
+v -0.16406033 0.11016576 0.14944676
+v -0.15830219 0.13076415 0.14982864
+v -0.15830219 0.13206549 0.14982483
+v -0.16276484 0.13206549 0.14942777
+v -0.16416088 0.13206549 0.14924451
+f 1 2 10
+f 1 10 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 16
+f 2 16 24
+f 2 24 33
+f 2 33 35
+f 2 35 34
+f 2 34 46
+f 2 46 45
+f 2 45 54
+f 2 54 61
+f 2 61 60
+f 2 60 59
+f 2 59 55
+f 2 55 47
+f 2 47 36
+f 2 36 26
+f 2 26 17
+f 2 17 10
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+f 3 57 49
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+f 14 22 23
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+f 15 25 24
+f 17 26 27
+f 18 27 26
+f 18 26 28
+f 20 29 30
+f 20 30 21
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 25
+f 24 25 33
+f 25 32 34
+f 25 34 35
+f 25 35 33
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+f 26 38 28
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 34
+f 36 47 37
+f 37 47 48
+f 39 49 41
+f 39 41 40
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 47 55 56
+f 47 56 48
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 51 59 52
+f 52 59 60
+f 52 60 53
+f 53 61 54
+f 53 60 61
+f 55 58 56
+f 55 59 58
+f 56 58 57
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_4.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177578b40341aa58114f392efc0ca7a2c07b0bf6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_4.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.16661603 0.11017265 -0.09673436
+v -0.11459349 0.11017265 -0.09673436
+v -0.16847494 0.11017233 -0.01026482
+v -0.16656768 0.12497650 -0.09673430
+v -0.11459349 0.16848975 -0.09673414
+v -0.11459349 0.11017205 0.06653378
+v -0.16927008 0.11017188 0.11082503
+v -0.16947961 0.13076073 0.11082511
+v -0.16698674 0.13970217 -0.00758286
+v -0.16656230 0.12502441 -0.09673430
+v -0.16920023 0.13654573 0.11082513
+v -0.11827369 0.16857359 -0.09673414
+v -0.11459349 0.16859155 -0.09581986
+v -0.11459349 0.16684229 0.06653399
+v -0.11459886 0.11017188 0.11082503
+v -0.16250603 0.14814644 -0.09673422
+v -0.16422524 0.14235545 -0.09673424
+v -0.16842658 0.14235468 0.11082515
+v -0.16740043 0.14658863 0.11082517
+v -0.12376983 0.16868139 -0.09673414
+v -0.11459349 0.16969315 -0.01026460
+v -0.11459886 0.17090838 0.11082526
+v -0.11459349 0.16879476 0.01482700
+v -0.16249528 0.14817639 -0.09673422
+v -0.16638501 0.14949310 0.11082518
+v -0.12379669 0.16868139 -0.09673414
+v -0.12952385 0.17134556 0.11082526
+v -0.12376983 0.17130963 0.11082526
+v -0.16126495 0.15118866 -0.09673420
+v -0.16421449 0.15393067 0.11082520
+v -0.12705784 0.16856761 -0.09673414
+v -0.13528324 0.17114195 0.11082526
+v -0.15926636 0.15408115 -0.09673419
+v -0.16187206 0.15773343 0.11082521
+v -0.14103725 0.16629194 -0.09673415
+v -0.13881838 0.16855530 -0.00802972
+v -0.14103725 0.17041133 0.11082526
+v -0.15638667 0.15783602 -0.09673418
+v -0.15919652 0.16062594 0.11082522
+v -0.14108560 0.16627996 -0.09673415
+v -0.14582421 0.16914773 0.11082525
+v -0.15296435 0.16073450 -0.09673417
+v -0.15631145 0.16338669 0.11082523
+v -0.14678589 0.16445942 -0.09673416
+v -0.14584033 0.16914174 0.11082525
+v -0.15294285 0.16075246 -0.09673417
+v -0.15253991 0.16590789 0.11082524
+v -0.15008465 0.16292035 -0.09673416
+v -0.14681276 0.16444745 -0.09673416
+v -0.14871465 0.16806380 0.11082525
+f 1 2 6
+f 1 6 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 16
+f 1 16 24
+f 1 24 29
+f 1 29 33
+f 1 33 38
+f 1 38 42
+f 1 42 46
+f 1 46 48
+f 1 48 49
+f 1 49 44
+f 1 44 40
+f 1 40 35
+f 1 35 31
+f 1 31 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 21
+f 2 21 23
+f 2 23 14
+f 2 14 6
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 8 11
+f 4 11 9
+f 5 12 13
+f 6 14 22
+f 6 22 15
+f 7 15 22
+f 7 22 28
+f 7 28 27
+f 7 27 32
+f 7 32 37
+f 7 37 41
+f 7 41 45
+f 7 45 50
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+f 7 47 43
+f 7 43 39
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+f 7 34 30
+f 7 30 25
+f 7 25 19
+f 7 19 18
+f 7 18 11
+f 7 11 8
+f 9 16 17
+f 9 17 10
+f 9 11 18
+f 9 18 19
+f 9 19 16
+f 12 20 13
+f 13 20 21
+f 14 23 22
+f 16 19 25
+f 16 25 24
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 21 22 23
+f 24 25 29
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 29 30 34
+f 29 34 33
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 34 38
+f 34 39 38
+f 35 40 37
+f 35 37 36
+f 37 40 41
+f 38 39 43
+f 38 43 42
+f 40 44 41
+f 41 44 45
+f 42 43 46
+f 43 47 48
+f 43 48 46
+f 44 49 50
+f 44 50 45
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_40.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc4eb030579cccd5b358ba75d5e928d8202e441
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_40.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.13768807 -0.14054440 0.11081845
+v -0.10782949 -0.14054440 0.11081845
+v -0.13768807 -0.14054450 0.13753086
+v -0.13768807 -0.10949841 0.11081857
+v -0.10782949 -0.14054449 0.13557284
+v -0.10782949 -0.10949841 0.11081857
+v -0.10782949 -0.11849255 0.13910013
+v -0.11224952 -0.11265357 0.13918904
+v -0.11806103 -0.10949851 0.13884188
+v -0.13768807 -0.10949850 0.13558130
+v -0.10782949 -0.10949850 0.13707272
+v -0.10782949 -0.11255326 0.13804201
+v -0.11206535 -0.10949851 0.13856138
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 13
+f 4 13 11
+f 4 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 9
+f 11 13 12
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_41.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade2e44f631e2dae878305a062f80fa70bc80c98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.17468016 -0.11265389 0.12814311
+v 0.17467310 -0.11844917 0.12814308
+v 0.17422046 -0.11265387 0.12237688
+v 0.17422400 -0.10949542 0.12237689
+v 0.17443263 -0.10949543 0.12500325
+v 0.17467662 -0.10949544 0.12814312
+v 0.17271760 -0.10949549 0.14243913
+v 0.17462358 -0.12424184 0.12814306
+v 0.17420632 -0.11844915 0.12237685
+v 0.17271406 -0.11265394 0.14239600
+v 0.17269638 -0.11844922 0.14226269
+v 0.16934057 -0.13003963 0.10979382
+v 0.16908242 -0.10949537 0.10979390
+v 0.17169918 -0.10949550 0.14382678
+v 0.17042970 -0.11844923 0.14544175
+v 0.17449628 -0.13003970 0.12814304
+v 0.17413913 -0.12424182 0.12237683
+v 0.17265395 -0.12424189 0.14196084
+v 0.17032715 -0.12424190 0.14544173
+v 0.16904707 -0.13583490 0.10979380
+v 0.17377491 -0.12999037 0.12183194
+v 0.17385624 -0.13583495 0.12265511
+v 0.13855482 -0.10949537 0.10979390
+v 0.17049689 -0.10949550 0.14544179
+v 0.17047921 -0.11265395 0.14544178
+v 0.16758663 -0.11844925 0.14871883
+v 0.16752652 -0.12424192 0.14868352
+v 0.17411791 -0.13583497 0.12814302
+v 0.17252664 -0.13003975 0.14110234
+v 0.17006194 -0.13003976 0.14544171
+v 0.16739215 -0.13003978 0.14860118
+v 0.16902585 -0.13600878 0.10979380
+v 0.17384563 -0.13600883 0.12267863
+v 0.13855482 -0.10949547 0.13561452
+v 0.13855482 -0.13600878 0.10979380
+v 0.16919558 -0.10949551 0.14694313
+v 0.16763261 -0.10949552 0.14874630
+v 0.16761846 -0.11265397 0.14873845
+v 0.16409646 -0.11844925 0.14941657
+v 0.16409646 -0.12424192 0.14938520
+v 0.16409646 -0.13003978 0.14931854
+v 0.17409316 -0.13600885 0.12814302
+v 0.17222960 -0.13561181 0.13941676
+v 0.16912486 -0.13600892 0.14582585
+v 0.17199975 -0.13600889 0.13978131
+v 0.17215181 -0.13600889 0.13943243
+v 0.16719059 -0.13455298 0.14847181
+v 0.16876772 -0.13600892 0.14631976
+v 0.16903999 -0.13600892 0.14597481
+v 0.16470821 -0.13600893 0.14896964
+v 0.13855482 -0.13600888 0.13603777
+v 0.14855859 -0.13600893 0.14881676
+v 0.14966188 -0.10949551 0.14836999
+v 0.16409646 -0.10949552 0.14944798
+v 0.16409646 -0.11265397 0.14944011
+v 0.15833960 -0.13600893 0.14982811
+v 0.16459152 -0.13600893 0.14899315
+v 0.16707036 -0.13600893 0.14840124
+v 0.16494513 -0.13600893 0.14891475
+v 0.14867175 -0.13600893 0.14891083
+v 0.15124961 -0.10949552 0.14879727
+v 0.16147616 -0.10949552 0.14961653
+v 0.15833960 -0.13003978 0.14983597
+v 0.15816633 -0.13600893 0.14983203
+v 0.15241300 -0.13600893 0.14967915
+v 0.15258627 -0.10949552 0.14915007
+v 0.15833960 -0.10949552 0.14981251
+v 0.15258627 -0.13600893 0.14969875
+v 0.15572284 -0.10949552 0.14951460
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 8
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+f 4 13 23
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+f 4 53 61
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+f 4 6 5
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+f 8 17 9
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+f 9 17 12
+f 10 15 19
+f 10 19 11
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+f 12 32 35
+f 12 35 23
+f 12 23 13
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+f 16 22 17
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+f 17 22 21
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+f 18 30 29
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+f 19 31 30
+f 20 22 33
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+f 22 28 33
+f 23 35 51
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+f 24 36 25
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+f 26 40 27
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+f 27 41 31
+f 28 42 33
+f 28 29 43
+f 28 43 42
+f 29 30 44
+f 29 44 45
+f 29 45 46
+f 29 46 43
+f 30 31 47
+f 30 47 48
+f 30 48 49
+f 30 49 44
+f 31 41 50
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+f 32 33 42
+f 32 42 46
+f 32 46 45
+f 32 45 44
+f 32 44 49
+f 32 49 48
+f 32 48 58
+f 32 58 59
+f 32 59 50
+f 32 50 57
+f 32 57 56
+f 32 56 64
+f 32 64 68
+f 32 68 65
+f 32 65 60
+f 32 60 52
+f 32 52 51
+f 32 51 35
+f 34 51 52
+f 34 52 53
+f 37 54 55
+f 37 55 38
+f 38 55 39
+f 39 55 56
+f 39 56 40
+f 40 56 41
+f 41 56 57
+f 41 57 50
+f 42 43 46
+f 47 58 48
+f 47 50 59
+f 47 59 58
+f 52 60 53
+f 53 60 61
+f 54 62 63
+f 54 63 56
+f 54 56 55
+f 56 63 64
+f 60 65 66
+f 60 66 61
+f 62 67 63
+f 63 67 68
+f 63 68 64
+f 65 68 67
+f 65 67 69
+f 65 69 66
+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_42.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbaf324ea95468168728f059990f8f98e974385
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_42.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.13769100 -0.14054450 0.13753031
+v -0.13769100 -0.10949850 0.13557936
+v -0.14168555 -0.14054452 0.14362029
+v -0.13769100 -0.14054440 0.11082225
+v -0.14970723 -0.10949854 0.14830530
+v -0.14374796 -0.14054453 0.14635028
+v -0.13769100 -0.10949841 0.11082237
+v -0.16860175 -0.14054440 0.11082225
+v -0.15258374 -0.10949855 0.14911476
+v -0.14714912 -0.14054454 0.14912990
+v -0.16631864 -0.10949841 0.11082237
+v -0.16921686 -0.13583309 0.11082227
+v -0.17351895 -0.14054444 0.12332293
+v -0.15830420 -0.10949855 0.14981730
+v -0.15254756 -0.14054454 0.14982481
+v -0.16929284 -0.10950753 0.11082237
+v -0.16930008 -0.10949841 0.11084146
+v -0.16950994 -0.13003970 0.11082229
+v -0.17385909 -0.13583313 0.12267385
+v -0.17356962 -0.14054445 0.12434620
+v -0.17413768 -0.13583315 0.12814528
+v -0.16406085 -0.10949855 0.14943548
+v -0.15830420 -0.13003984 0.14981722
+v -0.15830420 -0.13583323 0.14979429
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+v -0.17417025 -0.10949845 0.12237614
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_5.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca83db0ff336247000421a7b2cfd8a0d34656f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_5.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+v -0.16405959 -0.04309830 0.14947784
+v -0.15830051 -0.10949552 0.14981567
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_6.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6185da5d06702a42a6be76039177de257018dde0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_6.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.11800629 0.10178014 0.13937255
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_7.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108fa1866bab14e78dcb9b81227beefcb122f84a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_7.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.17443398 0.13207197 0.12814388
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_8.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f0a14edf6a1812af2718f4ce29857b2629295b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_8.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_9.obj b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca0b2d4745d1cba628c4ca1535acb5833c78423
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/mesh/storage_box_040_collision_9.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/storage_box_040.xml b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/storage_box_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6690f97ab8305a9d02601081a4ba0132f04021aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mjcf/storage_box_040.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_box_040">
+  <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_box_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_box_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_box_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_box_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_box_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_box_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_box_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_box_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_box_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_box_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_box_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_box_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_box_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_box_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_box_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_box_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_box_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_box_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_box_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_box_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_box_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_box_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_box_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_box_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_box_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_box_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_box_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_box_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_box_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_box_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_box_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_box_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_box_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_box_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_box_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_box_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_box_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_box_040_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/storage_box_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/storage_box_040_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/storage_box_040_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/storage_box_040_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/storage_box_040_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/storage_box_040_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_box_040">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/ee36584278945d689958f0eb97777d84/storage_box_040.urdf b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2fc11b206a21160c5c8fcf2bc14fe1d52eb49e6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_box_040">
+   <link name="storage_box_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_040.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="4.5000" />
+         <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>ee36584278945d689958f0eb97777d84</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_box</category>
+         <name>rolling storage box</name>
+         <color>white,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>two-tier plastic storage box with lid, drawers, and caster wheels</description>
+         <min_height>0.3470</min_height>
+         <max_height>0.3470</max_height>
+         <real_height>0.3470</real_height>
+         <min_mass>3.0</min_mass>
+         <max_mass>6.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140916</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.174936 -0.174634 -0.198498</min>
+            <max>0.174973 0.175366 0.148551</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47268f76aa9fa81059a4d0cdbb8640ac7a85d9050f40f52aac3e8f56639c3d94
+size 4924304
diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/textures/material_0.png b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/video.mp4 b/dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/video.mp4
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@@ -0,0 +1,3 @@
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+size 708227