diff --git a/.gitattributes b/.gitattributes
index 1169d8238a4467a7d8e1fa0761f2350386aa0c6a..6117ae526bf39bf17ddf1c38d1869b7f2d3180b3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2831,3 +2831,5 @@ dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a
dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/d213a2ef0295527084273d3c38aa4c6d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.urdf b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a63b94199b966af6ac36a1f354fe659a3ecc0c6
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.usd b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.usd
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.glb b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.glb
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.mtl b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f18258439ab63d918ac9038799655289600a7264
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.mtl
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9125c3e862b343445e8f42f4c4e6b0e377468b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_collision.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ada51ceb9cd0414d62335b5631ee04268a3ec1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..faa6998b9e0a5687a126dccf66847b62b6d2c990
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef1f7a607625c2bde1c6e11ca217866004cb55a13e487c4e0be094ecebbe149f
+size 16096075
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material.mtl b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bdfc5d1aa15e94d0efc3e35c13c38031c68fd42a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_014_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material_0.png b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..faa6998b9e0a5687a126dccf66847b62b6d2c990
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef1f7a607625c2bde1c6e11ca217866004cb55a13e487c4e0be094ecebbe149f
+size 16096075
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/basket_014.xml b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/basket_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab9e389f6d2621e6e69453f815a6c0c83e1ada56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/basket_014.xml
@@ -0,0 +1,54 @@
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a6b3341741dc4d27d2fa62d7f1b9126ef86ccd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014.obj
@@ -0,0 +1,121802 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3004cea70d462492e7661d680e647977cde319cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision.obj
@@ -0,0 +1,7651 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_0.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413335d28c41fa84c89ecd80c3fc167c9dddfc11
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_0.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_1.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3768c1b40d37ccb763cb23c896071ea1feafa5f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_1.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_10.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cefefac70b763274b2684b112ad82d8f2555cf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_10.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_11.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf151cda0fa04c76d43f5ab7a0ab05eb13301c7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_11.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_12.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc97fdadfe7a2ca4e5ec1c65474b42c91b5d93e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_12.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_13.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de34d1f388f89efde11c1f8d430e8ead5ab8f50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_13.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_14.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b910eae7f7832ab7fb870a74f412d501af2cbe1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_15.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93ea6ab156ea37ed65f51254a7a9c61fa723ea5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_15.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_16.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e266384f5c80aac72aa463e5b918440222baee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_16.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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+v 0.06906496 -0.00013135 0.05227392
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_17.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a35e999bfb0e358189adbe007c9de3811afaef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_17.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_18.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc6ed9d3d04510e5f2d2102f6447ecf97e157a89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_18.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_19.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccd69c7994ad64608dfc5a02b1db35e9252a05e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_2.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19267973b40b8b62528b21fb0f30ab4be15d917a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_2.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_3.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928e9ad75f41d676156f69371226928f2796ff82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_3.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_4.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c533bf3e80818ff968da92c7c2bc2cefe801a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_5.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f2ce310a688df1e1f59bca3c737ebe164b063d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_5.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_6.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cab3777d1e95820804e752b76221c04a0b17ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_7.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27227a5362eeda142379c0e30790055f35c2b122
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_8.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b250368486c6db75356ab7a1cc47a235cf86c84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_8.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_9.obj b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e770b3d110ebbb558d42e70f561a112de47ba4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mjcf/mesh/basket_014_collision_9.obj
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