diff --git a/.gitattributes b/.gitattributes
index 319101d4a137294d6d55f8a5e2db02a0d5bc32cb..c087d08823e90737d0367cfde952083955b16dab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2863,3 +2863,5 @@ dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_orga
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material.mtl b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ad8b86213beae14ea55e23eeb84053b62f3d5df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_box_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material_0.png b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9d82f1dd04ccfdd18c03e86c944f533afaea4c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d0398ef2f3032818b7029787a66c2caef28c3e63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14313972
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.mtl b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e10fe7f2f3227721f7904dc327cfaefa8b92c47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.mtl
@@ -0,0 +1,6 @@
+newmtl storage_box_039_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/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2291b37aecefea74a25fc3c82aba2e53bdb3f97e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.obj
@@ -0,0 +1,108990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_box_039_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039_collision.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252c5d3123d75f1f6dbb0747682f9b2efb86b67a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90073b0bc5d8f82c75f2ae93d2e7d71cb4eb5391
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision.obj
@@ -0,0 +1,10472 @@
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_0.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb9f38b2eb3b6a5145becae5329ceb5c9efcffb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_1.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbac57faba51c8df6a03a78f8d5c688c7bac1fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_1.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_10.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ac81256b37f2bb00eb4bc67d583832785c63d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_11.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d04043898cec66f0dfc70ef14d64d6b4336c05d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_11.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_12.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffcdb893f4295d8d7ba7e414f441bef4a9974ffd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_12.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_13.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8935e829c29ae05191b7dfcde9cebb5d281845d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04228237 -0.15826020 0.07805899
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_14.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134e8e52309578c8c7b2b1ed0caee4bc229e0a68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_14.obj
@@ -0,0 +1,1117 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_15.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87e00507cc81c41c02c60444522f4dd4911bf7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_15.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_16.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a2a2bb97fd8567cdeb91af587ac691cb50cf19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_17.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc3cf1b47c3e7f3f562cf567035ddc0f25d8bb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_17.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_18.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70003b9d9efdf1d44ac276d51b158759c16d3a58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_18.obj
@@ -0,0 +1,334 @@
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_19.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa59644580e0b3f54a922c8e1c657cfb3250be4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_19.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.10145948 0.15845932 0.07798754
+v 0.09579116 0.16365921 0.07577579
+v 0.09579116 0.15845932 0.07800103
+v 0.10145948 0.15353659 0.07565437
+v 0.10145948 0.16362646 0.07576230
+v 0.02321363 0.16367181 0.07580277
+v 0.08427833 0.15845932 0.07801452
+v 0.09579116 0.16600220 0.07055656
+v 0.02321363 0.16602739 0.07055656
+v 0.08427833 0.15350887 0.07565437
+v 0.10145948 0.15130449 0.07055651
+v 0.10145948 0.16590143 0.07065096
+v 0.02321363 0.15845932 0.07804149
+v 0.07851809 0.15350131 0.07565437
+v 0.02321363 0.16744328 0.06300417
+v 0.10145948 0.16594173 0.07055656
+v 0.10145948 0.16731732 0.06277489
+v 0.09579116 0.16733999 0.06285581
+v 0.08427833 0.15128181 0.07055651
+v 0.10145948 0.15069987 0.06482477
+v 0.02321363 0.15545883 0.07659843
+v 0.02669122 0.15349880 0.07565437
+v 0.02321363 0.15214593 0.07257947
+v 0.07851809 0.15127426 0.07055651
+v 0.02321363 0.16744329 0.06090029
+v 0.10145948 0.16731732 0.06143974
+v 0.09579116 0.16733999 0.06138579
+v 0.02321363 0.15126417 0.07055651
+v 0.02321363 0.15092660 0.06709049
+v 0.02321363 0.15070743 0.06482477
+v 0.10145948 0.14170888 -0.05973581
+v 0.02321363 0.15349880 0.07565437
+v 0.10145948 0.16588175 -0.05973572
+v 0.02321363 0.16578098 -0.05973572
+v 0.02321363 0.14178446 -0.05973581
+v 0.03821171 0.14174415 -0.05973581
+f 1 2 3
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+f 1 26 17
+f 1 17 16
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+f 31 34 33
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_2.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ec01fc03e9f4c01a4ed1a3018d981466b4d56c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_2.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.10583222 0.00028030 -0.07590855
+v -0.07697476 0.00028030 -0.07591173
+v -0.10583222 0.00028024 -0.05980288
+v -0.10583222 0.03753724 -0.07591317
+v -0.07122069 0.00028030 -0.07591014
+v -0.07697476 0.04906242 -0.07591632
+v -0.07122069 0.05480834 -0.07591630
+v -0.04228858 0.00028024 -0.05985850
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+v -0.10583222 0.03800352 -0.05968353
+v -0.10583222 0.15268901 -0.07591434
+v -0.04228858 0.00028030 -0.07589742
+v -0.04242544 0.04906242 -0.07590360
+v -0.07122069 0.14694308 -0.07591754
+v -0.04228858 0.14103060 -0.07590485
+v -0.04228858 0.16572970 -0.05968306
+v -0.10583222 0.16669569 -0.05968306
+v -0.10583222 0.15845159 -0.07589049
+v -0.10577002 0.15845159 -0.07589208
+v -0.10001593 0.15845159 -0.07590002
+v -0.09425564 0.15845159 -0.07590161
+v -0.07697476 0.15268901 -0.07591594
+v -0.04228858 0.03740401 -0.07590205
+v -0.07122069 0.15268901 -0.07591594
+v -0.04228858 0.15268901 -0.07590481
+v -0.04228858 0.16842781 -0.06270586
+v -0.10577002 0.16669569 -0.05968306
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+v -0.04228858 0.16857772 -0.07167253
+v -0.04228858 0.16458057 -0.07453800
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_20.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e36a70ebd04e91c4efe490c865e755c9226468
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.11130182 0.06141185 -0.03914434
+v 0.11130182 0.06225741 -0.05556324
+v 0.10146044 0.06038397 -0.05556325
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+v 0.11130182 0.04221842 -0.05556331
+v 0.10146044 0.04470392 -0.05556331
+v 0.10146044 0.04693826 -0.03914440
+f 1 2 3
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+f 5 8 7
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_21.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a284426c6bb4c90f0306ba0c1c74525c8d1a23f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_21.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.01130353 0.16447636 0.09443588
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+v -0.01678093 0.16574341 0.15085478
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+v -0.01669021 0.16631718 0.14510023
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_22.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089fb23d144fb9d37c794fdd678bca82a8cc4d2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_22.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_23.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a020f357e96ae9df8825b276e2370ef673f8c5da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.11186348 -0.04885053 0.07032955
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_24.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ab80d28232edba48a80a97b39b491b7973a22b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_25.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547b528f5282323eca6d869b29e82d7168b2b94f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_25.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_26.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e27d2d6d2585311833ce910d73e2ae154f1fd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_26.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_27.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1beb4b9cb5ae469a19132ba19b92d3ab6d480bae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+f 1 4 5
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+f 1 7 8
+f 1 8 9
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+f 1 13 15
+f 1 15 2
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+f 3 16 17
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+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
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+f 14 29 22
+f 14 22 19
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+f 19 22 26
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+f 25 29 28
+f 25 28 35
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+f 25 37 38
+f 25 38 34
+f 27 35 28
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_28.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4e57a0503dc64bcc638dd44d3196c96ca59f3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.11329055 -0.14097733 -0.03912848
+v 0.12798562 -0.14097733 -0.03912848
+v 0.11329911 -0.14097735 -0.03263614
+v 0.11326489 -0.08340439 0.04763084
+v 0.11399048 -0.07855233 -0.03912825
+v 0.12810883 -0.13522123 -0.03912846
+v 0.13003064 -0.10643473 -0.00396440
+v 0.12984581 -0.11219084 -0.00396442
+v 0.13051494 -0.14097771 0.06481756
+v 0.11331109 -0.14097737 -0.02689953
+v 0.11382620 -0.12370934 0.04763070
+v 0.11447307 -0.14097771 0.06482902
+v 0.11497620 -0.14097773 0.07055418
+v 0.11545879 -0.07855273 0.07055441
+v 0.11377315 -0.07855266 0.05245144
+v 0.11336757 -0.07855264 0.04763086
+v 0.11332479 -0.14097739 -0.02116292
+v 0.11335045 -0.14097741 -0.01543775
+v 0.11338639 -0.14097743 -0.00970114
+v 0.11343944 -0.14097746 -0.00396453
+v 0.12840830 -0.07855233 -0.03912825
+v 0.12844766 -0.07855233 -0.03850993
+v 0.12845622 -0.07855233 -0.03836107
+v 0.12850585 -0.07855233 -0.03745650
+v 0.12987490 -0.10067860 -0.00970099
+v 0.13015384 -0.10067863 -0.00396438
+v 0.13035920 -0.10067865 0.00177223
+v 0.13017096 -0.10643475 0.00177221
+v 0.13057826 -0.13522161 0.06482904
+v 0.13041397 -0.12946553 0.07055422
+v 0.13033354 -0.13522163 0.07055420
+v 0.13008882 -0.14097773 0.07055418
+v 0.13061762 -0.09492257 0.00749741
+v 0.13074596 -0.08916037 0.01323405
+v 0.11351645 -0.14097748 0.00177208
+v 0.11554949 -0.14097774 0.07403508
+v 0.11577196 -0.07855274 0.07373760
+v 0.11572234 -0.07855274 0.07323379
+v 0.12874544 -0.07855235 -0.03173133
+v 0.13044477 -0.09492255 0.00177225
+v 0.13017781 -0.09492253 -0.00396436
+v 0.13057654 -0.10067888 0.06482917
+v 0.13045504 -0.07855273 0.07055441
+v 0.13045333 -0.08916058 0.07055437
+v 0.13044990 -0.10643500 0.07055431
+v 0.13044648 -0.11794721 0.07055427
+v 0.13044135 -0.12370943 0.07055425
+v 0.12894566 -0.12370945 0.07532903
+v 0.12891999 -0.12946555 0.07530610
+v 0.12886865 -0.13522165 0.07528318
+v 0.12873859 -0.14097775 0.07513431
+v 0.13057654 -0.08916035 0.00749743
+v 0.13071859 -0.08340429 0.01897068
+v 0.13056456 -0.07855271 0.06482925
+v 0.13057483 -0.09492278 0.06482919
+v 0.11883522 -0.14097775 0.07656560
+v 0.11883522 -0.07855275 0.07624522
+v 0.13053205 -0.08340427 0.01323407
+v 0.13035749 -0.07855254 0.01897070
+v 0.13054745 -0.07855271 0.06573382
+v 0.13021888 -0.07855273 0.07132158
+v 0.12895422 -0.10643502 0.07534054
+v 0.12459379 -0.11794724 0.07783667
+v 0.12459379 -0.12370946 0.07782520
+v 0.12459379 -0.12946556 0.07781372
+v 0.12459379 -0.13522166 0.07779080
+v 0.12459379 -0.14097776 0.07767628
+v 0.13052349 -0.07855256 0.02469586
+v 0.12459379 -0.07855276 0.07784826
+v 0.12896278 -0.07855275 0.07534064
+v 0.12827141 -0.07855275 0.07574141
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+f 1 51 67
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+f 1 56 36
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+f 31 51 32
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+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 42
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+f 44 61 45
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+f 46 62 48
+f 46 48 47
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+f 48 64 65
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+f 50 67 51
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+f 53 68 54
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+f 56 69 57
+f 61 70 62
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+f 62 71 63
+f 63 71 69
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_29.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed3c215f8c18b5e43362ac95ea6322d4a1d3b00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_29.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01362952 -0.04885087 0.06809114
+v -0.04228237 -0.04884912 0.06809114
+v -0.04228237 -0.05210352 0.06798252
+v -0.01362952 -0.05218926 0.06797045
+v -0.01362952 -0.04579943 0.06781359
+v -0.04228237 -0.04877388 0.06809114
+v -0.04228237 -0.05218575 0.06797045
+v -0.01362952 -0.05471753 0.06482072
+v -0.01938757 -0.04579769 0.06781359
+v -0.01362952 -0.04396926 0.06482076
+v -0.03666454 -0.04579594 0.06781359
+v -0.04228237 -0.04579594 0.06781359
+v -0.04228237 -0.05458631 0.06490520
+v -0.04228237 -0.05464754 0.06482072
+v -0.01362952 -0.05669640 0.05908847
+v -0.04228237 -0.04575044 0.06774118
+v -0.01362952 -0.04232979 0.05908852
+v -0.04228237 -0.04392727 0.06468802
+v -0.03666454 -0.04396751 0.06482076
+v -0.04228237 -0.05648293 0.05923328
+v -0.04228237 -0.05652843 0.05908847
+v -0.01362952 -0.05699556 0.05295798
+v -0.04228237 -0.04396751 0.06482076
+v -0.01362952 -0.04212156 0.05335628
+v -0.04228237 -0.04232979 0.05895577
+v -0.04228237 -0.04233504 0.05908852
+v -0.04228237 -0.05996437 -0.05518232
+v -0.01362952 -0.05999412 -0.05518232
+v -0.04228237 -0.04213206 0.05335628
+v -0.01362952 -0.04407030 -0.05517019
+v -0.04228237 -0.04414029 -0.05518226
+v -0.01362952 -0.05993463 -0.05518232
+v -0.01402217 -0.04407730 -0.05518226
+f 1 2 3
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+f 1 22 28
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+f 1 32 30
+f 1 30 24
+f 1 24 17
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+f 10 17 18
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+f 14 20 15
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+f 17 25 26
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+f 18 23 19
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+f 22 27 28
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+f 24 30 29
+f 27 31 33
+f 27 33 32
+f 27 32 28
+f 29 30 31
+f 30 32 33
+f 30 33 31
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_3.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ff7143536cd44d4e51394b4dac178c040b982d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.10583666 -0.16987529 -0.06704141
+v -0.10577445 -0.16989195 -0.06704141
+v -0.10583666 -0.16844277 -0.06222372
+v -0.10583666 -0.16832614 -0.07162727
+v -0.10577445 -0.16832614 -0.07163220
+v -0.04228237 -0.16824285 -0.07157137
+v -0.04228237 -0.16827616 -0.07145955
+v -0.04228237 -0.16945885 -0.06704141
+v -0.10577445 -0.16844277 -0.06222042
+v -0.10583666 -0.16597748 -0.05912097
+v -0.10583666 -0.16827616 -0.07166344
+v -0.10583666 -0.16432834 -0.07449814
+v -0.10577445 -0.16432834 -0.07449978
+v -0.04228237 -0.16446161 -0.07436824
+v -0.04228237 -0.16810962 -0.06280743
+v -0.10577445 -0.16597748 -0.05912097
+v -0.10583666 -0.04103016 -0.05912051
+v -0.10583666 -0.16429503 -0.07451786
+v -0.04228237 -0.16436166 -0.07443894
+v -0.04228237 -0.16512795 -0.05912097
+v -0.04228237 -0.04116342 -0.05912051
+v -0.10583666 0.00028025 -0.05980109
+v -0.10001318 -0.16146326 -0.07575435
+v -0.08273562 -0.16147992 -0.07576092
+v -0.07697436 -0.16147992 -0.07576257
+v -0.04228237 -0.16156320 -0.07573297
+v -0.10583666 -0.16144660 -0.07574612
+v -0.04228237 0.00028025 -0.05985864
+v -0.10583666 0.00028031 -0.07590831
+v -0.10583666 -0.15826503 -0.07588094
+v -0.10001318 -0.15824838 -0.07588917
+v -0.09425192 -0.16146326 -0.07575763
+v -0.08273562 -0.15824838 -0.07589574
+v -0.07122555 -0.15824838 -0.07589903
+v -0.06546429 -0.16147992 -0.07576421
+v -0.04228237 -0.16147992 -0.07576421
+v -0.04228237 0.00028031 -0.07589681
+v -0.07697436 0.00028031 -0.07591160
+v -0.10583666 -0.08333995 -0.07591520
+v -0.10583666 -0.15250157 -0.07590723
+v -0.04228237 -0.15833167 -0.07589081
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+v -0.04548653 0.00028031 -0.07589845
+v -0.04228237 -0.00278466 -0.07589846
+v -0.07122555 0.00028031 -0.07590996
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+v -0.07697436 -0.14097463 -0.07591705
+v -0.10583666 -0.08915339 -0.07591522
+v -0.10583666 -0.14097463 -0.07591212
+v -0.07697436 -0.14673810 -0.07591707
+v -0.04228237 -0.15263483 -0.07589737
+v -0.04228237 -0.14112455 -0.07590061
+v -0.04228237 -0.07189630 -0.07590200
+v -0.04228237 -0.13536107 -0.07590224
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 22
+f 1 22 29
+f 1 29 39
+f 1 39 50
+f 1 50 51
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+f 1 18 12
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+f 48 52 49
+f 48 55 56
+f 50 52 51
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_30.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83146459e193113bb7c9384f8cb852a8f5df53bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_30.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.13071055 0.14115894 0.06482426
+v 0.13000911 0.14694595 0.06482428
+v 0.12994613 0.14118709 0.07055014
+v 0.12994613 0.14115892 0.07055014
+v 0.12794775 0.14115932 -0.03913046
+v 0.12788763 0.14119775 -0.04411119
+v 0.12788190 0.14278793 -0.05556295
+v 0.12833426 0.14719990 -0.05556293
+v 0.12781892 0.15045701 -0.05556292
+v 0.12768722 0.15590304 0.06132081
+v 0.12768722 0.15590304 0.06260194
+v 0.12842587 0.15270224 0.06464128
+v 0.12774448 0.15051031 0.07387066
+v 0.12910441 0.14694593 0.07055016
+v 0.12994040 0.14115892 0.07057629
+v 0.12816821 0.14694592 0.07448507
+v 0.12860052 0.14118707 0.07502103
+v 0.11322333 0.14115932 -0.03913046
+v 0.12752689 0.14119779 -0.05556295
+v 0.12697147 0.15275645 -0.05556291
+v 0.12223607 0.16176688 0.06069333
+v 0.12668804 0.15330443 -0.05556291
+v 0.12350437 0.15873552 -0.05556289
+v 0.12145160 0.16122188 -0.05556288
+v 0.12223607 0.16176687 0.06313794
+v 0.12375059 0.15785164 0.07055020
+v 0.12304629 0.15704503 0.07474656
+v 0.12662791 0.15393645 0.07055019
+v 0.12481563 0.15254089 0.07547862
+v 0.12860052 0.14115890 0.07502103
+v 0.12458945 0.14694591 0.07700811
+v 0.12458945 0.14118707 0.07754408
+v 0.11317466 0.14115926 -0.02118155
+v 0.11239019 0.14119779 -0.05553680
+v 0.11249613 0.14119779 -0.05556295
+v 0.11024008 0.16710321 0.06193527
+v 0.11894934 0.16246890 -0.05556287
+v 0.11890067 0.16249195 -0.05556287
+v 0.11024008 0.16710321 0.06198756
+v 0.11915261 0.16299084 0.06495507
+v 0.11805321 0.16257600 0.07055022
+v 0.11725730 0.16211763 0.07443284
+v 0.12093340 0.16072978 0.07055021
+v 0.11903809 0.15876064 0.07583160
+v 0.11883196 0.15270476 0.07791015
+v 0.12458945 0.14115890 0.07754408
+v 0.11316321 0.14115924 -0.01544260
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+v 0.11316321 0.14115924 -0.01542952
+v 0.11317466 0.14115922 -0.00969057
+v 0.11320615 0.14115919 -0.00396470
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_31.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c0bda5d4465488e085a4dbf228248268649fb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_31.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_32.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05898ddf1e6d43d1f2ae151840cb88042d253159
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_32.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_33.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d40ec2c16c2ff106615a276932022018cefa6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_33.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00902612 0.06212507 -0.05519813
+v -0.00703983 0.14116711 0.04188249
+v -0.00703983 0.14116711 0.04187041
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+v 0.00816621 0.14116704 0.05907896
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+v 0.01045162 0.06212465 0.05882507
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+v -0.00656477 0.06212463 0.06523752
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+v -0.00056289 0.14116701 0.06817231
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+v 0.00521415 0.06212462 0.06690403
+v 0.00233443 0.06212462 0.06811164
+v 0.00204509 0.06632588 0.06812373
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_34.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2406ce454e8dcde80998f3ce10ec5d60fb942ac2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_34.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.02320597 0.15846352 0.07804145
+v 0.02320597 0.15546151 0.07660257
+v 0.02320597 0.16367020 0.07580032
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+v 0.02320597 0.15214600 0.07258244
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+v 0.00208720 0.14116702 0.06816986
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+v 0.00673156 0.17336110 0.09443591
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+v 0.02320597 0.15126346 0.07055930
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+v -0.00056177 0.14116702 0.06816986
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+v 0.00736209 0.14116704 0.06367012
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+v -0.00210733 0.17582494 0.04190406
+v -0.00786664 0.17446190 0.04763338
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+v -0.01607117 0.16329223 0.00534797
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+v -0.00351063 0.17274459 0.02813448
+v -0.00210733 0.17458802 0.03616601
+v -0.01051178 0.17282635 0.03361964
+v -0.01099620 0.17302055 0.04190405
+v -0.01607117 0.16857707 0.06396672
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+v -0.01093084 0.17295921 0.03743919
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+v 0.02320597 0.14998237 0.03616592
+v -0.00670171 0.14116705 0.05909190
+v -0.01607117 0.15125665 0.07055930
+v -0.01201504 0.16114516 0.09443586
+v -0.01364134 0.16421534 0.09443587
+v -0.01607117 0.15641902 0.07742229
+v 0.00754663 0.14117406 0.00534789
+v 0.02320597 0.15010848 0.02693970
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+v -0.01607117 0.15005404 0.00534792
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+v -0.01607117 0.15032985 0.05927506
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+v -0.00683627 0.14116724 0.00748440
+v -0.00704004 0.14116712 0.04188649
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_35.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af49f08a89fab44eaaa684310c76dc879c18bf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_35.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.13059045 0.05480360 0.06482641
+v 0.13058475 0.06056376 0.06482643
+v 0.13045642 0.06056374 0.07056432
+v 0.13046497 0.04329008 0.07056426
+v 0.13046497 0.04305320 0.07056426
+v 0.13058475 0.04904798 0.06482639
+v 0.12809799 0.06632203 -0.03914274
+v 0.13057619 0.06632165 0.06482645
+v 0.13045072 0.06632163 0.07056434
+v 0.12895638 0.06056372 0.07534016
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+v 0.12896778 0.04305318 0.07535156
+v 0.13057049 0.04305322 0.06482637
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+v 0.11355960 0.06632203 -0.03914274
+v 0.12895068 0.06632161 0.07534018
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+v 0.10145948 0.04693926 -0.03914281
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+v 0.10145948 0.04600278 0.06236401
+v 0.10145948 0.05901724 0.06444848
+v 0.10145948 0.04819842 0.06523869
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_36.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6ceccba647e629b5101bffab827c1017b06f17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_36.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.04228237 0.14851269 -0.05262608
+v -0.00680097 0.14116958 0.00174439
+v -0.00680097 0.14116958 0.00176141
+v -0.00682661 0.14117889 0.00534222
+v -0.04228237 0.15074424 0.00534225
+v -0.04228237 0.16349438 -0.05262603
+v -0.00663430 0.14117677 -0.05262611
+v -0.00674328 0.14116960 -0.00399286
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+v 0.02092388 0.16371103 -0.05262603
+v 0.00154533 0.14116978 -0.05262611
+v -0.00590352 0.14116977 -0.04985112
+v -0.00605737 0.14116975 -0.04410252
+v -0.00618558 0.14116973 -0.03838797
+v -0.00651250 0.14116967 -0.02119325
+v -0.00660225 0.14116965 -0.01545601
+v 0.00753903 0.14116958 0.00177844
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_37.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45403318d13206f673dad198925d4f533c8080fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_38.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4a72cf1aedebdb8c5834f53d76b28627a8baf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_38.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_39.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3965acb8f2d7946727b88a5461fc8e28d18e2425
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_39.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_4.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e9cefb09d2c19157d147937c7a4db1be33b64d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_4.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_40.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37718e4034f1e0bfec07373e87cdf5930639915
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_40.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_41.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519678716a1812f04166fbad5544a630140edfa7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_41.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.11404078 0.00092048 -0.03914298
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_42.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a119f44fd5b5730cc3dc00ef434f6ac9daafaf78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_42.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.11130182 0.04222338 -0.05556331
+v 0.11130182 0.04435162 -0.03914441
+v 0.11130182 0.06227063 -0.05556324
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_43.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56afc56a7eb92057a2e5f1599dbb5d015075661b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_43.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02320597 -0.04884877 0.06810608
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+v 0.00365244 -0.04884877 0.06833580
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_44.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2372e2478351fe88ce1df42ec1be1befb7dac899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_44.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00211499 0.17002832 -0.06703920
+v -0.00211499 0.16847735 -0.06259718
+v 0.00364793 0.16847169 -0.06259718
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+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_45.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c31b86f61775dd28a8b579a265c4bd946694ba7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_45.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01607117 0.15829479 0.07830853
+v -0.04228237 0.15846114 0.07801568
+v -0.01607117 0.15641736 0.07742285
+v -0.01607117 0.16381924 0.07687290
+v -0.04228237 0.16365837 0.07579439
+v -0.04228237 0.15351071 0.07565150
+v -0.01607117 0.15350524 0.07565864
+v -0.01607117 0.16441886 0.07660863
+v -0.04228237 0.16596908 0.07056609
+v -0.01607117 0.15125489 0.07056604
+v -0.04228237 0.15129511 0.07056604
+v -0.01607117 0.16651020 0.07056609
+v -0.01607117 0.16827248 0.06508067
+v -0.01607117 0.16857778 0.06396644
+v -0.04228237 0.16734018 0.06282363
+v -0.01607117 0.15054379 0.06456634
+v -0.04228237 0.15073574 0.06483061
+v -0.01607117 0.16856682 0.06025234
+v -0.04228237 0.16734018 0.06139513
+v -0.01607117 0.15032992 0.05927375
+v -0.04228237 0.15041406 0.04763149
+v -0.03666348 0.15024953 0.04763149
+v -0.03090348 0.15016545 0.04763149
+v -0.01607117 0.16629827 0.03616784
+v -0.02874830 0.16433868 0.00535512
+v -0.03450573 0.16469881 0.00535512
+v -0.03666348 0.16479022 0.00535513
+v -0.04026316 0.16493829 0.00535513
+v -0.04228237 0.16511194 0.00736217
+v -0.04228237 0.16511926 0.00749787
+v -0.01607117 0.15002834 0.04763149
+v -0.04228237 0.15074327 0.00535507
+v -0.03882380 0.15062444 0.00535507
+v -0.03666348 0.15026601 0.04189606
+v -0.01607117 0.14990222 0.04189606
+v -0.03090348 0.15013256 0.04189606
+v -0.01607117 0.16329302 0.00535512
+v -0.01723086 0.16340270 0.00535512
+v -0.01938862 0.16359830 0.00535512
+v -0.02298830 0.16390177 0.00535512
+v -0.04228237 0.16496571 0.00535513
+v -0.03876992 0.15062261 0.00535507
+v -0.03306380 0.15044894 0.00535507
+v -0.03090348 0.15039044 0.00535507
+v -0.02730637 0.15029905 0.00535507
+v -0.01607117 0.15005226 0.00535507
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 16
+f 1 16 20
+f 1 20 31
+f 1 31 35
+f 1 35 46
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+f 1 37 24
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+f 1 18 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
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+f 2 19 30
+f 2 30 29
+f 2 29 41
+f 2 41 32
+f 2 32 21
+f 2 21 17
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+f 2 11 6
+f 2 6 3
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+f 5 8 9
+f 6 10 7
+f 6 11 10
+f 8 12 9
+f 9 12 13
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+f 10 11 16
+f 11 17 16
+f 14 18 19
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+f 16 17 20
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+f 18 24 25
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+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 23 31
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 35 23
+f 22 34 36
+f 22 36 35
+f 23 35 31
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 39
+f 25 39 38
+f 25 38 37
+f 25 37 46
+f 25 46 45
+f 25 45 44
+f 25 44 43
+f 25 43 42
+f 25 42 33
+f 25 33 32
+f 25 32 41
+f 25 41 28
+f 25 28 27
+f 25 27 26
+f 28 41 29
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 36
+f 35 36 46
+f 36 45 46
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_46.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932272b0e30e1deda96d30d84c1cab1d6bb19436
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_46.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.11127528 -0.06200064 -0.05578225
+v 0.11127528 -0.06104091 -0.03912818
+v 0.11127528 -0.04168049 -0.05577891
+v 0.11128707 -0.04168049 -0.05578217
+v 0.11236698 -0.13915416 -0.05578253
+v 0.11127528 -0.04276374 -0.03912812
+v 0.11337611 -0.13915422 -0.03912847
+v 0.11245458 0.00092054 -0.05578202
+v 0.12728175 -0.13915416 -0.05578253
+v 0.11404158 0.00092048 -0.03912796
+v 0.12800785 -0.13915422 -0.03912847
+v 0.12672073 0.00092054 -0.05578202
+v 0.12825551 -0.07187282 -0.04410682
+v 0.12768102 -0.13915418 -0.04936120
+v 0.12724132 -0.06084889 -0.05578224
+v 0.12754287 -0.06438641 -0.05328317
+v 0.12780232 -0.06623745 -0.05021678
+v 0.12814601 0.00092048 -0.03912796
+v 0.12796236 -0.13915420 -0.04410707
+v 0.12810725 -0.13521907 -0.03912846
+v 0.12773494 0.00092050 -0.04402832
+v 0.12753614 -0.06036899 -0.05325707
+v 0.12709306 -0.04270883 -0.05578218
+v 0.12826056 -0.06612778 -0.04410680
+v 0.12848463 -0.07187284 -0.03912822
+v 0.12723963 -0.06036899 -0.05578224
+v 0.12848463 -0.07110501 -0.03912822
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 23
+f 1 23 26
+f 1 26 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 7
+f 2 7 11
+f 2 11 20
+f 2 20 25
+f 2 25 27
+f 2 27 18
+f 2 18 10
+f 2 10 6
+f 3 6 8
+f 3 8 4
+f 5 9 14
+f 5 14 19
+f 5 19 11
+f 5 11 7
+f 6 10 8
+f 8 10 18
+f 8 18 21
+f 8 21 12
+f 9 13 14
+f 9 15 16
+f 9 16 17
+f 9 17 13
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 13 19 14
+f 13 17 24
+f 13 24 25
+f 13 25 19
+f 15 26 22
+f 15 22 16
+f 16 22 17
+f 17 22 24
+f 18 27 24
+f 18 24 22
+f 18 22 21
+f 19 25 20
+f 22 26 23
+f 24 27 25
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_47.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425f0b60422660008e8be08271986fb33468e170
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_47.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01728280 -0.15813749 0.07827363
+v -0.04228237 -0.15813582 0.07799916
+v -0.04228237 -0.15826082 0.07805547
+v -0.01728280 -0.16389736 0.07624676
+v -0.01728280 -0.15316758 0.07573305
+v -0.04228237 -0.15317426 0.07571898
+v -0.04228237 -0.16341904 0.07576820
+v -0.01728280 -0.16504899 0.07362170
+v -0.04228237 -0.16572230 0.07056031
+v -0.01728280 -0.15228426 0.07383288
+v -0.01728280 -0.15076929 0.07056037
+v -0.04228237 -0.15079595 0.07056037
+v -0.01728280 -0.16607062 0.07056031
+v -0.04228237 -0.16625893 0.06497240
+v -0.01728280 -0.15049928 0.06830832
+v -0.01728280 -0.15014928 0.06474022
+v -0.04228237 -0.15024760 0.06482467
+v -0.04228237 -0.16627226 0.06482461
+v -0.01728280 -0.16629394 0.06807601
+v -0.01728280 -0.14943089 0.04731493
+v -0.04228237 -0.14998587 0.04762459
+v -0.01728280 -0.16645726 0.06482461
+v -0.04228237 -0.16410543 0.00750275
+v -0.01728280 -0.14977740 0.00637677
+v -0.02514854 -0.14990073 0.00637677
+v -0.03090469 -0.14999406 0.00637677
+v -0.03666328 -0.15011406 0.00637677
+v -0.04228237 -0.15026072 0.00637677
+v -0.01728280 -0.16520551 0.03616719
+v -0.04228237 -0.16405043 0.00637672
+v -0.01728280 -0.16312544 0.00637672
+v -0.03666328 -0.16393543 0.00637672
+v -0.03090469 -0.16376543 0.00637672
+v -0.02514854 -0.16355211 0.00637672
+v -0.01938751 -0.16326878 0.00637672
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 19 22
+f 1 22 29
+f 1 29 31
+f 1 31 24
+f 1 24 20
+f 1 20 16
+f 1 16 15
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+f 22 23 29
+f 23 30 29
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+f 24 32 30
+f 24 30 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
+f 29 30 32
+f 29 32 33
+f 29 33 34
+f 29 34 35
+f 29 35 31
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_5.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f2357d88c14a50ce0ec8db01e3c161883cd26fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.12673574 -0.07879415 -0.03182751
+v -0.12803270 -0.02006123 -0.02689796
+v -0.12780248 -0.02499948 -0.03182731
+v -0.11214994 -0.07879415 -0.03182751
+v -0.12909262 -0.07879451 0.06482613
+v -0.12810792 -0.01430249 -0.02689794
+v -0.12789594 -0.02006121 -0.03182729
+v -0.10584515 -0.05904106 -0.03182744
+v -0.11078231 -0.07879444 0.04762178
+v -0.12905159 -0.07879452 0.06941181
+v -0.12909491 -0.07764122 0.06482613
+v -0.12818543 0.00028012 -0.02689789
+v -0.12817859 -0.00278501 -0.02689790
+v -0.12814895 -0.00854375 -0.02689792
+v -0.12795977 -0.01348201 -0.03182727
+v -0.12795293 -0.01430247 -0.03182727
+v -0.12790507 -0.01924074 -0.03182729
+v -0.10584515 -0.04487642 -0.03182738
+v -0.10584515 -0.05897142 -0.02689811
+v -0.10584515 -0.05664966 0.05897329
+v -0.10584515 -0.05664193 0.05909143
+v -0.10584515 -0.05477655 0.06482622
+v -0.11421051 -0.07879454 0.07377196
+v -0.10584515 -0.05888630 -0.02116332
+v -0.10584515 -0.05879343 -0.01542854
+v -0.10584515 -0.05870057 -0.00979041
+v -0.10584515 -0.05822850 0.01275138
+v -0.12904020 -0.07879453 0.07056091
+v -0.12912454 -0.06036500 0.06482620
+v -0.12802587 0.00028014 -0.03182722
+v -0.12821962 0.00028011 -0.02384792
+v -0.12801903 -0.00278499 -0.03182723
+v -0.12799624 -0.00773101 -0.03182725
+v -0.12799168 -0.00854373 -0.03182725
+v -0.11284743 0.00028014 -0.03182722
+v -0.11073899 0.00027993 0.02469368
+v -0.11065466 0.00027991 0.03042846
+v -0.10584515 -0.04214444 0.05335670
+v -0.10584515 -0.05223776 0.06804802
+v -0.10584515 -0.04884753 0.06819838
+v -0.11482821 -0.07879454 0.07427671
+v -0.12904248 -0.07188250 0.07056094
+v -0.12912910 -0.04884752 0.06482624
+v -0.12748566 -0.07879455 0.07537211
+v -0.12824697 0.00028010 -0.02116310
+v -0.11084385 0.00027989 0.03616325
+v -0.10584515 -0.04235344 0.05917739
+v -0.10584515 -0.04234570 0.05909148
+v -0.10584515 -0.04214444 0.05345336
+v -0.10584515 -0.04582110 0.06786547
+v -0.11421051 0.00027975 0.07377225
+v -0.11729679 0.00027974 0.07627450
+v -0.11729679 -0.07879455 0.07627421
+v -0.12905615 -0.00854411 0.07056117
+v -0.12905615 0.00027976 0.07056120
+v -0.12912681 -0.04308879 0.06482626
+v -0.12394121 -0.07879455 0.07736963
+v -0.12749022 -0.00854413 0.07538311
+v -0.12910402 0.00027978 0.06482642
+v -0.11387772 0.00027976 0.07056120
+v -0.10584515 -0.04396343 0.06489070
+v -0.10584515 -0.04394021 0.06482626
+v -0.10584515 -0.04575918 0.06785473
+v -0.11999331 0.00027974 0.07702625
+v -0.11844560 -0.07879455 0.07659639
+v -0.12907894 0.00027977 0.06787638
+v -0.12748793 0.00027974 0.07538314
+v -0.12305224 -0.07879456 0.07786363
+v -0.12305224 -0.04308884 0.07787450
+v -0.12305224 0.00027973 0.07787466
+f 1 2 3
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+f 1 16 15
+f 1 15 34
+f 1 34 33
+f 1 33 32
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+f 1 30 35
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+f 1 18 8
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+f 1 53 65
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+f 1 10 5
+f 1 5 2
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+f 29 43 31
+f 31 43 45
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+f 37 48 49
+f 37 49 38
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 42 44 54
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 45
+f 44 57 58
+f 44 58 54
+f 45 56 59
+f 46 60 61
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+f 46 62 47
+f 50 63 51
+f 51 63 60
+f 52 64 65
+f 52 65 53
+f 54 58 55
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+f 56 66 59
+f 57 68 69
+f 57 69 58
+f 58 69 70
+f 58 70 67
+f 60 63 61
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+f 64 69 65
+f 65 69 68
+
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_6.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438b778312a411e36dc356d33e58a83eedb020d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_6.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04228858 0.05384410 0.06809733
+v -0.04228858 0.05110156 0.06809732
+v -0.04228858 0.05672540 0.06732133
+v -0.04242544 0.05384682 0.06809733
+v -0.10583222 0.05392028 0.06818495
+v -0.10583222 0.05104171 0.06817242
+v -0.10583222 0.04813322 0.06533120
+v -0.04228858 0.04829374 0.06528114
+v -0.10583222 0.05679341 0.06733384
+v -0.10583222 0.05676621 0.06735888
+v -0.04228858 0.05901629 0.06444258
+v -0.04818573 0.05901629 0.06445510
+v -0.10583222 0.04587771 0.06250250
+v -0.04228858 0.04822300 0.06520604
+v -0.10583222 0.05907343 0.06446761
+v -0.04228858 0.05904622 0.06431742
+v -0.10583222 0.04586683 0.06243992
+v -0.04228858 0.04601375 0.06233979
+v -0.04228858 0.04606816 0.06241489
+v -0.10583222 0.06032228 0.05917321
+v -0.04228858 0.06025970 0.05909811
+v -0.10583222 0.03798793 -0.05968195
+v -0.04228858 0.03849127 -0.05968195
+v -0.10583222 0.06033860 0.05909811
+v -0.04228858 0.06548946 -0.05968185
+v -0.10583222 0.06578059 -0.05968185
+f 1 2 8
+f 1 8 14
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+f 1 19 18
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+f 1 23 25
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+f 1 21 16
+f 1 16 11
+f 1 11 3
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_7.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8748ed959716abc3c5f9f909c0dbf1f416a6971b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_8.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51d6c4136bbb9cd900cdf0e9ed7442a1153fe3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_8.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_9.obj b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf6f72e35b503c20f103f658fe1fe673ac671f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/mesh/storage_box_039_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/storage_box_039.xml b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/storage_box_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c0100fc89c96a848a46c9cb4ba8a158576c4b77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mjcf/storage_box_039.xml
@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_box_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/storage_box_039_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_box_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.urdf b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..257ef5ad83f2398e64cb75a5b2a75522e5014893
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_box_039">
+   <link name="storage_box_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>fc65391e450f58dda97090f799409b5d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_box</category>
+         <name>handled storage box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>gray rectangular fabric storage box with metal handle and divided interior</description>
+         <min_height>0.2742</min_height>
+         <max_height>0.2742</max_height>
+         <real_height>0.2742</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140847</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.130690 -0.174899 -0.074047</min>
+            <max>0.132250 0.175101 0.200135</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/fc65391e450f58dda97090f799409b5d/storage_box_039.usd b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd
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diff --git a/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/textures/material_0.png b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/textures/material_0.png
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new file mode 100644
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--- /dev/null
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