diff --git a/.gitattributes b/.gitattributes
index feb557d275e5e969baddb309501e1719df5c7607..d2fa69986951c1ce762a98d0d307bc54a63cc27d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2756,3 +2756,5 @@ dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/mesh/pill_orga
 dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/pill_organizer_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/mesh/remote_holder_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/remote_holder_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.urdf b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d32a4318cd25842745fb7fc6a7d3bdbfa47648e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_020">
+   <link name="basket_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_020.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>548decc8f1fb5030b49b9ebe234b18e5</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>rope storage basket</name>
+         <color>beige,brown</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>round woven rope basket with lace trim and floral label</description>
+         <min_height>0.0850</min_height>
+         <max_height>0.0850</max_height>
+         <real_height>0.0850</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131902</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074896 -0.074235 -0.037245</min>
+            <max>0.075104 0.075719 0.047752</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a3a9ee33c6db2a4987a2a0dbd482a338d839a4c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f68ee7b59f3a85bfa443bb60ec4a74baf705878cc93206875f5ac9b3b773d38
+size 5085433
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8a16816aead066a424638b57d5cea4ea19b67212
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59203b80755823117513d9a56e72c9eac5adff1a302b264084cdba2ccce4102a
+size 21315512
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.mtl b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5da16333041263666539eb3cdb1c3e55f05dc4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.mtl
@@ -0,0 +1,6 @@
+newmtl basket_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115a2af562ad1f2b95795b6c20fd0792fed2d0de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.obj
@@ -0,0 +1,135030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_020_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020_collision.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76c83554bc27931e15688a387b8776518c4f9e5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020_collision.obj
@@ -0,0 +1,11930 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/material.mtl b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl basket_020_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/material_0.png b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/basket_020.xml b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/basket_020.xml
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index 0000000000000000000000000000000000000000..138b84c60744afac16cb93fdb7044328a4406c80
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+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/basket_020.xml
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" 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/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84d74e62af9091c065d7792fd6ccabc76205907
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020.obj
@@ -0,0 +1,135030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_020_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f1c03ad59eefb527f97f892573d8c87d4d25f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision.obj
@@ -0,0 +1,11930 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_0.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee919246c544d175b73828b2b8216169f925dc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_1.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55cf11713288e561a25c9fbac1dcc3d52a1eca90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_1.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_10.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065ac3c29b47fb025d7166c941e1994b0bc8f65b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_11.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123522e252e0401fb42861aba5c41745c4d97604
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_11.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_12.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38f4ae83819199c8b5ee301a903baa7e1be7fc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_12.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_13.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482645142bd4235169772795078a46c78aac4dd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_13.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_14.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78805bdd01bd6b83967a1f99a76db53288c09797
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_14.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_15.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce18e79e3917aa523c07df5d45417565e0a7e50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_16.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..393fdd7e66dc67262eb6a3ba350ab42d67e2d7a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_16.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_17.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e6fb072dff2e87872869bc41243542279b342d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_17.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_18.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6193881c7fa4f95c298629e0121c94038b52c3c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_19.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdcf9fd4caa258e5df60c12e7dd8167f91c9e993
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_19.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_2.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a1eeec38fe1cd48a2bcbcfa8bd57a0a27ced912
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_2.obj
@@ -0,0 +1,322 @@
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_20.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c411795f1ca8d9db11bbf95e09c3b1f23b3bfad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_20.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_21.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396380af2776d356d1299e6596e4613347e9cfeb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_21.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05617089 0.00081242 -0.02361949
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+v 0.06465176 0.00081242 -0.02361949
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_22.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c0334d483b57fcf2794f11c09fa477c0fb08e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_22.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02207168 -0.05349939 0.01107953
+v -0.04055371 -0.04172691 0.01107958
+v -0.02207168 -0.06498274 0.01107949
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_23.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cef8225b71be2336d378eebe0860d4521c70d55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_23.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_24.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ccb918d811f5122391608ab1f22c7af9e806fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_24.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_25.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049292bba5255288363ff438d359a140bcbf7fbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_25.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_26.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e11529bed478a87d9fa3d926f18a0578bcaeaac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_27.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519376079f6f43bae1b6c84847fc2517fe92eb49
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_28.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82587c4e2f611354b99026818f1c91ddca2a259c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_29.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878ff77b698694b570e26093e98f935888707a16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_29.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_3.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7486a2e64ae8dcf8ba864e5f61744dfe4265bb1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_3.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.05845158 0.00077387 0.01107974
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_30.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a7d6784a3ba3801f61f99bd9cdd472d2ce64c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_30.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03518256 -0.04172677 -0.02687422
+v -0.05059281 -0.04172677 -0.02687422
+v -0.03591783 -0.04059198 -0.02687422
+v -0.04055611 -0.04172691 0.01107958
+v -0.05063427 -0.04167926 -0.02687422
+v -0.05313308 -0.04172690 0.00883193
+v -0.04961153 -0.02305857 -0.02687415
+v -0.05336803 -0.02305871 0.01107965
+v -0.05326299 -0.04172691 0.01107958
+v -0.05194448 -0.04015342 -0.02687422
+v -0.05319665 -0.04172691 0.00990560
+v -0.05382136 -0.04101241 0.01107958
+v -0.05386282 -0.04078764 0.00883193
+v -0.06096949 -0.02305857 -0.02687415
+v -0.06341855 -0.02305871 0.01107965
+v -0.05299487 -0.03874088 -0.02687421
+v -0.05479434 -0.03954504 0.00883193
+v -0.05392639 -0.04087719 0.01107958
+v -0.05400655 -0.04077121 0.01107958
+v -0.06329969 -0.02305870 0.00883200
+v -0.06063780 -0.02425548 -0.02687416
+v -0.06193419 -0.02683950 0.01107963
+v -0.06246215 -0.02535751 0.00883199
+v -0.06192037 -0.02678284 0.00883198
+v -0.05382412 -0.03759513 -0.02687421
+v -0.05485239 -0.03963459 0.01107958
+v -0.05619301 -0.03753679 0.00902513
+v -0.05686194 -0.03650616 0.00833412
+v -0.06188720 -0.02670426 0.00741280
+v -0.05986383 -0.02654881 -0.02687417
+v -0.06145322 -0.02797611 0.01107963
+v -0.06033927 -0.03032791 0.01107962
+v -0.05472247 -0.03628492 -0.02687420
+v -0.05610456 -0.03782003 0.01107959
+v -0.05691723 -0.03659571 0.01107960
+v -0.05766355 -0.03531840 0.01107960
+v -0.05745071 -0.03552487 0.00902514
+v -0.05882727 -0.03303237 0.00883196
+v -0.06027845 -0.03045399 0.01107962
+v -0.05931929 -0.02771831 -0.02687417
+v -0.05794550 -0.03029487 -0.02687418
+v -0.05874987 -0.03338323 0.01107961
+v -0.05887702 -0.03315299 0.01107961
+v -0.05893230 -0.03304883 0.01107961
+v -0.05953489 -0.03191222 0.01107961
+v -0.05946855 -0.03179160 0.00883196
+v -0.05844857 -0.02935561 -0.02687418
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 25
+f 1 25 33
+f 1 33 41
+f 1 41 47
+f 1 47 40
+f 1 40 30
+f 1 30 21
+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
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+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
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+f 4 15 22
+f 4 22 31
+f 4 31 32
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+f 4 39 45
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+f 4 26 19
+f 4 19 18
+f 4 18 12
+f 4 12 9
+f 5 6 10
+f 6 11 12
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+f 7 20 15
+f 7 15 8
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+f 10 13 17
+f 10 17 16
+f 12 18 13
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+f 14 21 20
+f 15 20 23
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+f 15 24 22
+f 16 17 25
+f 17 19 26
+f 17 26 27
+f 17 27 28
+f 17 28 25
+f 20 29 23
+f 20 21 30
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+f 22 24 31
+f 23 29 24
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_31.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4d58b9ba70901007a6ec127bfdae07aeaed23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_31.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.03962372 0.04166485 -0.02361934
+v -0.03962372 0.05291260 -0.02361930
+v -0.02266716 0.05314332 -0.02361929
+v -0.02266384 0.05314563 -0.02361589
+v -0.02266384 0.05441912 0.00147447
+v -0.02266384 0.05482056 0.00883481
+v -0.02266384 0.05497513 0.01107993
+v -0.03962372 0.04391660 0.00637906
+v -0.03962372 0.05299104 -0.02343928
+v -0.03834209 0.05406852 -0.02361929
+v -0.02266384 0.05563744 -0.02361929
+v -0.02266384 0.06523307 0.01107997
+v -0.03962372 0.04432034 0.01107989
+v -0.03962372 0.05336711 -0.02256296
+v -0.03715510 0.05547361 -0.02199234
+v -0.03567427 0.05594430 -0.02361928
+v -0.02266384 0.06245299 -0.02361926
+v -0.02266384 0.06519386 0.00883485
+v -0.02351880 0.06491237 0.01107997
+v -0.03962372 0.05652328 0.01107994
+v -0.03962372 0.05371781 -0.02060315
+v -0.03398758 0.05753628 -0.02060314
+v -0.03251006 0.05812693 -0.02242030
+v -0.03510152 0.05632268 -0.02361928
+v -0.03962372 0.05441688 -0.01569512
+v -0.03890820 0.05495908 -0.01569512
+v -0.03766974 0.05582429 -0.01569511
+v -0.03458688 0.05789848 -0.01448933
+v -0.02279167 0.06242300 -0.02361926
+v -0.02266384 0.06276677 -0.02233876
+v -0.02266384 0.06346584 -0.01553545
+v -0.02467757 0.06286825 -0.01447912
+v -0.02503284 0.06302975 -0.01013153
+v -0.02591271 0.06389259 0.00883484
+v -0.02591271 0.06397794 0.01107997
+v -0.02570519 0.06406100 0.01107997
+v -0.03856123 0.05725237 0.01107994
+v -0.03962372 0.05553123 -0.00495521
+v -0.03274746 0.05826074 -0.02060314
+v -0.03086819 0.05925747 -0.02060313
+v -0.02914996 0.06013422 -0.02060313
+v -0.02760936 0.06061181 -0.02247803
+v -0.03101263 0.05863914 -0.02361927
+v -0.03332685 0.05733094 -0.02361928
+v -0.03489235 0.05808536 -0.01018590
+v -0.02977749 0.06045490 -0.01507693
+v -0.03348622 0.05841300 -0.01546415
+v -0.02329469 0.06227995 -0.02361926
+v -0.02591271 0.06164776 -0.02060312
+v -0.02378774 0.06251528 -0.02060312
+v -0.02266384 0.06295596 -0.02060312
+v -0.02860710 0.06093019 -0.01581398
+v -0.02791150 0.06075717 -0.02060313
+v -0.02724247 0.06290280 0.00244931
+v -0.02770731 0.06313351 0.00883484
+v -0.02768075 0.06323963 0.01107996
+v -0.03732278 0.05806913 0.01107994
+v -0.03720657 0.05814296 0.01107994
+v -0.03652260 0.05756389 -0.00343354
+v -0.03070882 0.05988732 -0.01581398
+v -0.02559894 0.06125554 -0.02361926
+v -0.02608038 0.06103636 -0.02361927
+v -0.02842116 0.05994734 -0.02361927
+v -0.03393445 0.05999798 0.00883483
+v -0.03269600 0.06070399 0.00883483
+v -0.03183107 0.06024489 -0.00343353
+v -0.03086819 0.06160612 0.00883484
+v -0.02907193 0.06260053 0.01107996
+v -0.02783348 0.06317502 0.01107996
+v -0.03566099 0.05906816 0.01107995
+v -0.03582202 0.05884206 0.00883483
+v -0.03396600 0.06003950 0.01107995
+v -0.03272754 0.06071090 0.01107995
+v -0.03086819 0.06168686 0.01107996
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_32.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579f670da88f0e38460e7bf3d067093f5b03335c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_32.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.06096911 -0.02305623 -0.02687415
+v -0.06288346 -0.01790443 -0.02687414
+v -0.04961193 -0.02305623 -0.02687415
+v -0.06329892 -0.02305636 0.00883200
+v -0.06311626 -0.01726424 -0.02687413
+v -0.06414955 -0.02115219 0.01107965
+v -0.05011514 -0.02053991 -0.02687415
+v -0.05336900 -0.02305637 0.01107965
+v -0.06340458 -0.02305637 0.01081588
+v -0.06408866 -0.02131340 0.01107965
+v -0.06378602 -0.01541613 -0.02687413
+v -0.06418715 -0.02104705 0.01107965
+v -0.06451308 -0.01973631 0.00883201
+v -0.05469956 0.00081032 -0.02687407
+v -0.05856766 0.00081018 0.01107973
+v -0.06341711 -0.02305637 0.01107965
+v -0.06388630 -0.01487408 -0.02687412
+v -0.06508076 -0.01789988 0.00883201
+v -0.06577200 -0.01541626 0.00883202
+v -0.06635938 -0.01293031 0.00883203
+v -0.06670679 -0.01121538 0.00883204
+v -0.06455785 -0.01990921 0.01107966
+v -0.06534221 0.00081032 -0.02687407
+v -0.06790662 0.00081018 0.01107973
+v -0.06539056 -0.00539055 -0.02687409
+v -0.06691273 -0.00997474 0.00883204
+v -0.06516672 -0.01789989 0.01107966
+v -0.06584721 -0.01541627 0.01107967
+v -0.06639341 -0.01313125 0.01107968
+v -0.06649011 -0.01272472 0.01107968
+v -0.06674440 -0.01143968 0.01084936
+v -0.06681424 -0.01113361 0.01107969
+v -0.06693959 -0.01045371 0.01107969
+v -0.06550338 -0.00188825 -0.02687408
+v -0.06685901 0.00081024 -0.00489534
+v -0.06786006 0.00081018 0.01013238
+v -0.06778843 -0.00050522 0.00883208
+v -0.06789767 -0.00050523 0.01107973
+v -0.06554636 -0.00420832 -0.02687409
+v -0.06721717 -0.00796308 0.00883205
+v -0.06666560 -0.01186725 0.01107969
+v -0.06730313 -0.00796309 0.01107970
+v -0.06553920 -0.00299104 -0.02687408
+v -0.06777589 0.00081019 0.00883208
+v -0.06770605 -0.00299117 0.00883207
+v -0.06789050 -0.00071784 0.01107973
+v -0.06751444 -0.00547712 0.00883206
+v -0.06759860 -0.00547713 0.01107971
+v -0.06780813 -0.00299118 0.01107972
+v -0.06779022 -0.00320380 0.01107972
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 25
+f 1 25 39
+f 1 39 43
+f 1 43 34
+f 1 34 23
+f 1 23 14
+f 1 14 7
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+f 1 8 16
+f 1 16 9
+f 1 9 4
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+f 40 42 47
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+f 45 49 46
+f 47 48 50
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_33.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5e7f1a5ea651c8f27fe69f27c73b7617db08f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_33.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00332211 0.06897762 0.01107998
+v 0.00332211 0.05946167 0.01107995
+v 0.00332211 0.06891029 0.00883486
+v 0.00134060 0.06903243 0.00883486
+v 0.00134060 0.06908253 0.01107998
+v -0.02266384 0.05497694 0.01107993
+v -0.02266384 0.05482349 0.00883481
+v 0.00332211 0.05931761 0.00883483
+v 0.00332211 0.06793011 -0.00993451
+v 0.00134060 0.06837793 -0.00343350
+v -0.00113691 0.06907628 0.00883486
+v -0.00113691 0.06914047 0.01107998
+v -0.00092579 0.06913577 0.01107998
+v -0.02266384 0.06523512 0.01107997
+v 0.00332211 0.05917669 0.00637912
+v -0.02266384 0.05442108 0.00147447
+v 0.00332211 0.06743061 -0.01569507
+v 0.00134060 0.06801623 -0.01018586
+v -0.00361443 0.06897293 0.00883486
+v -0.00361443 0.06906374 0.01107998
+v -0.00340331 0.06907157 0.01107998
+v -0.00113691 0.06841864 -0.00343350
+v -0.00361443 0.06797082 -0.01005000
+v -0.00549165 0.06790975 -0.00982922
+v -0.02227720 0.06538232 0.01107997
+v -0.02221107 0.06535884 0.00758492
+v -0.02266384 0.06519442 0.00883485
+v -0.02266384 0.05314340 -0.02361589
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_34.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcb47ad1d6d433e29d7ea81c7b4ab1a70b228c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_34.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_35.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c945c9e82aae7780e630bc4c0d146629b5502d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_35.obj
@@ -0,0 +1,376 @@
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_36.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9ee5d39ce35524662dc6bb1ad212d05c8997bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03937857 -0.05497492 0.01107954
+v 0.03937857 -0.05494264 0.01001296
+v 0.04016773 -0.05443494 0.01107954
+v 0.03937857 -0.04271374 0.01107958
+v 0.03937857 -0.05493970 0.00991634
+v 0.04031641 -0.05433222 0.01107954
+v 0.05237108 -0.02499695 0.01107965
+v 0.04785572 -0.02536658 -0.02688593
+v 0.03937857 -0.03723451 -0.02688598
+v 0.03937857 -0.05489567 0.00883490
+v 0.04025236 -0.05428819 0.00883490
+v 0.04155390 -0.05344007 0.01107954
+v 0.04813250 -0.02499681 -0.02688593
+v 0.06274679 -0.02499695 0.01107965
+v 0.03937857 -0.05266517 -0.02688603
+v 0.04044908 -0.05200486 -0.02688603
+v 0.04148985 -0.05337843 0.00883490
+v 0.04312306 -0.05219870 0.01107955
+v 0.06022148 -0.02499681 -0.02688593
+v 0.06259811 -0.02537552 0.01107965
+v 0.06205370 -0.02663157 0.00989414
+v 0.06262556 -0.02499694 0.00895021
+v 0.04311392 -0.04983025 -0.02688602
+v 0.04305216 -0.05213706 0.00883491
+v 0.04322829 -0.05211065 0.01107955
+v 0.04429193 -0.05111284 0.00883491
+v 0.05818111 -0.03033209 -0.02688595
+v 0.06207429 -0.02667853 0.01107964
+v 0.06241969 -0.02553399 0.00897994
+v 0.06155047 -0.02789936 0.01107964
+v 0.04572843 -0.04745901 -0.02688601
+v 0.04568725 -0.04987146 0.00883492
+v 0.04436056 -0.05115981 0.01107955
+v 0.05254950 -0.03950304 -0.02688599
+v 0.06052571 -0.03008278 0.01107963
+v 0.06039990 -0.03034691 0.01107963
+v 0.05962218 -0.03167925 0.00940357
+v 0.05900915 -0.03299401 0.01107962
+v 0.05768246 -0.03509818 0.00883497
+v 0.05696649 -0.03634249 0.00883497
+v 0.04701624 -0.04626459 -0.02688601
+v 0.04692475 -0.04871813 0.00883492
+v 0.04573301 -0.04991843 0.01107956
+v 0.04809362 -0.04505842 -0.02688601
+v 0.05600120 -0.03778637 0.00883496
+v 0.05488266 -0.03943567 0.00883496
+v 0.05402488 -0.04067411 0.00883495
+v 0.05278510 -0.04234983 0.00883494
+v 0.05179923 -0.04359120 0.00883494
+v 0.05967022 -0.03177317 0.01107962
+v 0.05776022 -0.03515982 0.01107961
+v 0.05769847 -0.03526547 0.01107961
+v 0.05699623 -0.03640413 0.01107961
+v 0.05617047 -0.03766312 0.01107960
+v 0.05503591 -0.03937698 0.01107960
+v 0.05056174 -0.04498519 0.00883493
+v 0.04941574 -0.04622656 0.00883493
+v 0.04817825 -0.04747381 0.00883493
+v 0.04697278 -0.04876216 0.01107956
+v 0.05493984 -0.03951785 0.01107959
+v 0.05486665 -0.03962350 0.01107959
+v 0.05406834 -0.04075923 0.01107959
+v 0.05283085 -0.04236744 0.01107958
+v 0.05274622 -0.04247309 0.01107958
+v 0.05181981 -0.04361176 0.01107958
+v 0.05068754 -0.04489422 0.01107958
+v 0.05058232 -0.04501161 0.01107957
+v 0.05048625 -0.04511726 0.01107957
+v 0.04943175 -0.04625592 0.01107957
+v 0.04829948 -0.04741220 0.01107957
+f 1 2 3
+f 1 3 6
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+f 1 12 18
+f 1 18 25
+f 1 25 33
+f 1 33 43
+f 1 43 59
+f 1 59 70
+f 1 70 69
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+f 1 53 52
+f 1 52 51
+f 1 51 38
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+f 1 20 14
+f 1 14 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
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+f 7 14 22
+f 7 22 19
+f 7 19 13
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+f 17 24 18
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+f 19 22 27
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+f 23 26 24
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+f 32 42 43
+f 32 43 33
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+f 34 47 48
+f 34 48 49
+f 34 49 44
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+f 42 59 43
+f 44 49 56
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+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_37.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f895d2d103a3151b78c54420467672c28064cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_37.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06169278 0.02253349 -0.02702338
+v -0.04946043 0.02253349 -0.02702338
+v -0.06130036 0.02253348 -0.02361941
+v -0.06086596 0.02376425 -0.02361940
+v -0.06021961 0.02657054 -0.02702336
+v -0.05181498 0.02288729 -0.02361941
+v -0.05205002 0.02253348 -0.02361941
+v -0.04025626 0.03727853 -0.02702332
+v -0.04025626 0.04102828 -0.02361934
+v -0.05992581 0.02615321 -0.02361939
+v -0.05817984 0.03184742 -0.02702334
+v -0.04025626 0.05342368 -0.02702326
+v -0.04025626 0.05246808 -0.02361930
+v -0.05863942 0.02923467 -0.02361938
+v -0.05741597 0.03182927 -0.02361937
+v -0.05611068 0.03414868 -0.02361936
+v -0.05255367 0.04118856 -0.02702331
+v -0.04034230 0.05337832 -0.02702326
+v -0.04075361 0.05224128 -0.02361930
+v -0.05512227 0.03577559 -0.02361936
+v -0.05274883 0.03942858 -0.02361935
+v -0.05116234 0.04167542 -0.02361934
+v -0.05013616 0.04297876 -0.02361933
+v -0.04981088 0.04337793 -0.02361933
+v -0.05149811 0.04242235 -0.02702330
+v -0.04151958 0.05257695 -0.02702327
+v -0.04210087 0.05121614 -0.02361930
+v -0.05131343 0.04263706 -0.02702330
+v -0.04774383 0.04572758 -0.02361932
+v -0.04297596 0.05143993 -0.02702327
+v -0.04251848 0.05088955 -0.02361930
+v -0.04541236 0.04893001 -0.02702328
+v -0.04628745 0.04724563 -0.02361932
+v -0.04478490 0.04880299 -0.02361931
+v -0.04375661 0.04976160 -0.02361931
+f 1 2 7
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+f 1 25 28
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+f 27 30 31
+f 28 29 32
+f 29 33 32
+f 30 32 34
+f 30 34 35
+f 30 35 31
+f 32 33 34
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_38.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4325a5e5b54455cf35eab6df19e20fae3b36b413
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_38.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00595915 0.06744401 -0.02696580
+v 0.00191192 0.06672387 -0.02361924
+v 0.00629774 0.06743805 -0.02696580
+v -0.00340162 0.06729076 -0.02696580
+v -0.00113535 0.06672834 -0.02361924
+v 0.00438811 0.06661228 -0.02361925
+v 0.00629774 0.06645011 -0.02361925
+v 0.00877393 0.06617634 -0.02361925
+v 0.00884842 0.06701550 -0.02696580
+v -0.00340162 0.05560514 -0.02696585
+v -0.00340162 0.06668370 -0.02361925
+v 0.01125012 0.06569874 -0.02361925
+v 0.01868321 0.06498011 -0.02696581
+v 0.01965382 0.05224407 -0.02696586
+v 0.01965382 0.05423184 -0.02361929
+v -0.00340162 0.05767622 -0.02361928
+v 0.01442606 0.06500838 -0.02361925
+v 0.01677584 0.06449655 -0.02361925
+v 0.01868321 0.06396241 -0.02361926
+v 0.01965382 0.06365591 -0.02361926
+v 0.01965382 0.06463940 -0.02696581
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 21
+f 1 21 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
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+f 2 16 15
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+f 2 20 19
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+f 3 7 8
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+f 4 11 5
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+f 10 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 21 20
+f 14 20 15
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_39.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c7cde52f69069ef21122217b1ad225bf635fe34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_39.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04914607 0.02382175 -0.02696596
+v 0.05134572 0.02382174 -0.02361940
+v 0.06134266 0.02382175 -0.02696596
+v 0.05443062 0.00081257 -0.02696605
+v 0.05617095 0.00081256 -0.02361949
+v 0.06063699 0.02382174 -0.02361940
+v 0.06285888 0.01900593 -0.02696598
+v 0.06111856 0.02243195 -0.02361941
+v 0.06521269 0.00081257 -0.02696605
+v 0.06465166 0.00081256 -0.02361949
+v 0.06226129 0.01874463 -0.02361942
+v 0.06305755 0.01832793 -0.02696598
+v 0.06534302 0.00198161 -0.02696604
+v 0.06538275 0.00338266 -0.02696604
+v 0.06463577 0.00198160 -0.02361948
+v 0.06276670 0.01689083 -0.02361943
+v 0.06344376 0.01689084 -0.02696599
+v 0.06456424 0.00364169 -0.02361948
+v 0.06525084 0.00446611 -0.02696603
+v 0.06402864 0.01011084 -0.02361945
+v 0.06452769 0.00446610 -0.02361947
+v 0.06327847 0.01440408 -0.02361944
+v 0.06361700 0.01609346 -0.02696599
+v 0.06361541 0.01248947 -0.02361944
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 23
+f 1 23 19
+f 1 19 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 18
+f 2 18 21
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+f 2 22 16
+f 2 16 11
+f 2 11 8
+f 2 8 6
+f 3 6 8
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+f 4 10 5
+f 7 11 12
+f 7 8 11
+f 9 13 10
+f 10 13 14
+f 10 14 15
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+f 14 18 15
+f 14 19 20
+f 14 20 21
+f 14 21 18
+f 16 22 23
+f 16 23 17
+f 19 23 20
+f 20 23 24
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_4.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0441eb122c1c4f63a43f4776d33495bd1537bec0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.04311278 0.04082588 0.01107989
+v -0.04311278 0.05389169 0.01107994
+v -0.02362448 0.05457259 0.01107994
+v -0.02362448 0.05466044 0.01374371
+v -0.04311278 0.04093570 0.01374366
+v -0.04301738 0.05397013 0.01107994
+v -0.04311278 0.05902195 0.02113913
+v -0.04189166 0.06022373 0.02110322
+v -0.04026605 0.06087013 0.01934054
+v -0.02362448 0.06487085 0.01107998
+v -0.02362448 0.05543856 0.02601073
+v -0.02362448 0.05578685 0.03119468
+v -0.04311278 0.04193033 0.02586708
+v -0.04160928 0.05510601 0.01107994
+v -0.04311278 0.06318260 0.04072615
+v -0.04257472 0.06332381 0.03882346
+v -0.04065146 0.06110231 0.02110322
+v -0.03719417 0.06293166 0.01980366
+v -0.03566014 0.05906592 0.01107996
+v -0.03720562 0.05814341 0.01107995
+v -0.03732201 0.05806810 0.01107995
+v -0.03742694 0.05799907 0.01107995
+v -0.03856029 0.05725227 0.01107995
+v -0.04021834 0.05611953 0.01107995
+v -0.04036908 0.05601284 0.01107995
+v -0.02570611 0.06406130 0.01107998
+v -0.02718671 0.06785487 0.01984676
+v -0.02591217 0.06805883 0.01960264
+v -0.02362448 0.06884013 0.02110325
+v -0.02362448 0.05646459 0.03581861
+v -0.04311278 0.04245119 0.03091103
+v -0.04311278 0.06254876 0.04326069
+v -0.04273309 0.06352463 0.04072615
+v -0.04072587 0.06488016 0.04049641
+v -0.03986727 0.06557361 0.04116055
+v -0.02907182 0.06259908 0.01107997
+v -0.03086724 0.06168599 0.01107997
+v -0.03272945 0.06071013 0.01107996
+v -0.03396583 0.06003864 0.01107996
+v -0.03472522 0.06795207 0.03925427
+v -0.02591217 0.06397658 0.01107997
+v -0.02768089 0.06323920 0.01107997
+v -0.02783353 0.06317330 0.01107997
+v -0.03080046 0.06994770 0.04066156
+v -0.02362448 0.07288155 0.04072619
+v -0.02362448 0.05700742 0.03841059
+v -0.04311278 0.04345841 0.03629603
+v -0.04311278 0.06251111 0.04337198
+v -0.03986727 0.06557360 0.04249603
+v -0.03334573 0.06878358 0.04072617
+v -0.02993042 0.07042779 0.04143341
+v -0.02993042 0.07042778 0.04242066
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+v -0.04311278 0.06118694 0.04570547
+v -0.03842864 0.06603486 0.04326070
+v -0.02937137 0.07019558 0.04405770
+v -0.02771905 0.07049995 0.04467877
+v -0.02362448 0.07221005 0.04327868
+v -0.04311278 0.04412989 0.03851465
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+v -0.04174665 0.04775403 0.04465356
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+v -0.04311278 0.04512142 0.04072609
+v -0.02362448 0.05962118 0.04512030
+v -0.04311278 0.04634202 0.04343654
+v -0.04311278 0.04732728 0.04515256
+v -0.04311278 0.05730862 0.04719171
+v -0.04311278 0.05431201 0.04772303
+v -0.04077548 0.05913796 0.04734610
+v -0.04077548 0.06076648 0.04708762
+v -0.03431881 0.06493662 0.04678967
+v -0.02362448 0.07087334 0.04517419
+v -0.03086724 0.06410824 0.04754356
+v -0.02362448 0.06850116 0.04724920
+v -0.02591217 0.06821562 0.04705893
+v -0.02362448 0.06974373 0.04630863
+v -0.02362448 0.06181137 0.04639835
+v -0.02670399 0.06020481 0.04695838
+v -0.04311278 0.04931978 0.04630855
+v -0.04311278 0.05417081 0.04772662
+v -0.03582041 0.05913795 0.04775536
+v -0.03829890 0.05913795 0.04766920
+v -0.02362448 0.06659337 0.04767640
+v -0.02362448 0.06181764 0.04640194
+v -0.02362448 0.06387290 0.04724918
+v -0.02839066 0.06162310 0.04749330
+v -0.04077548 0.05248268 0.04714503
+v -0.03925862 0.05278077 0.04695476
+v -0.04311278 0.05177668 0.04723478
+v -0.04077548 0.05417082 0.04747173
+v -0.02362448 0.06636744 0.04766563
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+f 3 55 46
+f 3 46 30
+f 3 30 12
+f 3 12 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 6 9 14
+f 7 15 16
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+f 8 17 9
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+f 9 17 18
+f 9 18 19
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+f 9 20 21
+f 9 21 22
+f 9 22 23
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+f 9 24 25
+f 9 25 14
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 12 30 31
+f 12 31 13
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 27 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 18 35 40
+f 18 40 27
+f 26 41 27
+f 27 29 28
+f 27 41 42
+f 27 42 43
+f 27 43 36
+f 27 40 44
+f 27 44 45
+f 27 45 29
+f 30 46 47
+f 30 47 31
+f 32 48 49
+f 32 49 33
+f 33 49 35
+f 33 35 34
+f 35 49 50
+f 35 50 40
+f 40 50 44
+f 44 50 51
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 46 54 47
+f 46 55 54
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+f 48 57 56
+f 49 52 50
+f 49 56 58
+f 49 58 59
+f 49 59 52
+f 50 52 51
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 54 55 62
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+f 55 64 62
+f 56 65 58
+f 56 57 65
+f 57 66 67
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+f 58 65 59
+f 59 65 60
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+f 60 69 61
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+f 60 70 71
+f 60 71 72
+f 60 72 68
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+f 63 74 64
+f 64 75 73
+f 64 74 76
+f 64 76 75
+f 65 67 70
+f 66 77 67
+f 67 77 78
+f 67 78 79
+f 67 79 80
+f 67 80 71
+f 67 71 81
+f 67 81 70
+f 68 72 82
+f 70 81 71
+f 71 80 83
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 72 85 84
+f 72 84 86
+f 72 86 82
+f 74 87 88
+f 74 88 76
+f 76 88 89
+f 78 90 91
+f 78 91 92
+f 78 92 79
+f 79 92 80
+f 80 92 83
+f 83 92 93
+f 83 93 84
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+f 88 94 95
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+f 88 97 98
+f 88 98 89
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+f 89 97 99
+f 90 100 96
+f 90 96 91
+f 90 99 97
+f 90 97 100
+f 91 96 101
+f 91 101 93
+f 91 93 92
+f 95 101 96
+f 96 100 97
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_40.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2623f2782e0d52837f90b54d3dcae944264dda5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_40.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00609150 0.06740984 -0.02702321
+v -0.00609150 0.06652280 -0.02361925
+v -0.00361513 0.06669650 -0.02361925
+v -0.00361513 0.06733227 -0.02702321
+v -0.00856983 0.06715689 -0.02702321
+v -0.00800062 0.06628334 -0.02361925
+v -0.00340387 0.06668301 -0.02361925
+v -0.00340387 0.06731372 -0.02702321
+v -0.01051025 0.06584489 -0.02361925
+v -0.00856983 0.06620408 -0.02361925
+v -0.01847728 0.06489211 -0.02702322
+v -0.01584051 0.06471166 -0.02361925
+v -0.00340387 0.05767617 -0.02361928
+v -0.00340387 0.05523940 -0.02702326
+v -0.02104168 0.06411470 -0.02702322
+v -0.02028664 0.06345195 -0.02361926
+v -0.01847728 0.06399496 -0.02361925
+v -0.02338700 0.05280935 -0.02361930
+v -0.02338700 0.05018201 -0.02702262
+v -0.02081869 0.05101338 -0.02702327
+v -0.02090867 0.06323104 -0.02361926
+v -0.02338700 0.06267623 -0.02702323
+v -0.02338700 0.06223946 -0.02361926
+v -0.02329311 0.06228161 -0.02361926
+v -0.02338700 0.05455980 -0.02702326
+v -0.02150136 0.05092232 -0.02702327
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 26
+f 1 26 25
+f 1 25 22
+f 1 22 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 9
+f 2 9 12
+f 2 12 17
+f 2 17 16
+f 2 16 21
+f 2 21 24
+f 2 24 23
+f 2 23 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 5 11 12
+f 5 12 9
+f 7 13 14
+f 7 14 8
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 15 22 23
+f 15 23 24
+f 15 24 21
+f 18 23 22
+f 18 22 25
+f 18 25 19
+f 19 25 26
+f 19 26 20
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_41.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7784f98c0ec202e57d37364acfd2bce7bf6c0fa2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_41.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.04025461 0.03727807 -0.02702332
+v -0.04025461 0.04103231 -0.02361934
+v -0.04025461 0.05342133 -0.02702326
+v -0.02343489 0.05015688 -0.02702328
+v -0.02338700 0.05018174 -0.02702262
+v -0.02338700 0.05280722 -0.02361930
+v -0.02383945 0.05246412 -0.02361930
+v -0.04025461 0.05246660 -0.02361930
+v -0.03834080 0.05406775 -0.02361929
+v -0.03567567 0.05594487 -0.02361928
+v -0.03273973 0.05858529 -0.02702324
+v -0.02338700 0.05455755 -0.02702326
+v -0.02338700 0.06224007 -0.02361926
+v -0.03510103 0.05632279 -0.02361928
+v -0.03089527 0.05966929 -0.02702324
+v -0.02338700 0.06267518 -0.02702323
+v -0.02606039 0.06170802 -0.02702323
+v -0.02559969 0.06125552 -0.02361926
+v -0.03332593 0.05733221 -0.02361928
+v -0.03101251 0.05863998 -0.02361927
+v -0.02842169 0.05994774 -0.02361927
+v -0.02608020 0.06103673 -0.02361927
+f 1 2 8
+f 1 8 3
+f 1 3 11
+f 1 11 15
+f 1 15 17
+f 1 17 16
+f 1 16 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 18
+f 2 18 22
+f 2 22 21
+f 2 21 20
+f 2 20 19
+f 2 19 14
+f 2 14 10
+f 2 10 9
+f 2 9 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 16
+f 5 16 13
+f 5 13 6
+f 10 14 11
+f 11 14 15
+f 13 16 17
+f 13 17 15
+f 13 15 18
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 18
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_42.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afa36f44f0411e50aefb56d3d3278dce3f11243
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_42.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01965608 0.05224456 -0.02696586
+v 0.03822598 0.03985883 -0.02696590
+v 0.01965608 0.05423121 -0.02361929
+v 0.01965608 0.06463755 -0.02696581
+v 0.03822598 0.04288613 -0.02361933
+v 0.03822598 0.05486191 -0.02696585
+v 0.01965608 0.06365513 -0.02361926
+v 0.02110481 0.06323790 -0.02361926
+v 0.02013960 0.06447018 -0.02696581
+v 0.03822598 0.05422151 -0.02361929
+v 0.03345445 0.05826276 -0.02696584
+v 0.03584294 0.05594377 -0.02361928
+v 0.02113026 0.06412573 -0.02696581
+v 0.02351875 0.06223366 -0.02361926
+v 0.03299456 0.05856840 -0.02696583
+v 0.03109686 0.05977399 -0.02696583
+v 0.03353988 0.05733613 -0.02361928
+v 0.02856658 0.06092863 -0.02696583
+v 0.02915189 0.05966967 -0.02361927
+v 0.03122046 0.05864602 -0.02361927
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 16
+f 1 16 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 17
+f 3 17 20
+f 3 20 19
+f 3 19 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 13 9
+f 8 14 13
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 14 18
+f 14 19 18
+f 16 18 19
+f 16 19 20
+f 16 20 17
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_43.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b80c486b4c0bee289e7159cb1c667d6817678a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_43.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.06556241 0.00695685 -0.02702343
+v -0.06465926 0.00689306 -0.02361946
+v -0.06400199 0.01206584 -0.02361945
+v -0.06538588 0.00824313 -0.02702343
+v -0.06554508 0.00446719 -0.02702344
+v -0.06498553 0.00141199 -0.02361948
+v -0.06487835 0.00446718 -0.02361947
+v -0.06516995 0.00943587 -0.02702343
+v -0.06365838 0.01383475 -0.02361944
+v -0.06547257 0.00197967 -0.02702345
+v -0.06497765 0.00081243 -0.02361949
+v -0.06309411 0.01943913 -0.02702339
+v -0.06300111 0.01688994 -0.02361943
+v -0.06543632 0.00128443 -0.02702346
+v -0.06541110 0.00081244 -0.02702346
+v -0.05628341 0.00081243 -0.02361949
+v -0.06232493 0.01944125 -0.02361942
+v -0.06149743 0.02197343 -0.02361941
+v -0.06130041 0.02253046 -0.02361941
+v -0.06275523 0.02033209 -0.02702339
+v -0.05414138 0.00081244 -0.02702346
+v -0.04960039 0.02186075 -0.02702338
+v -0.04946168 0.02253047 -0.02702338
+v -0.05205136 0.02253046 -0.02361941
+v -0.06169446 0.02253047 -0.02702338
+v -0.06226819 0.02144404 -0.02702338
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 20
+f 1 20 26
+f 1 26 25
+f 1 25 23
+f 1 23 22
+f 1 22 21
+f 1 21 15
+f 1 15 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 11
+f 2 11 16
+f 2 16 24
+f 2 24 19
+f 2 19 18
+f 2 18 17
+f 2 17 13
+f 2 13 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 5 10 11
+f 5 11 6
+f 8 9 12
+f 9 13 12
+f 10 14 11
+f 11 14 15
+f 11 15 21
+f 11 21 16
+f 12 13 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 19 24 23
+f 19 23 25
+f 19 25 26
+f 19 26 20
+
diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_44.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f446e558ee116803fa712f02180a7064a7abbade
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_44.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03822598 0.03985620 -0.02696590
+v 0.03852695 0.03935180 -0.02696591
+v 0.03822598 0.04288259 -0.02361933
+v 0.03822598 0.05486362 -0.02696585
+v 0.04914663 0.02382175 -0.02696596
+v 0.03822598 0.05421943 -0.02361929
+v 0.05134389 0.02382174 -0.02361940
+v 0.04004081 0.05396117 -0.02696585
+v 0.06134355 0.02382175 -0.02696596
+v 0.03853373 0.05403105 -0.02361929
+v 0.06063753 0.02382174 -0.02361940
+v 0.04053864 0.05365124 -0.02696585
+v 0.06121909 0.02434742 -0.02696596
+v 0.04097086 0.05331092 -0.02696585
+v 0.04092107 0.05215018 -0.02361930
+v 0.06076878 0.02576947 -0.02696596
+v 0.06045650 0.02434741 -0.02361940
+v 0.04625241 0.04851608 -0.02696587
+v 0.04259334 0.05077979 -0.02361930
+v 0.04354827 0.04995027 -0.02361931
+v 0.06049270 0.02654430 -0.02696595
+v 0.06030262 0.02477889 -0.02361940
+v 0.04417057 0.04937294 -0.02361931
+v 0.04519791 0.04841580 -0.02361931
+v 0.04785905 0.04700592 -0.02696588
+v 0.05938390 0.02710946 -0.02361939
+v 0.05981158 0.02615231 -0.02361939
+v 0.05669559 0.03456912 -0.02696592
+v 0.05671596 0.03282802 -0.02361937
+v 0.05741293 0.03134824 -0.02361937
+v 0.04673214 0.04689348 -0.02361932
+v 0.04831389 0.04656533 -0.02696588
+v 0.05565241 0.03664749 -0.02696592
+v 0.05598052 0.03424094 -0.02361936
+v 0.04761240 0.04593330 -0.02361932
+v 0.04878005 0.04603054 -0.02696588
+v 0.05439651 0.03709111 -0.02361935
+v 0.05495544 0.03613396 -0.02361936
+v 0.05467258 0.03816981 -0.02696591
+v 0.04876647 0.04449606 -0.02361933
+v 0.04948833 0.04520102 -0.02696588
+v 0.05420869 0.03737673 -0.02361935
+v 0.05290075 0.03920898 -0.02361935
+v 0.04898597 0.04422259 -0.02361933
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 8
+f 1 8 12
+f 1 12 14
+f 1 14 18
+f 1 18 25
+f 1 25 32
+f 1 32 36
+f 1 36 41
+f 1 41 39
+f 1 39 33
+f 1 33 28
+f 1 28 21
+f 1 21 16
+f 1 16 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
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+f 3 5 7
+f 3 7 11
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+f 3 17 22
+f 3 22 27
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+f 3 15 10
+f 3 10 6
+f 4 6 8
+f 5 9 11
+f 5 11 7
+f 6 10 8
+f 8 10 12
+f 9 13 11
+f 10 14 12
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_5.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5a4ddc0bae34bb9a07231b212b1eed4dbfdaa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_5.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_6.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321213d76788ffd400ecdf3673314e4f099e6010
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_6.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_7.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35f3b89a40d84cd09cc71c7828d2a8e096bcb34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_8.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935fecc46b549df1560a837aa8efac473401a12d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_8.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_9.obj b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584b5a9882282e9c8fe5b71486f0e5ba46091b8e
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mjcf/mesh/basket_020_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/textures/material_0.png b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/video.mp4 b/dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/video.mp4
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