diff --git a/.gitattributes b/.gitattributes
index 2bdc07a00a6a3f2f4b7e483b60d7d0695bc0aee7..5995eed3fb92e32ddf39e983b0437ee7d4c6b60f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2688,3 +2688,6 @@ dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flas
 dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f909be6f20415fa890982575748a4bcd/alarm_clock_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f909be6f20415fa890982575748a4bcd/mesh/alarm_clock_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.urdf b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..185288923d6d614e1e9a8a3dbe2ed6fffd33966f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.373321</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>colorful woven basket with a curved handle</description>
+         <min_height>0.300</min_height>
+         <max_height>0.400</max_height>
+         <real_height>0.350</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260116160736</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.783598899841309</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.usd b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..973bbb26f00d9829640c050ffa46f941149a9bb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/0902926853f1508d8df9dc2805690e1f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ee383a671461ad6cf3543f86305e64e64250d92c0bac873f1b6846dda5885f
+size 629551
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.glb b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0db830a5231778ee851c1d02e43e780633cb8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fb666bdd671eb3592f69b4aa70745070e43b6fb3fe725bd32f923939dc5c2c
+size 4105804
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc4cf9871e826397497f61f6b7ec7937636c78b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.obj
@@ -0,0 +1,40640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04cffc7cff7ebbdc53da5afe6194897588b07f8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d5a40e2f14712faec551dd54c84af4f72fff0eb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 3603177
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/material.mtl b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/material_0.png b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ce5531d393e9bd1e7076c3b5c8bbc3b47577111b74625f2e2f060e3712f5b610
+size 3663437
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/0902926853f1508d8df9dc2805690e1f.xml b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/0902926853f1508d8df9dc2805690e1f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..82062c7e0ca9b94f3fc4b0d5719078bd72983e59
--- /dev/null
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+    <mesh name="collision_mesh_0_3" file="mesh/basket_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/basket_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/basket_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/basket_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/basket_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/basket_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/basket_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/basket_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/basket_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/basket_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/basket_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/basket_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/basket_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/basket_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" 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/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5308fc963f28d0ee549c1b23eccf81cd8c7460cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket.obj
@@ -0,0 +1,40640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..455562bbc4b33a86cce3ebd0ec0785b5754a9308
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,15159 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561b1d6723a061071af74d3edd426172b009d9f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_0.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14bd8e66647b543d6a23333649f09633ff2e9e05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec4fe4b207b5988af5b91868a8800d5bbcd3790
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_10.obj
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+f 66 86 68
+f 68 75 74
+f 68 74 73
+f 68 73 69
+f 68 86 76
+f 68 76 75
+f 76 86 83
+f 77 82 87
+f 81 87 82
+f 83 86 84
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ae14705b5d8d3d429c119cc174c95f640e6a83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.07508567 -0.08555160 -0.14163602
+v 0.03504125 -0.07347154 -0.14230245
+v 0.01666964 -0.07954919 -0.14228992
+v 0.01666964 -0.08028486 -0.14228992
+v 0.00154822 -0.08555159 -0.14355393
+v 0.07508567 -0.08555155 -0.15516594
+v 0.07508567 -0.06494444 -0.14273698
+v 0.06327276 -0.00014681 -0.14637619
+v 0.00159194 -0.00014681 -0.14650155
+v 0.00063729 -0.00014681 -0.14650573
+v 0.00063729 -0.08555159 -0.14358945
+v 0.04476997 -0.08555154 -0.15664093
+v 0.07508567 -0.04296618 -0.16097597
+v 0.07508567 -0.00014681 -0.14679196
+v 0.00063729 -0.00014675 -0.16257408
+v 0.00063729 -0.08555155 -0.15616879
+v 0.00409152 -0.08555155 -0.15639651
+v 0.00776440 -0.05118397 -0.16119954
+v 0.07508567 -0.03973926 -0.16132695
+v 0.07508567 -0.00014676 -0.16130173
+v 0.03859753 -0.00014675 -0.16289582
+v 0.03859753 -0.00261293 -0.16297732
+v 0.03243964 -0.00261293 -0.16292509
+v 0.00063729 -0.00165989 -0.16256155
+v 0.00142432 -0.08555155 -0.15626488
+v 0.00063729 -0.08208218 -0.15670361
+v 0.00159194 -0.08304357 -0.15664512
+v 0.00401866 -0.05022258 -0.16108045
+v 0.00776440 -0.04591723 -0.16173019
+v 0.04476997 -0.00261293 -0.16295851
+v 0.05093513 -0.00261293 -0.16289373
+v 0.06327276 -0.00261293 -0.16266601
+v 0.06944521 -0.00261293 -0.16222310
+v 0.07508567 -0.00211970 -0.16133935
+v 0.06944521 -0.00014675 -0.16217712
+v 0.04476997 -0.00014675 -0.16289582
+v 0.00063729 -0.00261293 -0.16254694
+v 0.00063729 -0.04591723 -0.16075034
+v 0.00285268 -0.04591723 -0.16132069
+v 0.05093513 -0.00014675 -0.16283524
+v 0.06327276 -0.00014675 -0.16263885
+v 0.06698934 -0.00014675 -0.16237142
+v 0.00063729 -0.03984794 -0.16118070
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 25
+f 1 25 17
+f 1 17 12
+f 1 12 6
+f 1 6 13
+f 1 13 19
+f 1 19 34
+f 1 34 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 4
+f 3 10 11
+f 4 11 5
+f 6 12 13
+f 7 14 8
+f 8 14 20
+f 8 20 35
+f 8 35 42
+f 8 42 41
+f 8 41 40
+f 8 40 36
+f 8 36 21
+f 8 21 15
+f 8 15 10
+f 8 10 9
+f 10 15 24
+f 10 24 37
+f 10 37 43
+f 10 43 38
+f 10 38 26
+f 10 26 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 16 26 25
+f 17 25 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 29 30
+f 20 34 35
+f 21 36 22
+f 22 36 30
+f 22 30 29
+f 22 29 23
+f 23 37 24
+f 23 29 37
+f 25 26 27
+f 26 38 39
+f 26 39 28
+f 26 28 27
+f 28 39 29
+f 29 39 37
+f 30 36 40
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 33 41 42
+f 33 42 35
+f 33 35 34
+f 37 39 43
+f 38 43 39
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531f698a94905e1d2511524297eba1e3a0083604
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.07243452 0.10874729 -0.17563390
+v -0.07724496 0.10260569 -0.17530688
+v -0.07724496 0.10861610 -0.17474751
+v -0.06626824 0.11493656 -0.17544439
+v -0.06003017 0.11481732 -0.17464968
+v -0.05743097 0.04070081 -0.16360365
+v -0.05743097 0.03802951 -0.16311767
+v -0.06626824 0.04070081 -0.16365868
+v -0.07243452 0.04070081 -0.16321853
+v -0.07724496 0.01684995 -0.15770768
+v -0.07724496 0.11061957 -0.17410868
+v -0.07199810 0.11467420 -0.17431958
+v -0.06626824 0.11961133 -0.17416061
+v -0.06055584 0.12162672 -0.17474135
+v -0.05743097 0.12123319 -0.17470772
+v -0.05743097 0.11593830 -0.17425538
+v -0.05743097 0.03452344 -0.16242997
+v -0.06010000 0.03452344 -0.16241774
+v -0.06626824 0.03452344 -0.16236883
+v -0.07243452 0.01684995 -0.15804390
+v -0.07724496 0.01684991 -0.14717794
+v -0.07724496 0.11203869 -0.17288302
+v -0.07621111 0.11243223 -0.17372968
+v -0.06965106 0.11827569 -0.17345763
+v -0.06291644 0.12402373 -0.17291659
+v -0.05880429 0.12518050 -0.17401389
+v -0.05743097 0.12552634 -0.17414837
+v -0.05743097 0.01684995 -0.15834956
+v -0.06010000 0.01684995 -0.15838930
+v -0.06626824 0.01684995 -0.15838013
+v -0.07724496 0.09325606 -0.14441148
+v -0.05743097 0.01684992 -0.14889572
+v -0.05743097 0.03451146 -0.14781973
+v -0.06010000 0.03452338 -0.14762413
+v -0.05743097 0.11398242 -0.14441140
+v -0.07724496 0.11344588 -0.17082290
+v -0.07403671 0.11677307 -0.17015963
+v -0.07095260 0.11933704 -0.17015962
+v -0.06230350 0.13606830 -0.14734561
+v -0.05743097 0.12779215 -0.17064863
+v -0.06634776 0.12267616 -0.17057836
+v -0.07724496 0.11868104 -0.14441138
+v -0.05743097 0.13865612 -0.14441131
+v -0.07724496 0.11388713 -0.17015964
+v -0.06315503 0.13661687 -0.14441132
+v -0.06166922 0.13732046 -0.14441132
+v -0.06018729 0.13770208 -0.14536496
+v -0.05818941 0.13709390 -0.14907866
+v -0.05743097 0.13717738 -0.14918259
+v -0.06706545 0.13252645 -0.14441133
+v -0.07724496 0.11851409 -0.14547813
+v -0.05743097 0.13856071 -0.14487897
+v -0.06017371 0.13791674 -0.14441131
+v -0.07724496 0.11803708 -0.14808535
+v -0.06515097 0.13458954 -0.14441133
+v -0.05743097 0.13844145 -0.14541387
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 21
+f 2 21 31
+f 2 31 42
+f 2 42 51
+f 2 51 54
+f 2 54 44
+f 2 44 36
+f 2 36 22
+f 2 22 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 15
+f 6 15 27
+f 6 27 40
+f 6 40 49
+f 6 49 56
+f 6 56 52
+f 6 52 43
+f 6 43 35
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+f 6 33 32
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+f 6 28 17
+f 6 17 7
+f 7 17 8
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+f 8 18 19
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+f 9 19 10
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+f 10 29 28
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+f 10 32 21
+f 11 22 23
+f 11 23 12
+f 12 24 13
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+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 20
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 39 40
+f 25 40 26
+f 25 38 41
+f 25 41 39
+f 26 40 27
+f 31 35 43
+f 31 43 53
+f 31 53 46
+f 31 46 45
+f 31 45 55
+f 31 55 50
+f 31 50 42
+f 33 35 34
+f 36 44 37
+f 37 44 45
+f 37 45 38
+f 38 45 39
+f 38 39 41
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 42 50 51
+f 43 52 53
+f 44 54 50
+f 44 50 55
+f 44 55 45
+f 46 53 47
+f 47 53 52
+f 47 52 56
+f 47 56 48
+f 48 56 49
+f 50 54 51
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2941bfc6717e1a0724b8ebddd0129eb28410afb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06964536 -0.11924991 -0.13673767
+v -0.07025115 -0.11854389 -0.13673767
+v -0.07004632 -0.11805100 -0.13797278
+v -0.06964536 -0.11894352 -0.13723866
+v -0.06964536 -0.08037907 -0.13673753
+v -0.08798488 -0.08560092 -0.13673754
+v -0.08761007 -0.08529452 -0.14040957
+v -0.08558348 -0.08304323 -0.15152843
+v -0.06964536 -0.11538678 -0.14108588
+v -0.06964536 -0.11831742 -0.13817839
+v -0.08287701 -0.08750578 -0.15152844
+v -0.06964536 0.00975119 -0.14703218
+v -0.09341526 0.01683795 -0.13673717
+v -0.08923570 -0.08310989 -0.13673754
+v -0.10434575 -0.04593084 -0.13673740
+v -0.10069353 -0.04359961 -0.14905807
+v -0.09777351 -0.04577093 -0.15152829
+v -0.06964536 -0.10263849 -0.15152850
+v -0.06964536 0.01526611 -0.14791397
+v -0.06964536 0.01683800 -0.14854093
+v -0.10730064 0.01683795 -0.13673717
+v -0.10513896 -0.04347977 -0.13673739
+v -0.10328670 -0.03973652 -0.14547581
+v -0.10127755 -0.03973650 -0.14962566
+v -0.09954296 -0.03973649 -0.15152827
+v -0.06964536 0.01683801 -0.15152806
+v -0.11237364 0.00626103 -0.13673721
+v -0.10385327 0.01683801 -0.15152806
+v -0.11335426 -0.00691348 -0.13673726
+v -0.11336733 -0.00694012 -0.13768134
+v -0.11384237 -0.00262410 -0.13847480
+v -0.11024248 -0.00262408 -0.14547567
+v -0.10767983 -0.00262406 -0.15012507
+v -0.10642027 -0.00262405 -0.15152813
+v -0.11362882 0.00294409 -0.13673722
+v -0.10516074 0.00964464 -0.15152808
+v -0.11344577 0.00253115 -0.13776526
+v -0.11416925 -0.00262411 -0.13673724
+v -0.10731807 0.00239797 -0.14973989
+v -0.10586243 0.00392991 -0.15152811
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 18
+f 1 18 26
+f 1 26 20
+f 1 20 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 21
+f 1 21 27
+f 1 27 35
+f 1 35 38
+f 1 38 29
+f 1 29 22
+f 1 22 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
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+f 5 12 13
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+f 8 34 40
+f 8 40 36
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+f 8 28 26
+f 8 26 18
+f 8 18 11
+f 9 11 18
+f 12 19 13
+f 13 19 20
+f 13 20 26
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+f 13 28 21
+f 15 22 23
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+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 21 28 27
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 27 28 35
+f 28 36 37
+f 28 37 35
+f 29 38 30
+f 30 38 31
+f 31 38 35
+f 31 35 37
+f 31 37 39
+f 31 39 32
+f 32 39 33
+f 33 39 36
+f 33 36 40
+f 33 40 34
+f 36 39 37
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f92c535b3e84003ca1058edfd8835badaa24ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00063161 0.01684604 -0.14921027
+v -0.01062812 0.01684603 -0.14823206
+v 0.00063161 0.01684607 -0.15856080
+v 0.00063161 0.03338486 -0.14732606
+v -0.01465230 0.01684603 -0.14822036
+v 0.00063161 0.03451909 -0.14722256
+v -0.02384310 0.01684607 -0.15865843
+v 0.00063161 0.03451916 -0.16597633
+v -0.01524343 0.01684603 -0.14822426
+v -0.03542113 0.04070507 -0.14745684
+v -0.05742905 0.04070507 -0.14763062
+v -0.05742905 0.03451105 -0.14781807
+v 0.00063161 0.09901733 -0.15093598
+v -0.02919730 0.01684607 -0.15862328
+v -0.02924846 0.03451916 -0.16575179
+v 0.00063161 0.04070514 -0.16656402
+v -0.05541127 0.01684604 -0.14885882
+v -0.02308715 0.09901733 -0.15087546
+v -0.05742905 0.09901733 -0.15086374
+v -0.05742905 0.01684604 -0.14889592
+v 0.00063161 0.09901739 -0.16532981
+v -0.05742905 0.01684607 -0.15834603
+v -0.03542113 0.03451916 -0.16563075
+v -0.03542113 0.04070514 -0.16622038
+v -0.03542113 0.07391151 -0.16715354
+v -0.03070921 0.07399195 -0.16715550
+v -0.00056200 0.07425740 -0.16712035
+v 0.00063161 0.07630063 -0.16713011
+v -0.05742905 0.09901738 -0.16314498
+v -0.03542113 0.09901739 -0.16545478
+v 0.00063161 0.08103863 -0.16710863
+v -0.05742905 0.03451915 -0.16243059
+v -0.04158813 0.03451916 -0.16487903
+v -0.05742905 0.04070513 -0.16360402
+v -0.05742905 0.07514227 -0.16532404
+v -0.05742905 0.07782098 -0.16541971
+v -0.03860977 0.07437002 -0.16709693
+v -0.03548934 0.07770031 -0.16716329
+v -0.03080015 0.07782098 -0.16716915
+v 0.00063161 0.07782902 -0.16713205
+v -0.04141761 0.09901739 -0.16495104
+v -0.05742905 0.08400695 -0.16486323
+v -0.03191419 0.08106279 -0.16711838
+v -0.03348294 0.08106279 -0.16711838
+v -0.03759237 0.07967919 -0.16703833
+v -0.05742905 0.03802642 -0.16311981
+v -0.03860977 0.07556056 -0.16709692
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 20
+f 1 20 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 40
+f 1 40 31
+f 1 31 21
+f 1 21 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 6 13 10
+f 7 14 8
+f 8 15 16
+f 8 14 15
+f 9 12 17
+f 10 13 18
+f 10 18 19
+f 10 19 11
+f 11 19 29
+f 11 29 42
+f 11 42 36
+f 11 36 35
+f 11 35 34
+f 11 34 46
+f 11 46 32
+f 11 32 22
+f 11 22 20
+f 11 20 12
+f 12 20 17
+f 13 21 30
+f 13 30 41
+f 13 41 29
+f 13 29 19
+f 13 19 18
+f 14 22 15
+f 15 23 24
+f 15 24 16
+f 15 22 23
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 21 31 30
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 28
+f 26 28 27
+f 28 39 40
+f 29 41 42
+f 30 31 43
+f 30 43 44
+f 30 44 45
+f 30 45 41
+f 31 40 39
+f 31 39 43
+f 32 46 33
+f 33 46 34
+f 36 47 37
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+f 36 45 47
+f 37 47 38
+f 38 47 45
+f 38 45 44
+f 38 44 39
+f 39 44 43
+f 41 45 42
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6307e4e32364a1a658d53a498efdfdfd0a745346
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00063041 -0.05809299 -0.14679910
+v -0.00437798 -0.05809299 -0.14627593
+v 0.00063041 -0.05809295 -0.15905934
+v 0.00063041 -0.03973431 -0.14649954
+v -0.00458437 -0.05809299 -0.14625697
+v -0.06964536 -0.05809295 -0.15873708
+v -0.06964536 -0.04876323 -0.16091881
+v -0.06964536 -0.04556532 -0.16165425
+v 0.00063041 -0.04591738 -0.16075009
+v -0.03541902 -0.05809300 -0.14451879
+v 0.00063041 -0.00261355 -0.14643873
+v -0.06964536 -0.05809300 -0.14328670
+v 0.00063041 -0.03983695 -0.16118035
+v -0.02309067 -0.04458248 -0.16118226
+v -0.06964536 -0.00261350 -0.16196306
+v -0.01074855 0.00356964 -0.16264732
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56fee2a4894639c6a435445d54bbc4c2cf19fed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00063729 -0.08555155 -0.15616748
+v 0.00063729 -0.08555159 -0.14359004
+v 0.00083405 -0.08555155 -0.15619291
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+v 0.07508567 -0.08555160 -0.14163428
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61a4dd61b36813bbdbf8ce7bab802876458c49f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05783935 -0.09527223 -0.13673297
+v -0.08311439 -0.08269979 -0.08959640
+v -0.08299772 -0.08304396 -0.08959641
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa26eeb57989dd39cd2edbba9877976feed997c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.06792350 0.14310203 -0.08556555
+v 0.06792350 0.16729728 -0.05693892
+v 0.07930009 0.16179329 -0.05649586
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b219ffdaa0aa436c6565396fe7c26d71a5d909a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.08302989 0.06205639 -0.14349079
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+v 0.09903135 0.06205639 -0.14349079
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74601b611d947eb9666fd595c853c4991dd73b3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.05458659 -0.00261093 0.13607593
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1f15e710548bd1b797227f3d4066b044b73650
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.06933879 -0.10057078 -0.13686622
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be92786de0497670106140b7e4743205e3168a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c61e31223bd1b5ab3e71ffae2a02eb2b5bde4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9293c20d769074b6387b94bee692509a083076b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1d6ddd3489ab29ab35ce5b76a6c2306397e56f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e7b3b6f83d8fc02e63b1ff7a846b352ab79720b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134768472cfe98c137dd38a99ae21ad4d8bfbcff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360cb39ecab52ccc795358410cf9de2bcdb0b640
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114039fa74dd4f6fb309d9d6074de4c10d226327
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a19b019316075bdcec70e8f8a079cc7abdb5fc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d2680aa8698c1a4ae5791083641ed16f720e59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eed7f320174d4bce78d3e2f97f83b399d1b5eb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8130894a383459fb1bbf22d0ab4e32ae89152a2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06791790 0.12474160 -0.14349056
+v 0.06791790 0.12646322 -0.13906795
+v 0.07314899 0.12447181 -0.13668655
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ccfe0844fcab2d6f80c48f3c6b7909b57eb1ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.10798442 0.01683805 -0.16398898
+v -0.10803711 0.01594705 -0.16398898
+v -0.10746511 0.01683804 -0.15947040
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+v -0.10808980 0.00976011 -0.16398900
+v -0.10742371 0.01594703 -0.15871379
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+v -0.10053714 -0.01971816 -0.17365871
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529bbefa059852ff761fcaf3a57465888bc2a8db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.06964536 -0.10425403 -0.15511044
+v -0.06964536 -0.10425403 -0.15537968
+v -0.06964536 -0.10393130 -0.15401456
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+v -0.06964536 -0.09468000 -0.16723117
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de66b9f70302bad73fdb79382e69a6bbd5acf58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.09990717 0.05922747 -0.14350620
+v 0.09989152 0.05926595 -0.14349080
+v 0.09981324 0.05922747 -0.14349080
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677c3c661479fb9d6d0b633049193d788906b712
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.10714008 0.10822063 -0.07688749
+v -0.08687188 0.10822063 -0.07688749
+v -0.10707806 0.10876264 -0.07688749
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+v -0.04819607 0.13993314 -0.07688738
+v -0.08614624 0.10822064 -0.07794498
+v -0.04378645 0.14311997 -0.07775980
+v -0.10190558 0.11891526 -0.07688745
+v -0.10037367 0.11821269 -0.08730376
+v -0.09846345 0.11578376 -0.10228050
+v -0.06349647 0.13684193 -0.14322521
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+v -0.08884412 0.11162349 -0.14440176
+v -0.09051246 0.10868259 -0.14440177
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+v -0.04378645 0.14373222 -0.07688736
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+v -0.08421121 0.10822066 -0.08376780
+v -0.04378645 0.12238838 -0.14440172
+v -0.04378645 0.14243741 -0.07955093
+v -0.10150864 0.11938199 -0.07688745
+v -0.07485856 0.14698427 -0.07688735
+v -0.06167308 0.13731870 -0.14440167
+v -0.06315535 0.13662112 -0.14440167
+v -0.06961786 0.14918244 -0.08755479
+v -0.06361430 0.14919756 -0.09984154
+v -0.07137923 0.15049728 -0.07688734
+v -0.06626878 0.15143578 -0.08376764
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+v -0.04378645 0.15949061 -0.07688730
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+v -0.06017837 0.13791592 -0.14440166
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+v -0.05499970 0.13933115 -0.14440166
+v -0.06705643 0.15216847 -0.07688733
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64231a91625d3d44d433523a37f859c47221d3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.06791790 0.09807181 -0.14628259
+v 0.03618412 0.12274084 -0.14628250
+v 0.06791790 0.12371908 -0.14628250
+v 0.06791790 0.12475033 -0.08266869
+v 0.03618412 0.14616518 -0.08386348
+v 0.03618412 0.14238555 -0.14628243
+v 0.05473665 0.13746771 -0.14628245
+v 0.06791790 0.12401854 -0.14578401
+v 0.06791790 0.12922892 -0.07327102
+v 0.04857007 0.14319715 -0.07140169
+v 0.03618412 0.15046409 -0.07411395
+v 0.03618412 0.14394276 -0.14412726
+v 0.04477383 0.14176666 -0.14628243
+v 0.05177607 0.13962385 -0.14628244
+v 0.04878133 0.14331056 -0.14318897
+v 0.05473976 0.14382291 -0.13150419
+v 0.06033161 0.14910002 -0.10573026
+v 0.06614402 0.15473642 -0.07143097
+v 0.06791790 0.15137579 -0.07140166
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+v 0.03618412 0.15170854 -0.07140166
+v 0.04820971 0.14909344 -0.13025800
+v 0.04477383 0.14362332 -0.14365811
+v 0.03618412 0.14571954 -0.13930380
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+v 0.06265534 0.15878913 -0.07140164
+v 0.06273921 0.15870263 -0.07140164
+v 0.06613471 0.15475638 -0.07140165
+v 0.03618412 0.16605608 -0.07140161
+v 0.04878133 0.15545526 -0.10621404
+v 0.05726853 0.16264887 -0.07140162
+v 0.03618412 0.14782241 -0.13269906
+v 0.04131309 0.14900693 -0.13014071
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+v 0.05089381 0.16427262 -0.07140162
+v 0.05094351 0.16426597 -0.07140162
+v 0.05531137 0.16189692 -0.07606382
+f 1 2 6
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb84b200af1dbb90c13832b5bdee1c72fa25850
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.10621495 0.02374133 -0.08556600
+v 0.11988258 0.02374133 -0.08556600
+v 0.10682029 -0.00014704 -0.08556609
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+v 0.14665251 0.00694739 -0.06847131
+v 0.12427002 -0.00014704 -0.08556609
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+v 0.11356405 -0.00014718 -0.04694561
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+v 0.14957913 0.01624674 -0.01790236
+v 0.14727285 0.01927724 -0.02436671
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1629583a98186fec0180681d970b32f40e41f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04378644 0.12238689 -0.14440832
+v -0.04378644 0.14093860 -0.14440825
+v 0.00063729 0.13022147 -0.14440829
+v -0.04378644 0.14243968 -0.07954964
+v -0.03263703 0.14921204 -0.14311517
+v -0.03213695 0.14890716 -0.14440822
+v -0.04378644 0.15960093 -0.07666504
+v -0.04003372 0.16315329 -0.07666503
+v -0.03642887 0.16625757 -0.07666502
+v 0.00063729 0.15064407 -0.14440822
+v 0.00063729 0.14905939 -0.08722177
+v -0.04378644 0.14312336 -0.07776586
+v -0.02663617 0.15530504 -0.13041663
+v -0.03054108 0.14960930 -0.14440822
+v -0.03493301 0.16708905 -0.07666502
+v -0.03291098 0.16792980 -0.07666501
+v -0.04378644 0.14389480 -0.07666510
+v -0.02281822 0.15073645 -0.14440822
+v -0.02491417 0.15530504 -0.13041663
+v 0.00063729 0.16957433 -0.07666501
+v 0.00063729 0.15340164 -0.07815043
+v 0.00063729 0.15367418 -0.07761995
+v 0.00063729 0.15418231 -0.07666506
+v -0.02911478 0.15009435 -0.14440822
+v -0.02738845 0.16166132 -0.10597444
+v -0.02308349 0.16945422 -0.07666501
+v -0.02947571 0.16892298 -0.07666501
+v -0.02925393 0.16897842 -0.07666501
+f 1 2 6
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ae0c160eb6cde3b54f62b72b509c4136cabd3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04496b1dcd9b23430c5f3b7adbf525be8afea18a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ffc99b4c6f6119f0d93615d19eb2e64310bc19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+f 1 21 20
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+f 1 38 54
+f 1 54 55
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+f 1 40 24
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+f 1 13 4
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+f 1 52 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 15
+f 1 15 5
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+f 1 6 7
+f 1 7 2
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+f 2 10 3
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+f 13 25 14
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+f 17 31 18
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+f 18 33 19
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+f 19 37 29
+f 20 22 38
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+f 22 39 38
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+f 25 43 26
+f 26 43 57
+f 26 57 56
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+f 26 46 45
+f 26 45 44
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+f 26 34 27
+f 29 37 44
+f 29 44 45
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+f 29 47 48
+f 29 48 49
+f 29 49 50
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+f 33 53 34
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+f 41 50 56
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+f 49 59 50
+f 50 59 56
+f 50 55 54
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542a922a8c4d27f124adb19d770ab5ec138c12ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.15464400 0.01683764 -0.05180863
+v -0.15449773 0.01683764 -0.05291482
+v -0.15422532 0.01683762 -0.04647255
+v -0.14385946 0.05146974 -0.05513333
+v -0.14385946 0.05146975 -0.05742741
+v -0.14453034 0.04688472 -0.05858389
+v -0.14309778 0.04688473 -0.06166361
+v -0.15369568 0.01683765 -0.05436039
+v -0.15407904 0.01683761 -0.04483213
+v -0.14052019 0.06061411 -0.05291466
+v -0.13923896 0.06061414 -0.05937577
+v -0.14236637 0.05334663 -0.05932551
+v -0.15164269 0.01683766 -0.05796177
+v -0.13094628 0.06061419 -0.07339790
+v -0.13123883 0.05702757 -0.07467379
+v -0.12182632 0.04688484 -0.09197051
+v -0.13901701 0.06061409 -0.04677408
+v -0.15281295 0.01683761 -0.04355625
+v -0.13753906 0.06061408 -0.04323556
+v -0.13864374 0.06061414 -0.06046311
+v -0.12210375 0.04273259 -0.09197052
+v -0.13966772 0.01683772 -0.07242387
+v -0.11608095 0.06061426 -0.09197046
+v -0.12129667 0.04822607 -0.09197050
+v -0.13895647 0.01683756 -0.02965981
+v -0.13725657 0.04396649 -0.03744071
+v -0.13415439 0.06061407 -0.04089748
+v -0.12218951 0.04069717 -0.09197053
+v -0.13762481 0.01683772 -0.07466766
+v -0.10311228 0.06061426 -0.09197046
+v -0.13400306 0.01683755 -0.02789998
+v -0.12501426 0.04403502 -0.03124987
+v -0.12639134 0.06061405 -0.03673043
+v -0.12697141 0.06061406 -0.03700071
+v -0.12939264 0.06061406 -0.03818231
+v -0.11971279 0.01683779 -0.09197062
+v -0.10632039 0.03739333 -0.08058189
+v -0.10585127 0.03456948 -0.09005360
+v -0.10570499 0.03455235 -0.09197055
+v -0.10774791 0.06061411 -0.05291466
+v -0.10806064 0.04069705 -0.05908672
+v -0.10858525 0.03451366 -0.05908674
+v -0.13343810 0.01683755 -0.02779314
+v -0.12796008 0.01683755 -0.02776172
+v -0.12459055 0.04403502 -0.03124987
+v -0.12186667 0.06061405 -0.03558026
+v -0.12577090 0.06061405 -0.03652931
+v -0.10836835 0.01683779 -0.09197062
+v -0.10612368 0.03095717 -0.09197057
+v -0.10818171 0.06061411 -0.05172048
+v -0.11137469 0.03451361 -0.04728955
+v -0.10988161 0.03451363 -0.05291475
+v -0.11220195 0.01683765 -0.05494492
+v -0.12738505 0.01683755 -0.02797541
+v -0.12413152 0.04069694 -0.03093561
+v -0.11737228 0.06061405 -0.03632190
+v -0.12074181 0.06061405 -0.03558654
+v -0.11054745 0.06061409 -0.04667980
+v -0.11288798 0.03451360 -0.04420355
+v -0.11287283 0.02832593 -0.04478181
+v -0.11190434 0.02832595 -0.04786781
+v -0.11321079 0.02247680 -0.04678679
+v -0.11432557 0.01683762 -0.04674910
+v -0.12381374 0.01683756 -0.03000550
+v -0.12394489 0.03451355 -0.03063395
+v -0.11404309 0.06061407 -0.04133116
+v -0.11760431 0.05307230 -0.03597625
+v -0.11097621 0.06061409 -0.04601985
+v -0.11837607 0.01683759 -0.03710142
+v -0.11615661 0.01683760 -0.04050167
+v -0.12117058 0.01683757 -0.03341204
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+f 59 70 60
+f 60 62 61
+f 60 70 62
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+f 66 67 68
+f 67 71 69
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c122a3a84a07d081eeabf0abeb0241bbe2c147
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.08019704 -0.09527759 -0.13673758
+v -0.09019799 -0.09527770 -0.10720897
+v -0.05784226 -0.09527759 -0.13673758
+v -0.07025135 -0.11855395 -0.13673767
+v -0.09147343 -0.09527771 -0.10310888
+v -0.07090980 -0.12013829 -0.13278135
+v -0.08086469 -0.09527777 -0.08609372
+v -0.05578406 -0.09720565 -0.13673759
+v -0.06937650 -0.11956899 -0.13673767
+v -0.06959753 -0.12354328 -0.13049086
+v -0.09619302 -0.09527777 -0.08609372
+v -0.07257201 -0.12017054 -0.12696090
+v -0.05094934 -0.10222720 -0.13673761
+v -0.04915360 -0.13057362 -0.08609385
+v -0.06754852 -0.12141112 -0.13673768
+v -0.06821157 -0.12217914 -0.13460582
+v -0.07597472 -0.12388710 -0.10702068
+v -0.07538075 -0.12303314 -0.11113067
+v -0.06439445 -0.12402126 -0.13673769
+v -0.06619940 -0.12462277 -0.13278137
+v -0.04915360 -0.15013885 -0.08609392
+v -0.07014545 -0.13003111 -0.10683230
+v -0.07556952 -0.12951021 -0.09316367
+v -0.07810661 -0.12655638 -0.08609383
+v -0.04915360 -0.10573959 -0.13673762
+v -0.06349197 -0.12443479 -0.13673769
+v -0.05170909 -0.12980006 -0.13665839
+v -0.04915360 -0.13067010 -0.13673771
+v -0.07293577 -0.13251242 -0.08609386
+v -0.07407767 -0.13127717 -0.08609385
+v -0.05143281 -0.12986452 -0.13673771
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+f 21 23 22
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+f 27 31 28
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165a3c03ce8664154642708fbed81e9878d5093e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03618102 0.14949907 -0.07765390
+v 0.00775926 0.15177470 -0.07765389
+v 0.03618102 0.16311884 -0.07765385
+v 0.03618102 0.15197527 -0.04674637
+v 0.00770359 0.15178607 -0.07765389
+v 0.00063729 0.15515207 -0.04494886
+v 0.02054888 0.16940053 -0.07765383
+v 0.03486239 0.17972984 -0.06207200
+v 0.03618102 0.17941936 -0.06179507
+v 0.03618102 0.15233117 -0.04299460
+v 0.00134705 0.15344453 -0.07765389
+v 0.00063729 0.15555721 -0.04264450
+v 0.00063729 0.15366034 -0.07765389
+v 0.00110003 0.15351268 -0.07765389
+v 0.01399054 0.17090753 -0.07765382
+v 0.02382282 0.18620839 -0.05621445
+v 0.03265656 0.18191839 -0.05964224
+v 0.03618102 0.18156625 -0.05879052
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+v 0.03618102 0.15396690 -0.03748192
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+v 0.00063729 0.16439469 -0.02884450
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+v 0.02009657 0.18630684 -0.05639733
+v 0.00775926 0.18818106 -0.04057517
+v 0.01393139 0.18777212 -0.04057517
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+v 0.03618102 0.18290279 -0.04057519
+v 0.00776272 0.17060840 -0.07765382
+v 0.01592151 0.18626898 -0.05630849
+v 0.03618102 0.15895359 -0.02985823
+v 0.00063729 0.16511031 -0.02787259
+v 0.00157667 0.16945353 -0.07765383
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+v 0.00775926 0.18745405 -0.03577314
+v 0.01393139 0.18734424 -0.03566864
+v 0.02009657 0.18696938 -0.03606054
+v 0.02521103 0.18652638 -0.03679207
+v 0.03618102 0.18171005 -0.03572090
+v 0.00063729 0.18701108 -0.04499054
+v 0.00063729 0.18811291 -0.04057517
+v 0.03618102 0.16338370 -0.02651402
+v 0.00063729 0.16682557 -0.02571455
+v 0.00159060 0.18725335 -0.03608143
+v 0.00775926 0.18465208 -0.03269023
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+v 0.02009657 0.18449306 -0.03297762
+v 0.03464668 0.17315647 -0.02529650
+v 0.03618102 0.17290277 -0.02554208
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+v 0.00063729 0.18719658 -0.03614936
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+v 0.00063729 0.18676492 -0.03567386
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+v 0.00159060 0.18437568 -0.03299852
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+v 0.00775926 0.18155857 -0.02953940
+v 0.00775926 0.17836659 -0.02645649
+v 0.01393139 0.18171381 -0.02961255
+v 0.02009657 0.18139954 -0.02988949
+v 0.03053424 0.17392889 -0.02501956
+v 0.03618102 0.17000615 -0.02471129
+v 0.00775926 0.17114586 -0.02427236
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+v 0.00063729 0.16947984 -0.02444480
+v 0.00063729 0.17818105 -0.02667074
+v 0.00159060 0.17824164 -0.02662371
+v 0.00159060 0.17514811 -0.02431937
+v 0.00775926 0.17527306 -0.02427235
+v 0.01393139 0.17813182 -0.02652442
+v 0.02009657 0.17777213 -0.02680138
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+v 0.00063729 0.17444763 -0.02428279
+v 0.00063729 0.17770019 -0.02629452
+v 0.00063729 0.17508754 -0.02435072
+v 0.02009657 0.17467860 -0.02464857
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+f 74 76 75
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f6c5b447d75435ca7f2ddec23d8b063ffa8614
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.08540002 0.10272845 -0.08556570
+v 0.09821732 0.10272845 -0.08556570
+v 0.09286473 0.07782569 -0.08556579
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de9804c2c39780e88712989b047088e25edddf7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.10747541 -0.02351727 -0.07866460
+v -0.12249476 -0.02351727 -0.07866460
+v -0.10681011 -0.02351727 -0.07998908
+v -0.10614482 -0.00261293 -0.08027322
+v -0.10704220 -0.00261293 -0.07866452
+v -0.12788285 -0.00918998 -0.07866454
+v -0.11858038 -0.00501447 -0.12254310
+v -0.11335086 -0.00691051 -0.13673726
+v -0.10870542 -0.02351712 -0.12079234
+v -0.09027066 -0.02351706 -0.13673732
+v -0.10615257 0.00163747 -0.08029594
+v -0.10705381 -0.00059044 -0.07866451
+v -0.12978202 -0.00261293 -0.07866452
+v -0.11888981 -0.00089443 -0.12419725
+v -0.11416701 -0.00261272 -0.13673724
+v -0.10318582 -0.02351706 -0.13673732
+v -0.10464405 -0.02351707 -0.13307083
+v -0.09164379 -0.00505788 -0.13673725
+v -0.11061233 0.01683774 -0.07866445
+v -0.10730523 0.00305557 -0.07866450
+v -0.09317551 0.01427034 -0.13673718
+v -0.09332636 0.01594916 -0.13673717
+v -0.09335730 0.01626912 -0.13673717
+v -0.09341919 0.01683795 -0.13673717
+v -0.12978589 -0.00217446 -0.07866452
+v -0.11888981 0.00089895 -0.12419725
+v -0.11362936 0.00295307 -0.13673722
+v -0.12301694 0.01683774 -0.07866445
+v -0.10730523 0.01683795 -0.13673717
+v -0.12865257 0.00473045 -0.07866449
+v -0.11252698 0.00665439 -0.13620287
+v -0.11922633 0.01398977 -0.10621717
+v -0.11237614 0.00627122 -0.13673721
+v -0.11873122 0.01683783 -0.10228350
+v -0.10875571 0.01683794 -0.13367892
+v -0.11958991 0.01491411 -0.10228351
+v -0.10900326 0.01683794 -0.13313321
+v -0.11131244 0.01683792 -0.12664722
+v -0.11718403 0.01683785 -0.10835453
+f 1 2 9
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+f 1 17 16
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+f 1 3 4
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+f 1 5 12
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+f 30 36 32
+f 31 37 35
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+f 31 38 37
+f 32 36 34
+f 32 34 39
+f 32 39 38
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4fb7dccd7a4e910eca287edf98e8e7842c1dbd7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.11557644 0.07163797 -0.09197557
+v -0.11543690 0.06748646 -0.09197558
+v -0.11553159 0.07367383 -0.09197556
+v -0.11531727 0.07782537 -0.10228247
+v -0.11529236 0.06533725 -0.09197559
+v -0.11539703 0.07782533 -0.09197554
+v -0.11483384 0.07163801 -0.10228250
+v -0.11361281 0.08314798 -0.09197552
+v -0.11370252 0.08238825 -0.10228246
+v -0.11264096 0.08107443 -0.11805598
+v -0.11281539 0.07782543 -0.11861547
+v -0.11280045 0.07428260 -0.11856930
+v -0.11479898 0.06533726 -0.09599981
+v -0.10130273 0.06533725 -0.09197559
+v -0.11391185 0.06533729 -0.10228252
+v -0.11478401 0.06533726 -0.09611272
+v -0.10207024 0.10821650 -0.09197543
+v -0.10105852 0.10821654 -0.10228236
+v -0.09520750 0.10821664 -0.13064698
+v -0.09498821 0.10735612 -0.13313134
+v -0.10656567 0.08124240 -0.13644216
+v -0.10865389 0.07782548 -0.13313144
+v -0.10845953 0.07163812 -0.13313147
+v -0.10666535 0.06791059 -0.13658080
+v -0.10005678 0.06769634 -0.09197558
+v -0.08732308 0.06533744 -0.14440853
+v -0.06466656 0.10821669 -0.14440837
+v -0.10616198 0.06533740 -0.13452764
+v -0.08238908 0.10821650 -0.09197543
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+v -0.10169148 0.08320276 -0.14440846
+v -0.10201543 0.08209036 -0.14440847
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+v -0.10429803 0.06533742 -0.13892657
+v -0.08085904 0.10821651 -0.09616903
+v -0.10304209 0.07659141 -0.14440849
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+f 26 31 27
+f 34 40 36
+f 34 36 35
+f 36 40 37
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69267267a7e5c6242c4beb0d31f939f741d71ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03618102 0.12273930 -0.14628251
+v 0.00063729 0.12906854 -0.14628249
+v 0.03618102 0.14239673 -0.14628244
+v 0.03618102 0.14617422 -0.08386110
+v 0.00775926 0.14836729 -0.08565474
+v 0.00349025 0.14862670 -0.08619887
+v 0.00063729 0.15015499 -0.14628241
+v 0.00063729 0.14906059 -0.08722668
+v 0.01845090 0.14972109 -0.14628241
+v 0.03618102 0.14394366 -0.14412605
+v 0.03618102 0.14776831 -0.08055597
+v 0.00775926 0.15177242 -0.07766060
+v 0.00770359 0.15178185 -0.07766060
+v 0.00134705 0.15344198 -0.07766060
+v 0.00110003 0.15350802 -0.07766060
+v 0.00063729 0.15340425 -0.07815100
+v 0.00081821 0.15018329 -0.14628241
+v 0.00063729 0.15027289 -0.14598011
+v 0.03618102 0.14572167 -0.13930269
+v 0.01473162 0.15065963 -0.14628241
+v 0.01765416 0.15541357 -0.13065690
+v 0.03618102 0.14949447 -0.07766061
+v 0.00063729 0.15365893 -0.07766060
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+v 0.00099218 0.15020687 -0.14628241
+v 0.00403649 0.15542300 -0.13054271
+v 0.00775926 0.15575786 -0.13112716
+v 0.00063729 0.16926979 -0.07766054
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+v 0.02054888 0.16940184 -0.07766054
+v 0.03618102 0.15551253 -0.10625805
+v 0.03618102 0.16311507 -0.07766056
+v 0.00775926 0.15124915 -0.14546954
+v 0.00114178 0.15022573 -0.14628241
+v 0.00157667 0.16945371 -0.07766054
+v 0.00164974 0.16946786 -0.07766054
+v 0.00776272 0.17060922 -0.07766053
+v 0.00902221 0.15089544 -0.14628241
+v 0.00775926 0.15090959 -0.14628241
+f 1 2 7
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+f 1 39 44
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+f 1 30 20
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+f 19 21 29
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+f 30 43 31
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+f 31 38 32
+f 35 37 36
+f 38 43 44
+f 38 44 39
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8daa81ae383359a01d267fc7e45467f293d6f740
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.09411524 -0.07076150 -0.16864913
+v 0.09004061 -0.07076150 -0.16790249
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae03efb66d30c4ba771ecb8c07e2fbc13c0c503
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b703c61bc18812d133e0a9bb55fcd7d6c699241
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b8361350b540b9ee0771d6ae3ce8832c5c8fbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.10854895 -0.02258776 -0.08031493
+v 0.10905458 -0.00014925 -0.08031485
+v 0.12231918 -0.02258776 -0.08031493
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f174aaa8f6fcc68c336843ed9dcea052138ddc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.08013592 -0.09527240 -0.08959644
+v -0.08105837 -0.09527242 -0.08517877
+v -0.09478897 -0.09527240 -0.08959644
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+v -0.08416538 -0.09527246 -0.07241849
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+v -0.08299456 -0.08304396 -0.08959640
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+v -0.10044035 -0.04358431 -0.07241830
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae88f66c35fc263480f8af2cb6853923808b0d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.07508090 -0.11564212 -0.15684624
+v 0.07400088 -0.11666772 -0.15684625
+v 0.07508090 -0.11525888 -0.15773902
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a9be529b6a4cd8235115afa0721d6a48e69b59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02909992 -0.16531243 -0.07712011
+v 0.04463216 -0.16178893 -0.07712009
+v 0.02909992 -0.14921249 -0.07712005
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47aa50cf23e01a5746b28053dbf1d6bce0823efe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.14493230 -0.02259903 -0.04674380
+v 0.14492089 -0.02259903 -0.04711546
+v 0.14329074 -0.02259905 -0.04166479
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+v 0.14320524 -0.05210856 -0.05290407
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+v 0.14456750 -0.02259900 -0.05321929
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+v 0.13635402 -0.05843645 -0.03560050
+v 0.13556744 -0.06448187 -0.03619177
+v 0.13840027 -0.05829904 -0.04058380
+v 0.14077140 -0.06328342 -0.04922717
+v 0.14231607 -0.05843639 -0.05290409
+v 0.14230466 -0.05843639 -0.05299982
+v 0.14094810 -0.06448179 -0.05667679
+v 0.14146109 -0.05843637 -0.05717790
+v 0.14146677 -0.05829898 -0.05718354
+v 0.14176318 -0.05210854 -0.05732429
+v 0.13551044 -0.02259894 -0.06963884
+v 0.13521406 -0.02259911 -0.02418664
+v 0.12836854 -0.04978056 -0.02491875
+v 0.13478657 -0.06915331 -0.03687874
+v 0.14034391 -0.06740530 -0.05025200
+v 0.14106209 -0.06500086 -0.05254938
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+v 0.12966241 -0.06448174 -0.07059062
+v 0.13439898 -0.05020786 -0.06863102
+v 0.13461558 -0.04592569 -0.06895197
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+v 0.13486066 -0.03974288 -0.06925601
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+v 0.10701692 -0.10057117 -0.03089327
+v 0.10816829 -0.10057117 -0.03095521
+v 0.10971294 -0.10057117 -0.03117481
+v 0.12734828 -0.10057112 -0.04438478
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+f 83 85 84
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b873a59bbdc7b297062e3710e357e2985c7bcb10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00776144 -0.11981618 -0.15684626
+v 0.00063729 -0.12806751 -0.16272968
+v 0.00176863 -0.12281916 -0.15684627
+v 0.02626418 -0.12557295 -0.15684628
+v 0.02626418 -0.12579971 -0.15781923
+v 0.02626418 -0.12747189 -0.16310474
+v 0.00776144 -0.13254332 -0.16563396
+v 0.00063729 -0.13181311 -0.16493885
+v 0.00063729 -0.12423467 -0.15684628
+v 0.02626418 -0.12563773 -0.15684628
+v 0.02626418 -0.13254332 -0.16543782
+v 0.00063729 -0.13254332 -0.16529674
+v 0.00776144 -0.13872871 -0.16458704
+v 0.00063729 -0.14403191 -0.15684635
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+v 0.02626418 -0.14247933 -0.15684806
+v 0.02626418 -0.13804836 -0.16323813
+v 0.01392734 -0.13872871 -0.16418272
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+v 0.00063729 -0.14361573 -0.15817977
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+v 0.02136757 -0.14153481 -0.16038204
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+v 0.01392734 -0.14463002 -0.15684635
+v 0.00776144 -0.14527547 -0.15684635
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b944a470f5a946d1178c38485ce8121624b375
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04793885 -0.11828041 -0.16522186
+v -0.04793885 -0.11828052 -0.13673766
+v -0.04598439 -0.11828041 -0.16646745
+v -0.04793885 -0.11955091 -0.16454815
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+v -0.03867537 -0.11828052 -0.13673766
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+v -0.02621630 -0.12947066 -0.16708431
+v -0.04766780 -0.12015800 -0.16419783
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+v -0.04793885 -0.12748677 -0.15197538
+v -0.04519976 -0.12976798 -0.15516426
+v -0.03421960 -0.14379028 -0.13673776
+v 0.00063729 -0.13011541 -0.13673771
+v 0.00063729 -0.11828051 -0.13998642
+v -0.04255101 -0.11828041 -0.16698845
+v -0.03368224 -0.12283350 -0.16723100
+v -0.03368224 -0.12380356 -0.16723100
+v -0.02631617 -0.13570418 -0.16100004
+v -0.02832292 -0.13205544 -0.16365892
+v -0.03409120 -0.13051273 -0.16220370
+v -0.04159043 -0.12520236 -0.16308099
+v -0.02308728 -0.12983053 -0.16720408
+v -0.01691955 -0.13334781 -0.16591656
+v -0.02308728 -0.13292537 -0.16491949
+v -0.02308728 -0.13626744 -0.16183544
+v -0.04584172 -0.12397571 -0.16187133
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+v 0.00063729 -0.14319251 -0.15892805
+v 0.00063729 -0.14361496 -0.15817950
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae17c0004827ef6cbc1bbd8613fe1143eca500a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02507977 -0.16619956 -0.07420029
+v -0.02507977 -0.14918303 -0.07420023
+v -0.03001189 -0.16578525 -0.07420029
+v -0.02925546 -0.15627952 -0.10844744
+v -0.02507977 -0.15387647 -0.11592870
+v -0.03916918 -0.14050014 -0.07420020
+v -0.02507977 -0.14679772 -0.07893262
+v -0.03542472 -0.16519337 -0.07420029
+v -0.03542472 -0.16420492 -0.07759806
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+v -0.02925546 -0.15388240 -0.11617356
+v -0.02507977 -0.15057374 -0.12696075
+v -0.04592757 -0.13638658 -0.07420018
+v -0.02507977 -0.14447753 -0.08365278
+v -0.04169298 -0.16356571 -0.07420028
+v -0.03513488 -0.15520822 -0.10818419
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7bfa0e2f53774bcf255f9869785a727138871f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2df3ceb1282e287629dfe35c59f35cb24d8b20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8c62ac989eecd8eeb3eab1d2a46baef999df78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a313906a116907828cd2ad8444db4b69a480fbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf519577af46edfca47faa3ca627c86d0d1a7767
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,223 @@
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+f 51 59 52
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+f 55 63 56
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+f 66 68 67
+f 70 75 71
+f 71 75 72
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66698f4a3be0fb55d9ddce8b9938495b72a036a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04794360 -0.13109176 -0.13673771
+v -0.05143381 -0.12986975 -0.13673771
+v -0.04794360 -0.12748285 -0.15197430
+v -0.04794360 -0.10705184 -0.13673762
+v -0.06349129 -0.12443861 -0.13673769
+v -0.04794360 -0.12636089 -0.15626070
+v -0.05094947 -0.10222099 -0.13673761
+v -0.04794360 -0.07069894 -0.14308591
+v -0.06438986 -0.12401699 -0.13673769
+v -0.05149754 -0.12449572 -0.15626070
+v -0.04794360 -0.06394572 -0.15626047
+v -0.06752107 -0.08279754 -0.13673753
+v -0.04794360 -0.06448888 -0.14423060
+v -0.05202649 -0.12427418 -0.15606959
+v -0.06754444 -0.12140147 -0.13673768
+v -0.05154853 -0.12446713 -0.15626070
+v -0.04796272 -0.05809296 -0.15626045
+v -0.04794360 -0.05809299 -0.14580142
+v -0.04794360 -0.05830024 -0.14537526
+v -0.06964536 -0.08039641 -0.13673753
+v -0.05222405 -0.12399547 -0.15626070
+v -0.06937132 -0.11956489 -0.13673767
+v -0.05838663 -0.11844286 -0.15626068
+v -0.05753053 -0.11922896 -0.15626068
+v -0.06964536 -0.05809296 -0.15626045
+v -0.06009668 -0.05809300 -0.14429172
+v -0.04794360 -0.05810015 -0.14543641
+v -0.06964536 -0.06834072 -0.13921417
+v -0.06964536 -0.07067753 -0.13855487
+v -0.06964536 -0.11924331 -0.13673767
+v -0.06964536 -0.11895031 -0.13723837
+v -0.06068935 -0.11599886 -0.15626067
+v -0.06964536 -0.05809300 -0.14328652
+v -0.06964536 -0.10406465 -0.15626062
+v -0.06679456 -0.05809300 -0.14346998
+v -0.06964536 -0.05971521 -0.14248581
+v -0.06964536 -0.06471042 -0.14041810
+v -0.06964536 -0.11831429 -0.13817858
+v -0.06912491 -0.11631334 -0.14208662
+v -0.06146896 -0.11515559 -0.15626066
+v -0.06828792 -0.10609418 -0.15626063
+v -0.06407334 -0.11206127 -0.15626065
+v -0.06347643 -0.11284022 -0.15626065
+f 1 2 3
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+f 1 11 18
+f 1 18 27
+f 1 27 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 7
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+f 1 22 15
+f 1 15 9
+f 1 9 5
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+f 6 32 40
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+f 6 41 34
+f 6 34 25
+f 6 25 17
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+f 7 8 12
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+f 10 14 16
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+f 14 15 21
+f 14 21 16
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+f 17 26 18
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+f 19 29 20
+f 20 29 28
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+f 20 36 33
+f 20 33 25
+f 20 25 34
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+f 39 42 43
+f 39 43 40
+f 39 41 42
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a1d494f3e66b7acf71d098b01e6139014cac55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03237841 -0.17977061 -0.05952528
+v 0.03237841 -0.17945514 -0.06460355
+v 0.03573101 -0.17905138 -0.06254097
+v 0.03573101 -0.17905138 -0.06188035
+v 0.04959822 -0.17347439 -0.04249521
+v 0.03237841 -0.17765509 -0.04040745
+v 0.03237841 -0.17839943 -0.06721579
+v 0.03369652 -0.17810504 -0.06665603
+v 0.04250533 -0.17325559 -0.06872362
+v 0.04350319 -0.17386126 -0.06525407
+v 0.04959822 -0.17348699 -0.04531927
+v 0.04959822 -0.17348700 -0.04282302
+v 0.04959822 -0.16166840 -0.03002899
+v 0.03237841 -0.16999615 -0.02820852
+v 0.03237841 -0.17598536 -0.03460301
+v 0.03237841 -0.17584644 -0.06924305
+v 0.03860491 -0.17405051 -0.06911696
+v 0.04959822 -0.16796033 -0.06909677
+v 0.04959822 -0.17002545 -0.06525405
+v 0.04463084 -0.16178600 -0.07712008
+v 0.04521067 -0.16158411 -0.07712008
+v 0.04777611 -0.16059572 -0.07712008
+v 0.04907907 -0.15977977 -0.07712008
+v 0.04959822 -0.15945171 -0.07712008
+v 0.04959822 -0.15941824 -0.02933812
+v 0.03860491 -0.16347696 -0.02718983
+v 0.03237841 -0.16928114 -0.02756302
+v 0.03237841 -0.16976902 -0.02798159
+v 0.03237841 -0.16399832 -0.07712009
+v 0.03307793 -0.16388896 -0.07712009
+v 0.04959822 -0.13828750 -0.07712000
+v 0.04959822 -0.15758445 -0.02921203
+v 0.03237841 -0.16379662 -0.02560634
+v 0.03237841 -0.14860042 -0.07712004
+v 0.04959822 -0.13680290 -0.04674629
+v 0.04959822 -0.15301681 -0.02959023
+v 0.03237841 -0.16351903 -0.02571224
+v 0.03237841 -0.14679620 -0.04000895
+v 0.04136420 -0.14160188 -0.04400799
+v 0.04143330 -0.14165236 -0.04057375
+v 0.04477242 -0.13988166 -0.04057374
+v 0.04959822 -0.13811517 -0.04046783
+v 0.04959822 -0.15243640 -0.02993315
+v 0.03237841 -0.15802607 -0.02877833
+v 0.03237841 -0.14722522 -0.03676633
+v 0.04167266 -0.14182061 -0.03748241
+v 0.04959822 -0.13835913 -0.03993327
+v 0.04959822 -0.14126122 -0.03717479
+v 0.04477242 -0.14141684 -0.03724034
+v 0.03237841 -0.15797980 -0.02880859
+v 0.03237841 -0.14725468 -0.03673606
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 28
+f 1 28 27
+f 1 27 33
+f 1 33 37
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+f 1 34 29
+f 1 29 16
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+f 5 13 14
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+f 5 15 6
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851bbcbf775f2677ce78861bfbd7c55fd25bdc9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00457906 -0.18700656 -0.03440242
+v -0.01074968 -0.18658818 -0.04673860
+v 0.00063729 -0.18671052 -0.04673860
+v 0.00063729 -0.18667898 -0.04152744
+v 0.00063729 -0.18657242 -0.03440242
+v -0.00457906 -0.18675004 -0.02949748
+v -0.01074968 -0.18673427 -0.02947014
+v -0.02308254 -0.18594486 -0.05242548
+v -0.01691471 -0.18607906 -0.05179117
+v 0.00063729 -0.18270468 -0.06531939
+v 0.00063729 -0.18632382 -0.02992399
+v 0.00063729 -0.17327650 -0.01866500
+v -0.00457906 -0.17380140 -0.01833691
+v -0.01074968 -0.17375403 -0.01834785
+v -0.01691471 -0.18286269 -0.02664854
+v -0.01691471 -0.18632777 -0.02973260
+v -0.02795188 -0.18566467 -0.04858683
+v -0.02795188 -0.18566466 -0.05210833
+v -0.02795188 -0.18513581 -0.05454166
+v -0.02795188 -0.18490297 -0.05519237
+v 0.00063729 -0.18053011 -0.06928381
+v 0.00063729 -0.17193467 -0.01866499
+v -0.00457906 -0.17094803 -0.01833690
+v -0.01074968 -0.17032052 -0.01834784
+v -0.02795188 -0.16670152 -0.01893839
+v -0.01571696 -0.17321731 -0.01868142
+v -0.02795188 -0.17940550 -0.02489326
+v -0.02308254 -0.18564107 -0.03047081
+v -0.02656943 -0.18523457 -0.03109418
+v -0.02795188 -0.18444524 -0.03283305
+v -0.02795188 -0.16595935 -0.07418870
+v 0.00063729 -0.16972834 -0.07418871
+v 0.00063729 -0.16884055 -0.02069367
+v -0.00457906 -0.16785392 -0.01998828
+v -0.01074968 -0.16722640 -0.01934302
+v -0.02466928 -0.16650813 -0.01894385
+v -0.02795188 -0.16648051 -0.01893839
+v -0.02795188 -0.16965751 -0.02014139
+v -0.02795188 -0.17585360 -0.02297939
+v -0.02795188 -0.17863987 -0.02434645
+v -0.02795188 -0.18268904 -0.02850226
+v -0.02795188 -0.18372303 -0.02966697
+v -0.02795188 -0.14849974 -0.07418864
+v 0.00063729 -0.15090321 -0.07418864
+v 0.00063729 -0.15829528 -0.03032853
+v -0.02795188 -0.15998443 -0.02456510
+v -0.02795188 -0.16344165 -0.02134983
+v -0.02795188 -0.14718161 -0.06422017
+v -0.02795188 -0.14674355 -0.06029403
+v -0.02795188 -0.14669225 -0.05908010
+v 0.00063729 -0.15671665 -0.03441872
+v 0.00063729 -0.15700474 -0.03351100
+v -0.02795188 -0.15265561 -0.03634348
+v -0.02795188 -0.14749344 -0.05546564
+v -0.02549482 -0.14781311 -0.05577733
+v -0.02795188 -0.15159791 -0.03977204
+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 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 21
+f 3 21 32
+f 3 32 44
+f 3 44 51
+f 3 51 52
+f 3 52 45
+f 3 45 33
+f 3 33 22
+f 3 22 12
+f 3 12 11
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+f 3 5 4
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+f 28 42 29
+f 29 42 30
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+f 44 50 51
+f 45 52 53
+f 45 53 46
+f 50 54 55
+f 50 55 51
+f 51 56 53
+f 51 53 52
+f 51 55 54
+f 51 54 56
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c26d580cf95bb4114ef3fc6b1bf50ad20922c00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.06791790 -0.00014675 -0.16229875
+v 0.07981281 0.00306802 -0.16199295
+v 0.07981281 -0.00014676 -0.16161032
+v 0.06791790 -0.00014681 -0.14657400
+v 0.06791790 0.00357607 -0.16222830
+v 0.06791790 0.00737878 -0.16128209
+v 0.06791790 0.02251859 -0.15687618
+v 0.06941758 0.02251859 -0.15671448
+v 0.07981281 0.02251858 -0.15489097
+v 0.07981281 -0.00014681 -0.14605047
+v 0.06791790 0.00357601 -0.14664764
+v 0.07981281 0.02213695 -0.14594315
+v 0.06791790 0.02251855 -0.14779066
+v 0.07981281 0.02251855 -0.14595755
+v 0.07561653 0.02251855 -0.14656111
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 13
+f 1 13 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 14
+f 2 14 12
+f 2 12 10
+f 2 10 3
+f 4 10 12
+f 4 12 11
+f 7 13 15
+f 7 15 14
+f 7 14 9
+f 7 9 8
+f 11 12 14
+f 11 14 15
+f 11 15 13
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5225717d8e922aae70a85ed54710fc0847b44e7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04793885 -0.05809295 -0.15747433
+v -0.04793885 -0.05809299 -0.14580075
+v -0.04159043 -0.05809295 -0.15818008
+v -0.04793885 -0.07667278 -0.15630552
+v -0.04793885 -0.05810027 -0.14543601
+v -0.04775339 -0.05809300 -0.14544449
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+v -0.04793885 -0.07685443 -0.15629363
+v -0.03562242 -0.05809295 -0.15864152
+v -0.04793885 -0.05829646 -0.14537494
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+v -0.02308728 -0.07264368 -0.14208549
+v -0.00457936 -0.05829645 -0.14621978
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+v 0.00063729 -0.09520535 -0.15534878
+v 0.00063729 -0.05809299 -0.14679829
+v -0.03542271 -0.07649843 -0.14183950
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+v -0.00342855 -0.09520540 -0.14197530
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+v 0.00063729 -0.09397377 -0.14206691
+v 0.00063729 -0.07685447 -0.14402461
+v 0.00063729 -0.07067089 -0.14477782
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+f 49 54 50
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92814ee3e0df7fed44137f5da58a2b98776338a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.08541585 -0.07076161 -0.13810215
+v 0.08541585 -0.06461161 -0.13903993
+v 0.07752184 -0.06030129 -0.14213809
+v 0.07508567 -0.05871160 -0.14321583
+v 0.07508567 -0.06494411 -0.14273713
+v 0.07508567 -0.06539310 -0.14273958
+v 0.07508567 -0.07076159 -0.14339509
+v 0.08541585 -0.07076155 -0.15612661
+v 0.08541585 -0.05840340 -0.14016428
+v 0.07508567 -0.04596750 -0.14536389
+v 0.07508567 -0.05826505 -0.14326738
+v 0.07508567 -0.07076155 -0.15536311
+v 0.08183392 -0.07076154 -0.15721663
+v 0.08541585 -0.07074211 -0.15981154
+v 0.08541585 -0.04596751 -0.14260941
+v 0.07508567 -0.04596745 -0.15920261
+v 0.08541585 -0.04596743 -0.16317967
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 14
+f 1 14 17
+f 1 17 15
+f 1 15 9
+f 1 9 2
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+f 2 10 3
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+f 3 11 4
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+f 4 12 7
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+f 4 6 5
+f 8 13 14
+f 9 15 10
+f 10 15 17
+f 10 17 16
+f 12 16 14
+f 12 14 13
+f 14 16 17
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49b29d5d0c852b0b37111481adba408647701ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.06791508 0.09332601 -0.14898681
+v 0.06791508 0.09332610 -0.17432412
+v 0.06791508 0.09661576 -0.14687793
+v 0.04477301 0.09332601 -0.14983483
+v 0.06791508 0.09774894 -0.17483798
+v 0.06709814 0.09332610 -0.17416406
+v 0.03913891 0.12128663 -0.17423696
+v 0.04477301 0.12112952 -0.17496988
+v 0.06791508 0.09807258 -0.14628260
+v 0.04171933 0.09332601 -0.15010723
+v 0.06348104 0.10893695 -0.17445323
+v 0.06791508 0.10446175 -0.17438304
+v 0.03913891 0.09332606 -0.16254141
+v 0.03913891 0.12116284 -0.17421169
+v 0.03913891 0.12746621 -0.17440823
+v 0.04477301 0.12589513 -0.17416394
+v 0.05075924 0.12108191 -0.17430437
+v 0.05711169 0.11503561 -0.17446164
+v 0.03913891 0.09332601 -0.15034030
+v 0.06791508 0.12371457 -0.14628251
+v 0.03913891 0.12172451 -0.14628251
+v 0.06156262 0.11303129 -0.17392531
+v 0.06777141 0.10698976 -0.17386355
+v 0.06791508 0.10666603 -0.17390005
+v 0.03913891 0.12766142 -0.17437454
+v 0.03913891 0.12798991 -0.17423414
+v 0.04115028 0.13007991 -0.17299576
+v 0.04858166 0.12471920 -0.17361637
+v 0.05505806 0.11899189 -0.17379892
+v 0.06791508 0.12252912 -0.15164875
+v 0.05473693 0.13746391 -0.14628246
+v 0.03913891 0.14195817 -0.14628244
+v 0.06567271 0.11111742 -0.17272345
+v 0.06791508 0.10714211 -0.17364452
+v 0.03913891 0.13294596 -0.17072682
+v 0.03913891 0.13345536 -0.17013714
+v 0.04477301 0.13196521 -0.16888473
+v 0.04869152 0.13095115 -0.16768007
+v 0.04477301 0.12898492 -0.17197082
+v 0.05269456 0.12311478 -0.17229939
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+v 0.06791508 0.12047246 -0.15758505
+v 0.05428337 0.13685930 -0.14891925
+v 0.05177620 0.13962534 -0.14628245
+v 0.04379267 0.14180582 -0.14628244
+v 0.03913891 0.13729735 -0.16314780
+v 0.05512849 0.12531428 -0.16818554
+v 0.06779113 0.11323599 -0.16860959
+v 0.06791508 0.11005576 -0.17165357
+v 0.03913891 0.13422661 -0.16896896
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+v 0.05307768 0.12966094 -0.16398743
+v 0.05715395 0.12639498 -0.16386952
+v 0.06077668 0.12471915 -0.16173257
+v 0.06791508 0.11903469 -0.15976131
+v 0.06560510 0.11736365 -0.16585767
+v 0.05089164 0.13999194 -0.14628245
+v 0.04477301 0.14176774 -0.14628244
+v 0.03913891 0.13694029 -0.16427946
+v 0.05924137 0.12336233 -0.16584643
+v 0.06791508 0.11298366 -0.16874158
+f 1 2 5
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+f 54 56 60
+f 57 59 58
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da28909b50a6e5f498c5f07e588c0cd03798dcaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.09412375 0.00976732 -0.17548062
+v 0.09412375 0.01595049 -0.17543362
+v 0.10050956 -0.00014671 -0.17478863
+v 0.09783313 -0.00014671 -0.17510178
+v 0.09412375 0.00357831 -0.17534913
+v 0.08177166 0.05922117 -0.17394922
+v 0.09412375 0.02213949 -0.17525825
+v 0.09992219 0.00976732 -0.17467586
+v 0.10261597 -0.00014671 -0.17389308
+v 0.10087993 0.00402578 -0.17453811
+v 0.09412375 -0.00014671 -0.17517066
+v 0.07981570 0.05922117 -0.17299103
+v 0.08709557 0.05922117 -0.17401184
+v 0.09261336 -0.00014671 -0.17458198
+v 0.09049826 -0.00014671 -0.17372398
+v 0.09412375 0.02832849 -0.17488560
+v 0.09918436 0.01595049 -0.17444413
+v 0.10333065 0.00638515 -0.17318850
+v 0.10355056 0.00226497 -0.17342336
+v 0.10359396 -0.00014671 -0.17346721
+v 0.07981570 0.05922108 -0.14887669
+v 0.07981570 -0.00014676 -0.16160887
+v 0.09017710 0.05922116 -0.17271547
+v 0.09077025 0.05565305 -0.17314136
+v 0.09140680 0.05152707 -0.17349520
+v 0.09202023 0.04688387 -0.17385533
+v 0.09294323 0.04069487 -0.17423736
+v 0.09840603 0.02213949 -0.17413097
+v 0.10456616 0.00402577 -0.17074295
+v 0.09776368 0.02832849 -0.17372075
+v 0.09737886 0.03219298 -0.17339820
+v 0.10300659 0.00976731 -0.17269686
+v 0.10439254 0.00976730 -0.16960938
+v 0.10491048 -0.00014672 -0.17037659
+v 0.07981570 0.05249163 -0.14621196
+v 0.08341224 0.05922106 -0.14349394
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+v 0.08605106 -0.00014682 -0.14349416
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+v 0.10397011 0.04536703 -0.14994139
+v 0.09936954 0.04688383 -0.16398851
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+v 0.10522007 0.04709876 -0.14349399
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+v 0.10935769 0.00071325 -0.14349416
+v 0.09748591 0.05720462 -0.16214413
+v 0.10462113 0.04720919 -0.14569530
+v 0.09634879 0.05922113 -0.16407301
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 9 20
+f 3 20 34
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+f 36 53 46
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+f 36 60 50
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+f 37 49 48
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+f 39 52 42
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+f 40 54 41
+f 40 44 46
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+f 42 55 56
+f 42 56 57
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+f 42 58 43
+f 43 58 45
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+f 50 60 61
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+f 53 64 54
+f 54 64 62
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+f 55 65 66
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+f 56 58 57
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+f 59 65 67
+f 59 67 60
+f 60 67 61
+f 63 67 65
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b1ad71959d16395ab402904eacb9cc8b57c4a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00063729 0.06349557 -0.16559481
+v 0.00063729 0.06349551 -0.15006009
+v 0.00094024 0.06349557 -0.16560275
+v 0.00159223 0.04069497 -0.16667042
+v 0.00063729 0.04069497 -0.16656308
+v 0.00063729 0.04069490 -0.14762479
+v 0.00159223 0.04069490 -0.14758900
+v 0.04430778 0.06349551 -0.14906606
+v 0.00159223 0.06349557 -0.16561867
+v 0.00159223 0.03450891 -0.16606608
+v 0.00063729 0.03450891 -0.16597661
+v 0.00776314 0.04069497 -0.16668435
+v 0.03859788 -0.00014675 -0.16289525
+v 0.00063729 0.03450884 -0.14722322
+v 0.00159223 0.03450884 -0.14717948
+v 0.03859788 0.04069490 -0.14693891
+v 0.04476878 0.06349551 -0.14905611
+v 0.04671818 0.06349556 -0.16249741
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+v 0.06791790 0.06349551 -0.14969029
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+f 1 2 8
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+f 1 29 18
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e68f44bd17068a6654fa73ae919e5fcced23c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_70.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07981281 0.05922117 -0.17299285
+v 0.07914215 0.05922116 -0.17268918
+v 0.07981281 0.05922108 -0.14887455
+v 0.07981281 0.05783440 -0.17243612
+v 0.06791790 0.03328936 -0.16134937
+v 0.06791790 0.03455756 -0.16177291
+v 0.06791790 0.04820246 -0.16166897
+v 0.06791790 0.05922111 -0.15866945
+v 0.06791790 0.04070102 -0.16296363
+v 0.06791790 0.04223149 -0.16273718
+v 0.06791790 0.04706718 -0.16197265
+v 0.06791790 0.05922108 -0.14966305
+v 0.07981281 0.05249204 -0.14621344
+v 0.07981281 0.04018367 -0.16442873
+v 0.06791790 0.02252218 -0.15687949
+v 0.06791790 0.03179482 -0.16074468
+v 0.06791790 0.05203577 -0.14804615
+v 0.07981281 0.05080349 -0.14592308
+v 0.07981281 0.02252217 -0.15489229
+v 0.06941758 0.02252218 -0.15671701
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+v 0.06791790 0.04698809 -0.14720441
+v 0.06791790 0.04534985 -0.14697530
+v 0.06791790 0.04070096 -0.14671960
+v 0.07981281 0.04490437 -0.14578192
+v 0.07981281 0.02252214 -0.14595781
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+v 0.06791790 0.03451441 -0.14700465
+v 0.06791790 0.03916689 -0.14677289
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+f 27 30 28
+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a079759a4911d6885463257d498866578e9f0c17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.04794360 -0.12635953 -0.15626070
+v -0.05149754 -0.12449845 -0.15626070
+v -0.04794360 -0.12602462 -0.15754233
+v -0.04794360 -0.10121371 -0.15626061
+v -0.05154853 -0.12446498 -0.15626070
+v -0.05741369 -0.11743693 -0.16127332
+v -0.04794360 -0.12591458 -0.15769388
+v -0.05691873 -0.08154581 -0.15626054
+v -0.04794360 -0.10249586 -0.15873815
+v -0.05222405 -0.12399134 -0.15626070
+v -0.05972068 -0.11357608 -0.16236934
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+v -0.05521505 -0.10161074 -0.16785890
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+v -0.06964536 -0.08603334 -0.16826178
+v -0.06964536 -0.09147299 -0.16810673
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec8eb384e7b59d6c737bc55b6cd7c644f1e04907
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.06964536 -0.05809295 -0.15873901
+v -0.06964536 -0.07748874 -0.16721247
+v -0.06964536 -0.05809296 -0.15626152
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+v -0.04794360 -0.05809296 -0.15632262
+v -0.05904940 -0.07748878 -0.15626159
+v -0.04794360 -0.06394435 -0.15626154
+f 1 2 6
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+f 1 11 4
+f 1 4 2
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+f 4 13 9
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+f 4 8 7
+f 5 9 12
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a75dab071a607b043753be5d08faab105106698
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.14165541 -0.02351737 -0.05291170
+v -0.14140812 -0.02351734 -0.05928112
+v -0.13936472 -0.03354858 -0.05908050
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d880e1fc21107ae9e3e2bf88faced1e7f9f356
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7324fc631bf4311df487a2062b07faed9ddc39a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29cbcc159c00cb2caa5a3c5c48e02082d56e4b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/video.mp4 b/dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/video.mp4
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