diff --git a/.gitattributes b/.gitattributes
index 8ac5a2c6d73b64c1cb9d9d0ca330070e892145eb..61ec7dfe7ae69346e2abc7f4e9aa4080a0e99278 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2706,3 +2706,6 @@ dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_b
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.urdf b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9efcf815d44361b7536011f8b22d4e134b44ec3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.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>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.442490</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven wooden basket with two curved handles</description>
+         <min_height>0.180</min_height>
+         <max_height>0.252</max_height>
+         <real_height>0.216</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260116162817</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.897802829742432</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.usd b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1cc3ed63ca8d6f898b5f1a13a9ddb38afbd2f437
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14cf45b67b396be98799812c8951f94d354a539964af2a3de816323547c982c5
+size 747075
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.glb b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7b14938370f9856c51c474e9beef9b5cba844744
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b143279821d0ce4ff8772af0c5319d2153b3a4b3a8ef1126f3cc16f8bbb93a1
+size 4570432
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f02cf9a95132688366c6915eddadc0ca08852c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.obj
@@ -0,0 +1,49752 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c412627eecb6621659674a11c566c92620fab89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_collision.obj
@@ -0,0 +1,16413 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..74aee99eae711856838a3931ce455c9f3244f591
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d48b2bc1bdd77d578ca0c6fce1aa4a7ec03bd5de0c1775b8ba79aaafaba48e
+size 3729289
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/material.mtl b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/material_0.png b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f2732d6ebbc7551b81717d0bcd64f08a0ebe0ef7fd9af15efb05e4a2c028ee0c
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/1b55e3ce75a35111b880ea7ea86b08ea.xml b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/1b55e3ce75a35111b880ea7ea86b08ea.xml
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+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/1b55e3ce75a35111b880ea7ea86b08ea.xml
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be64fb5a3024ea43ea98870f139f739c76214191
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket.obj
@@ -0,0 +1,49752 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be635b5c5f715d83d94c25990fd2734d77b83581
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,16413 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e0669a58b138b8e9daed18ec92cc32971c0d5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..befccadf44fdcb4a100c46107e50e6dd4a322412
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94257cc8dc92b7635a05e7471236c96d3ce74386
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245b3f0173f6101985b9bec97d77c156af79b636
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f529127e9e92d006517534e90c8b49066cb1717
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9e944975c4fe6ff11928355079f9db8e568667
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba7cc45680f670ac4f7e33b40d4bcb2157a79a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026258b9a82c25643796d6582cb08b31a12279e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bb89b4355e0e148e10aed28a880a625e675c94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58539a6079e75d4666a8f45999f52e24b694f1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f614d76dfc1f2d9bbdc1c2069f005743e71f12e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc4d88cb7f1fee7a4b6e943fd5cac252ad973d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aeb771e73d81b3c6642eaf606f2af8a36cd38bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f6d719d5c5b884223a16011d5cb5fa75dac3c88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.00929037 0.12673966 -0.01315993
+v 0.00929037 0.13571091 0.01075511
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b54763c0dbd691572a62e5bb0cb4c3256dccae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb91cd800cc1588c2f5dccc93dbe919843e9e162
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7a79185c3e69d76376b0136d981f84201be21c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.10302688 0.04750621 -0.08042999
+v -0.08742247 0.04750621 -0.08042999
+v -0.10842840 0.04104352 -0.08043001
+v -0.10592136 0.04750617 -0.07110153
+v -0.09994245 0.04750605 -0.03712894
+v -0.10126435 0.03422057 -0.03712050
+v -0.09445357 -0.00220974 -0.08043017
+v -0.11055938 0.03841076 -0.08043002
+v -0.11540252 0.03767099 -0.06632708
+v -0.11490111 0.04234764 -0.05365307
+v -0.10664309 0.04750616 -0.06802313
+v -0.10548454 0.04750605 -0.03712046
+v -0.10066037 0.04474675 -0.03712047
+v -0.10909315 -0.00165026 -0.03712064
+v -0.10923369 -0.00220990 -0.03712064
+v -0.11271316 -0.00220974 -0.08043017
+v -0.11121273 0.03708221 -0.08043002
+v -0.11253463 0.03422073 -0.08043003
+v -0.11689155 0.03422067 -0.06632709
+v -0.11817926 0.03422065 -0.06108617
+v -0.12025705 0.03278987 -0.05454355
+v -0.11913269 0.03441529 -0.05611665
+v -0.12017730 0.03729620 -0.04361651
+v -0.11729799 0.04147163 -0.03712048
+v -0.11578617 0.04314082 -0.03712047
+v -0.11160018 0.04750605 -0.03781586
+v -0.11135708 0.04750606 -0.04014374
+v -0.10951478 0.04750611 -0.05344527
+v -0.11839956 0.04021606 -0.03712048
+v -0.11166095 0.04750605 -0.03712046
+v -0.12622457 -0.00220990 -0.03712064
+v -0.12075467 -0.00220980 -0.06479227
+v -0.11279292 0.02896006 -0.08043005
+v -0.11263719 0.03260991 -0.08043004
+v -0.12043559 0.00265181 -0.06439368
+v -0.12156755 0.03422057 -0.03712050
+v -0.12129405 0.03422058 -0.04014378
+v -0.12282867 -0.00220983 -0.05625672
+v -0.12555984 0.00152758 -0.04358271
+v -0.12111173 0.03554424 -0.03712050
+v -0.12034823 0.03758329 -0.03712049
+v -0.12559021 -0.00220988 -0.04370993
+v -0.12612579 -0.00086189 -0.03712063
+v -0.12578394 0.00204341 -0.03712062
+f 1 2 7
+f 1 7 16
+f 1 16 33
+f 1 33 34
+f 1 34 18
+f 1 18 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 28
+f 1 28 27
+f 1 27 26
+f 1 26 30
+f 1 30 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 30
+f 6 30 25
+f 6 25 24
+f 6 24 29
+f 6 29 41
+f 6 41 40
+f 6 40 36
+f 6 36 44
+f 6 44 43
+f 6 43 31
+f 6 31 15
+f 6 15 14
+f 6 14 7
+f 7 14 15
+f 7 15 31
+f 7 31 42
+f 7 42 38
+f 7 38 32
+f 7 32 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 10 23 29
+f 10 29 24
+f 16 32 33
+f 18 34 32
+f 18 32 35
+f 18 35 19
+f 19 21 20
+f 19 35 21
+f 21 36 37
+f 21 37 23
+f 21 23 22
+f 21 35 32
+f 21 32 38
+f 21 38 39
+f 21 39 36
+f 23 37 36
+f 23 36 40
+f 23 40 41
+f 23 41 29
+f 25 30 26
+f 31 43 39
+f 31 39 42
+f 32 34 33
+f 36 39 44
+f 38 42 39
+f 39 43 44
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11f86ea8f60b45c4903a454cfb9764a8b1e7124
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.05097466 0.10602609 -0.08043454
+v -0.05075982 0.10602609 -0.08203744
+v -0.06177718 0.10125438 -0.08043456
+v -0.01388758 0.10602609 -0.08043454
+v -0.05043083 0.10602610 -0.08410247
+v -0.06177718 0.09990899 -0.08432490
+v -0.06177718 0.09265589 -0.08043459
+v -0.05010187 0.10602611 -0.08597548
+v -0.01729148 0.10354470 -0.08043455
+v 0.00681110 0.10602609 -0.08165286
+v -0.06177718 0.09928995 -0.08570919
+v -0.06177718 0.09265591 -0.08597553
+v -0.04996759 0.09265589 -0.08043459
+v -0.06177718 0.09915516 -0.08597551
+v 0.00681110 0.10602611 -0.08597548
+v -0.01807700 0.10309317 -0.08043455
+v -0.00217198 0.09553517 -0.08597552
+v 0.00681110 0.09898633 -0.08597551
+v -0.02816785 0.09880047 -0.08043457
+v -0.02884594 0.09858452 -0.08043457
+v -0.01856710 0.09265590 -0.08483696
+v -0.01311549 0.09265591 -0.08597553
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 19
+f 1 19 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
+f 3 11 14
+f 3 14 12
+f 3 12 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
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+f 7 12 22
+f 7 22 21
+f 7 21 13
+f 8 14 11
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+f 8 17 22
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+f 8 12 14
+f 9 16 10
+f 10 17 18
+f 10 18 15
+f 10 16 19
+f 10 19 20
+f 10 20 13
+f 10 13 21
+f 10 21 17
+f 17 21 22
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1197cb2ef63f65202b96c2fe5cd7ac505977d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.11178716 0.06580173 -0.03389048
+v 0.11009602 0.07106594 -0.03389046
+v 0.11149917 0.06175731 -0.03389049
+v 0.10534124 0.06127296 -0.05879236
+v 0.10519418 0.06350386 -0.05862345
+v 0.10770637 0.07398249 -0.03389045
+v 0.10013915 0.06877057 -0.06933283
+v 0.10513291 0.07373410 -0.04290625
+v 0.11146242 0.06127286 -0.03389049
+v 0.10083154 0.06127300 -0.07032801
+v 0.10061708 0.06580187 -0.07003583
+v 0.09047025 0.08664988 -0.03389040
+v 0.08100968 0.08665006 -0.08052605
+v 0.09399345 0.06182457 -0.08052614
+v 0.09197757 0.06595097 -0.08052613
+v 0.09047637 0.06127286 -0.03389049
+v 0.09417115 0.06127304 -0.08052614
+v 0.07562990 0.08664988 -0.03389040
+v 0.04919055 0.08665006 -0.08052605
+v 0.08909161 0.06285040 -0.03389049
+v 0.08391403 0.06286036 -0.04243609
+v 0.08729631 0.06127289 -0.04066490
+v 0.07104667 0.06127304 -0.08052614
+v 0.06597326 0.08664993 -0.04712879
+v 0.08710023 0.06580173 -0.03389048
+v 0.05210103 0.08196717 -0.08052607
+v 0.05706416 0.08664999 -0.06170929
+v 0.08750464 0.06519059 -0.03389048
+v 0.05735213 0.08664998 -0.06122540
+v 0.05789747 0.08410358 -0.06350788
+v 0.06024422 0.08664997 -0.05637740
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 25
+f 1 25 28
+f 1 28 20
+f 1 20 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
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+f 4 17 10
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+f 21 26 23
+f 21 23 22
+f 21 28 25
+f 21 25 29
+f 24 31 25
+f 25 31 29
+f 26 30 27
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2e2df399ec5cc38d65b9a8d15e78394453f544
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.06272584 0.10602598 -0.05261870
+v 0.06272584 0.10696424 -0.05066444
+v 0.07631260 0.10761820 -0.04537713
+v 0.07631260 0.10602597 -0.04849777
+v 0.06272584 0.10602584 -0.01316282
+v 0.06272584 0.10698944 -0.05061036
+v 0.08154321 0.11155183 -0.02824070
+v 0.08463792 0.11090205 -0.02757254
+v 0.08125535 0.10603156 -0.04504885
+v 0.07852823 0.10602596 -0.04752837
+v 0.07108198 0.10822738 -0.04537713
+v 0.06272584 0.12033087 -0.01318209
+v 0.08796134 0.10602584 -0.01316282
+v 0.06272584 0.11716177 -0.01316278
+v 0.06272584 0.10883515 -0.04550843
+v 0.08128105 0.10602596 -0.04503341
+v 0.08463792 0.11090205 -0.02599677
+v 0.08898176 0.10602589 -0.02669199
+v 0.08880440 0.10602589 -0.02752622
+v 0.08123992 0.10602596 -0.04507588
+v 0.06466130 0.11847815 -0.01316277
+v 0.08019637 0.11169883 -0.01316280
+v 0.08089294 0.11145236 -0.01396228
+v 0.08804617 0.10602584 -0.01396230
+v 0.08780969 0.10617288 -0.01316282
+v 0.08350952 0.11014439 -0.01396229
+v 0.08650911 0.10743323 -0.01316282
+v 0.08898176 0.10602589 -0.02596976
+v 0.08297232 0.11028725 -0.01316280
+v 0.08337073 0.11006457 -0.01316281
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 16
+f 1 16 19
+f 1 19 18
+f 1 18 28
+f 1 28 24
+f 1 24 13
+f 1 13 5
+f 1 5 14
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+f 1 15 6
+f 1 6 2
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+f 22 29 26
+f 22 26 23
+f 26 29 30
+f 26 30 27
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1063f4441d7a04f7662a7903795a10feb97d605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.11586954 -0.00221013 0.02536208
+v 0.12079175 0.02617454 0.02531526
+v 0.12080784 0.02896004 0.02532113
+v 0.12081105 0.03237452 0.02532701
+v 0.11545479 -0.00221013 0.02536208
+v 0.11845120 -0.00221013 0.02498665
+v 0.11892060 -0.00221013 0.02475788
+v 0.12340237 0.01843757 0.02357889
+v 0.12288154 0.02413152 0.02405993
+v 0.12342487 0.02896004 0.02379011
+v 0.11816828 0.04610340 0.02488125
+v 0.11816828 0.04474612 0.02494577
+v 0.12066637 0.03237452 0.02532701
+v 0.12289439 0.03416689 0.02390745
+v 0.12340237 0.03948252 0.02306863
+v 0.11816828 0.03948251 0.02509827
+v 0.11552872 0.00049498 0.02532689
+v 0.11258375 0.04610341 0.02249378
+v 0.11287953 -0.00221013 0.02336176
+v 0.12340237 0.01317397 0.02328557
+v 0.12313230 -0.00221012 0.02233521
+v 0.12672673 0.01843758 0.02103303
+v 0.12680388 0.02369644 0.02114451
+v 0.12682318 0.02896005 0.02117386
+v 0.12368529 0.04610341 0.02205382
+v 0.12670422 0.03422366 0.02095097
+v 0.12387497 0.04497313 0.02203622
+v 0.11021427 0.04610342 0.02022362
+v 0.10990885 -0.00221012 0.02070447
+v 0.11017568 -0.00221012 0.02095083
+v 0.12655311 0.01317398 0.02081597
+v 0.12610944 0.00451954 0.02021174
+v 0.12628948 0.00791037 0.02046986
+v 0.12571077 -0.00221011 0.01944913
+v 0.12823457 0.01317400 0.01746061
+v 0.12849178 0.01843760 0.01746063
+v 0.12854323 0.02369646 0.01746065
+v 0.12844034 0.02896007 0.01746067
+v 0.12643415 0.03948252 0.02054623
+v 0.12618337 0.04337466 0.02025881
+v 0.12509025 0.04610341 0.02079850
+v 0.12821207 0.03422368 0.01746069
+v 0.12781019 0.03948254 0.01746071
+v 0.10886074 0.04610342 0.01780683
+v 0.10874821 -0.00221010 0.01746055
+v 0.12780055 0.00791039 0.01746059
+v 0.12579435 -0.00221011 0.01928488
+v 0.12708680 0.00271772 0.01783013
+v 0.13031793 0.00806175 0.01177055
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+v 0.13040151 0.01843761 0.01278542
+v 0.13146249 0.01843762 0.01016329
+v 0.13146569 0.02369648 0.01015745
+v 0.13139175 0.02896009 0.00994630
+v 0.12703215 0.04497314 0.01790068
+v 0.12638272 0.04610342 0.01910322
+v 0.13129851 0.03208137 0.00971753
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+v 0.12904799 0.04610345 0.01222237
+v 0.10491909 0.00265156 0.00470784
+v 0.09934098 0.04610359 -0.02730875
+v 0.09985861 0.03685322 -0.01657395
+v 0.10499303 -0.00038459 0.00456705
+v 0.10609580 -0.00221006 0.00645590
+v 0.12964276 0.00265154 0.01222221
+v 0.12699679 -0.00221010 0.01686809
+v 0.13129208 0.00992033 0.00972332
+v 0.13138212 0.01317402 0.00995797
+v 0.13146249 0.01843763 0.00879651
+v 0.13146569 0.02369649 0.00879653
+v 0.13139175 0.02896010 0.00907811
+v 0.12698715 0.04610343 0.01765430
+v 0.13129851 0.03208138 0.00941250
+v 0.12948202 0.04610346 0.00698401
+v 0.09985861 0.03684850 -0.01657395
+v 0.10055628 -0.00220997 -0.01919036
+v 0.09898091 0.04610360 -0.02966689
+v 0.09882015 0.04610360 -0.03101608
+v 0.09868190 0.03948271 -0.02966691
+v 0.10161724 -0.00220999 -0.01395786
+v 0.12891617 -0.00221009 0.01265042
+v 0.12910907 -0.00221008 0.01222219
+v 0.12952702 -0.00221007 0.00698383
+v 0.13129208 0.00992034 0.00941828
+v 0.13138212 0.01317403 0.00908393
+v 0.13062335 0.01317404 0.00646768
+v 0.13066836 0.01843764 0.00617441
+v 0.13066193 0.02369650 0.00618029
+v 0.13061050 0.02896011 0.00646188
+v 0.13058477 0.03399197 0.00739458
+v 0.13002857 0.03948257 0.00698399
+v 0.12959455 0.04474618 0.00698400
+v 0.12036737 0.03429949 -0.02470428
+v 0.12750799 0.04610348 0.00246718
+v 0.09920919 -0.00220993 -0.02966707
+v 0.09958533 -0.00220994 -0.02655221
+v 0.09865940 0.04610362 -0.03456503
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+v 0.09885553 0.00265171 -0.03456519
+v 0.09889731 -0.00220991 -0.03456521
+v 0.13007037 0.00265155 0.00698385
+v 0.11722629 -0.00220991 -0.03456521
+v 0.13062656 0.00806176 0.00740036
+v 0.11748027 0.00265171 -0.03456519
+v 0.12049277 0.02901224 -0.02470430
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+v 0.11028498 0.04610362 -0.03456503
+v 0.11675044 0.03948270 -0.02786604
+v 0.11587917 0.04248575 -0.02732049
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010f733246803cb182e7be18f182a7d65868e377
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b5f8de6257f4578a3e30c5329e1e3f6ab615193
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529c21e8ec0b84e674ad81ff85053997519860f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf6b29e6525b856d4bc03e4266675c3b234b375
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b659b14011db57bfec7f3c7450c15afb52d02cdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+v -0.00943871 -0.12552313 -0.01051444
+v -0.00943871 -0.12576631 -0.00927234
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+v -0.00943871 -0.12760942 -0.00065778
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+v 0.01642304 -0.13702931 -0.01172085
+v -0.00943871 -0.13876462 -0.01172086
+v 0.02420924 -0.11908203 -0.00372780
+v -0.00943871 -0.14131237 -0.00065783
+v 0.02420924 -0.12043880 -0.00065775
+v 0.02420924 -0.13454242 -0.00065780
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+v -0.00739993 -0.14000808 -0.01172086
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+v -0.00288434 -0.14441274 -0.00065784
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+v 0.00332419 -0.14179037 -0.01172087
+v 0.00569563 -0.14127918 -0.01172087
+f 1 2 7
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+f 1 15 9
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06ad7e2d104d3592ce38e379877c68865d07511
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04156519 -0.09592766 -0.08363454
+v 0.03986259 -0.09630844 -0.08363454
+v 0.04884998 -0.09592769 -0.07572432
+v 0.07451428 -0.09592766 -0.08363454
+v 0.01947352 -0.10095595 -0.08363456
+v 0.07659365 -0.09592769 -0.07572432
+v 0.02445566 -0.10468126 -0.07572435
+v 0.07454219 -0.09592766 -0.08355788
+v 0.07476547 -0.09670133 -0.08203779
+v 0.07443055 -0.09611916 -0.08363454
+v 0.00530861 -0.10638484 -0.08363458
+v 0.00530861 -0.10716954 -0.08253033
+v 0.02374393 -0.10494870 -0.07572436
+v 0.07611917 -0.09772595 -0.07572433
+v 0.07632153 -0.09592769 -0.07714839
+v 0.07508646 -0.09592767 -0.08203778
+v 0.07468174 -0.10081182 -0.07572434
+v 0.07454219 -0.10098021 -0.07592644
+v 0.07369089 -0.09997652 -0.07941732
+v 0.07295126 -0.09933270 -0.08203779
+v 0.07220464 -0.09857003 -0.08363455
+v 0.00530861 -0.10716953 -0.08363458
+v 0.01855941 -0.10716956 -0.07572436
+v 0.01912461 -0.10690103 -0.07572436
+v 0.02218090 -0.10558039 -0.07572436
+v 0.07457709 -0.10101541 -0.07572434
+v 0.07145800 -0.10267831 -0.07572435
+v 0.07159757 -0.10214896 -0.07732343
+v 0.07033459 -0.10107594 -0.08203780
+v 0.06972753 -0.10063571 -0.08363456
+v 0.07090677 -0.09984884 -0.08363456
+v 0.05408332 -0.10716953 -0.08363458
+v 0.05776760 -0.10716956 -0.07572436
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+f 1 6 15
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+f 1 8 4
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+f 1 10 21
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+f 20 31 21
+f 27 33 32
+f 27 32 28
+f 28 32 29
+f 29 32 30
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3498baf406e60fb6cc2670b5b34dceefd211cdc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.05765909 -0.07504252 -0.08363447
+v 0.05057013 -0.08158207 -0.08363449
+v 0.05655395 -0.08564811 -0.07572428
+v 0.05933098 -0.08333401 -0.07572428
+v 0.06973068 -0.07504255 -0.07572966
+v 0.08255318 -0.07504252 -0.08363447
+v 0.05017340 -0.08197457 -0.08363449
+v 0.05549603 -0.08680924 -0.07572429
+v 0.06971179 -0.07507320 -0.07572425
+v 0.07530362 -0.07504255 -0.07572425
+v 0.08981218 -0.07504255 -0.07572425
+v 0.07533669 -0.09396613 -0.08363454
+v 0.04597479 -0.08663750 -0.08363451
+v 0.05427281 -0.08815436 -0.07572429
+v 0.07659294 -0.09592455 -0.07572432
+v 0.07631904 -0.09592455 -0.07714839
+v 0.07509109 -0.09592453 -0.08203778
+v 0.07454324 -0.09592452 -0.08355788
+v 0.07451491 -0.09592452 -0.08363454
+v 0.04157311 -0.09592452 -0.08363454
+v 0.04885573 -0.09592455 -0.07572432
+v 0.05083460 -0.09285409 -0.07572431
+v 0.05216643 -0.09085482 -0.07572430
+f 1 2 3
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+f 1 10 11
+f 1 11 6
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+f 13 22 23
+f 13 23 14
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05a0c8515a4277232f869b85b85f56d0ca74cda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.08344283 -0.09734683 -0.04164358
+v 0.08338480 -0.09559926 -0.04164357
+v 0.08337835 -0.09782592 -0.04164358
+v 0.08430033 -0.10039232 -0.04760159
+v 0.08440348 -0.09734681 -0.04734471
+v 0.08442282 -0.09559924 -0.04732802
+v 0.05856271 -0.09559926 -0.04164357
+v 0.08167627 -0.10294971 -0.04164360
+v 0.08430033 -0.10039231 -0.04824542
+v 0.07999997 -0.10601218 -0.04656746
+v 0.08440348 -0.09734680 -0.04845891
+v 0.08442282 -0.09559923 -0.04851562
+v 0.05544866 -0.09559922 -0.05061726
+v 0.02663571 -0.10524535 -0.06420125
+v 0.02399230 -0.10693971 -0.06108882
+v 0.02372152 -0.10716849 -0.06067849
+v 0.02399230 -0.10716849 -0.06022814
+v 0.02922751 -0.10716851 -0.05499404
+v 0.04704139 -0.10716856 -0.04164361
+v 0.07756287 -0.10533265 -0.04164361
+v 0.08082522 -0.10228933 -0.06108881
+v 0.08315915 -0.09734676 -0.06108879
+v 0.07999997 -0.10601217 -0.04902605
+v 0.07631212 -0.10670416 -0.04573682
+v 0.08321072 -0.09559919 -0.06108878
+v 0.04906584 -0.09559913 -0.07572021
+v 0.02445651 -0.10468129 -0.07572024
+v 0.02374730 -0.10494858 -0.07572025
+v 0.02218062 -0.10558056 -0.07572025
+v 0.01912459 -0.10690114 -0.07572025
+v 0.01855723 -0.10716843 -0.07572025
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+v 0.06104491 -0.10716856 -0.04164361
+v 0.07631212 -0.10553084 -0.04164361
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+v 0.08099285 -0.09734674 -0.06577578
+v 0.07671185 -0.09559913 -0.07572021
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+v 0.07107691 -0.10692385 -0.06108882
+v 0.07573186 -0.10590113 -0.06108882
+v 0.07502265 -0.10569384 -0.06457821
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+v 0.07468739 -0.10081238 -0.07572023
+v 0.07612515 -0.09772612 -0.07572022
+v 0.07145730 -0.10267775 -0.07572024
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+f 33 44 43
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+f 39 45 40
+f 40 42 41
+f 40 45 46
+f 40 46 42
+f 42 50 47
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18924f68a616260abce82e3ca966aeb6bc6ba9e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.11503784 0.02546254 -0.03456959
+v 0.11405554 0.01841508 -0.03456961
+v 0.11688473 0.02896530 -0.03603623
+v 0.11033460 0.06127040 -0.03456945
+v 0.11370246 0.01841510 -0.03988737
+v 0.11576212 0.02070970 -0.03797530
+v 0.11576212 0.02070970 -0.03714750
+v 0.11636416 0.02370068 -0.03644566
+v 0.10247625 0.01841508 -0.03456961
+v 0.11728308 0.02896532 -0.04014376
+v 0.11660408 0.03422574 -0.03638713
+v 0.11605635 0.03781240 -0.03693599
+v 0.11694811 0.03422576 -0.04014374
+v 0.11577117 0.03296733 -0.05350111
+v 0.10534165 0.06127049 -0.05879176
+v 0.09049861 0.06127040 -0.03456945
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+v 0.08691348 0.01841525 -0.08051730
+v 0.11577117 0.03021127 -0.05350112
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+v 0.10617908 0.03809364 -0.08052623
+v 0.10599350 0.03949054 -0.08038225
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+v 0.10083307 0.06127053 -0.07032703
+v 0.10573547 0.01841523 -0.07710709
+v 0.09416976 0.06127057 -0.08052614
+v 0.08690441 0.01843622 -0.08052630
+v 0.09184305 0.01841525 -0.08052630
+v 0.10532807 0.02008061 -0.07965349
+v 0.10586222 0.02370084 -0.08011237
+v 0.10633752 0.02749726 -0.08052627
+v 0.10656839 0.02896547 -0.08052626
+v 0.10578074 0.03949054 -0.08052622
+v 0.10310094 0.01841525 -0.08052630
+v 0.10346307 0.01880117 -0.08052630
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+f 27 38 31
+f 27 31 28
+f 28 31 29
+f 30 39 40
+f 30 40 34
+f 34 40 35
+f 35 40 36
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ecc96cca079878a92ac8a6b60d9d9980c8516b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.07342013 -0.03915329 -0.08363433
+v 0.06584951 -0.05074282 -0.08363438
+v 0.08570881 -0.03915332 -0.07572411
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+v 0.06297334 -0.05524652 -0.08363439
+v 0.10589870 -0.03915332 -0.07572411
+v 0.06973636 -0.07504254 -0.07572966
+v 0.07173882 -0.07162786 -0.07572423
+v 0.09762911 -0.03948703 -0.08363434
+v 0.06139120 -0.06050555 -0.08363441
+v 0.09724185 -0.06598241 -0.07572421
+v 0.09675067 -0.06604915 -0.07706541
+v 0.09554163 -0.06448583 -0.08035497
+v 0.09615560 -0.06050556 -0.08100308
+v 0.05765548 -0.07504251 -0.08363447
+v 0.07530452 -0.07504254 -0.07572425
+v 0.09553691 -0.04980132 -0.08363437
+v 0.09591002 -0.06948492 -0.07572423
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+v 0.08981291 -0.07504254 -0.07572425
+v 0.09158395 -0.07367597 -0.07572424
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+f 24 26 25
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36376105ac3696e3738a513f0fd40f4f8c74a56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.09024213 0.06126889 -0.02966536
+v 0.09049565 0.06126891 -0.03456497
+v 0.09866212 0.04610362 -0.03456503
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+v 0.09883113 0.04610360 -0.03092816
+v 0.09898095 0.04610360 -0.02966542
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+v 0.10886063 0.04610342 0.01781164
+v 0.09271589 0.06126885 -0.01877806
+v 0.11033566 0.06126891 -0.03456497
+v 0.11028189 0.04610362 -0.03456503
+v 0.11016280 0.04610342 0.02013924
+v 0.10563782 0.06126871 0.01786989
+v 0.09408336 0.06126883 -0.01485024
+v 0.11039711 0.06078642 -0.03456498
+v 0.11195666 0.06126890 -0.03365720
+v 0.11065449 0.04987898 -0.03456502
+v 0.12750983 0.04610348 0.00246699
+v 0.11020890 0.04610342 0.02022070
+v 0.10789648 0.06126870 0.02123326
+v 0.11042401 0.06057263 -0.03456498
+v 0.11192977 0.06053699 -0.03364557
+v 0.11067370 0.05071779 -0.03456501
+v 0.12663020 0.06126877 0.00346790
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+v 0.12870062 0.05527390 0.00698255
+v 0.12915389 0.05001244 0.00698253
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+v 0.12513980 0.05527386 0.01852741
+v 0.12465964 0.06126872 0.01737529
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4023ba85c5a17e906f1cb7334d368d2348a67bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.07109749 -0.09204947 -0.04013341
+v -0.07183629 -0.09434998 -0.04013342
+v -0.06909465 -0.09434998 -0.04014158
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+v -0.09304799 -0.09434996 -0.04511686
+v -0.08340893 -0.09434983 -0.08186356
+v -0.07680011 -0.07209627 -0.08186347
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+v -0.09281711 -0.07209642 -0.04013333
+v -0.10919197 -0.07252994 -0.04013334
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+v -0.11127562 -0.07209641 -0.04426713
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+v -0.11024823 -0.07462566 -0.04538228
+v -0.09189939 -0.09434994 -0.05061905
+v -0.11044447 -0.07488706 -0.05061898
+v -0.11021936 -0.07461473 -0.05404202
+v -0.08864981 -0.09434989 -0.06404165
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+v -0.10105360 -0.07209627 -0.08186347
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332bd614ef90b3a129c2788fdad935f3d46dcf7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02305659 0.12112155 -0.01316277
+v -0.02305659 0.13294466 -0.01316272
+v -0.02411612 0.12042856 -0.01316277
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+v -0.02305659 0.12881835 -0.02970675
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+v -0.02757361 0.11855510 -0.01316277
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+v -0.02305659 0.12050497 -0.01418793
+v -0.02305659 0.12744819 -0.03484915
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+v -0.02305659 0.12553523 -0.04154455
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+v -0.02973174 0.10858447 -0.04154461
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28401c4a3942c5ab509552bf92ffa28d52c03e12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01709606 -0.11840001 0.08441140
+v 0.01898650 -0.12227191 0.08441138
+v 0.01884335 -0.11302288 0.08441141
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065579d07d6a6c92343427ca5741eb75f5802a2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00433008 -0.12781360 -0.08513196
+v -0.00433008 -0.10716953 -0.08513188
+v -0.00640777 -0.12748802 -0.08513196
+v -0.01263551 -0.12791922 -0.10298401
+v -0.00740420 -0.12860841 -0.10298401
+v -0.00433008 -0.12876696 -0.10298401
+v -0.00433008 -0.10716945 -0.10534143
+v -0.05495771 -0.10716953 -0.08513188
+v -0.04397566 -0.12000625 -0.08513193
+v -0.04214709 -0.12128315 -0.08899776
+v -0.01832794 -0.12683892 -0.10270496
+v -0.02091444 -0.12639074 -0.10426379
+v -0.02091444 -0.12639073 -0.10574805
+v -0.00740420 -0.12723849 -0.10662130
+v -0.01786682 -0.12662327 -0.10603914
+v -0.01263551 -0.12696787 -0.10640239
+v -0.00433008 -0.12820039 -0.10448512
+v -0.00433008 -0.11839735 -0.10832203
+v -0.03949168 -0.10716944 -0.10912064
+v -0.05571563 -0.10716952 -0.08792238
+v -0.05192599 -0.11582881 -0.08975069
+v -0.05479340 -0.10747818 -0.08513188
+v -0.04891017 -0.11731503 -0.08513192
+v -0.04214709 -0.12128315 -0.09028476
+v -0.03749351 -0.12143531 -0.10617624
+v -0.03356075 -0.12202514 -0.10685943
+v -0.02833474 -0.12277564 -0.10745602
+v -0.00740420 -0.12365932 -0.10839422
+v -0.00433008 -0.12725750 -0.10660927
+v -0.01786682 -0.12365932 -0.10805983
+v -0.01263551 -0.12365932 -0.10829799
+v -0.02283312 -0.12397854 -0.10734778
+v -0.00433008 -0.12148604 -0.10836775
+v -0.01786682 -0.11839735 -0.10928908
+v -0.04472301 -0.10716944 -0.10963786
+v -0.05847704 -0.10716946 -0.10298393
+v -0.05448069 -0.10806166 -0.08513189
+v -0.05192599 -0.11582881 -0.08997683
+v -0.04702329 -0.11609300 -0.10598376
+v -0.04402337 -0.11719866 -0.10685460
+v -0.03905707 -0.11882017 -0.10759794
+v -0.03356075 -0.11839735 -0.10903648
+v -0.02833474 -0.11839735 -0.10955851
+v -0.00433008 -0.12365932 -0.10830522
+v -0.00433008 -0.12577976 -0.10734057
+v -0.02310342 -0.11839735 -0.10959941
+v -0.04402337 -0.10787345 -0.10965470
+v -0.04995429 -0.10716944 -0.10936121
+v -0.05784102 -0.10716945 -0.10566378
+v -0.05275812 -0.11114603 -0.10633015
+v -0.05667495 -0.10716945 -0.10709754
+v -0.05547713 -0.10716944 -0.10760511
+v -0.04402337 -0.11313539 -0.10898837
+v -0.03879206 -0.11313539 -0.10970766
+v -0.04925468 -0.10787345 -0.10932754
+f 1 2 8
+f 1 8 22
+f 1 22 37
+f 1 37 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 29
+f 1 29 45
+f 1 45 44
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+f 1 7 2
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+f 49 51 50
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+f 53 55 54
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b4cc5c449011e86fe1c3ed581821bfff2aaf65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03893340 0.10602600 -0.05712684
+v 0.03445419 0.10602601 -0.05954797
+v 0.03893340 0.10602618 -0.10560419
+v 0.03893340 0.10871196 -0.04538665
+v 0.02922422 0.11015983 -0.04177780
+v 0.02598061 0.11034600 -0.04232596
+v 0.02901619 0.10602602 -0.06274568
+v 0.03815551 0.10602618 -0.10566816
+v 0.03893340 0.10687128 -0.10580520
+v 0.03893340 0.10986730 -0.04135753
+v 0.03445419 0.10999436 -0.04141234
+v 0.03893340 0.11564405 -0.02148599
+v 0.03680776 0.11575929 -0.02173265
+v 0.02922422 0.11534857 -0.02595365
+v 0.02601498 0.11559975 -0.02669371
+v 0.02064209 0.11553771 -0.03157251
+v 0.02266280 0.11101382 -0.04538664
+v 0.02045395 0.10602605 -0.07000906
+v 0.02357817 0.10602604 -0.06671998
+v 0.02395446 0.10602603 -0.06636367
+v 0.03694706 0.10602618 -0.10568642
+v 0.03893340 0.10756862 -0.10593310
+v 0.03893340 0.11888849 -0.01316277
+v 0.02866343 0.12047233 -0.01316277
+v 0.02630623 0.12093032 -0.01316277
+v 0.02443748 0.12148585 -0.01316276
+v 0.02361074 0.12158042 -0.01361958
+v 0.02252713 0.11622619 -0.02808241
+v 0.02045395 0.11570024 -0.03138064
+v 0.02045395 0.11558796 -0.03176436
+v 0.02045395 0.11214555 -0.04538664
+v 0.02045395 0.12281262 -0.01383886
+v 0.02045395 0.10602617 -0.10416066
+v 0.02399245 0.11001824 -0.10582346
+v 0.02922422 0.10931201 -0.10604274
+v 0.03445419 0.10852896 -0.10613410
+v 0.02922422 0.11316817 -0.10646299
+v 0.03893340 0.11168480 -0.10595135
+v 0.03893340 0.13621309 -0.01316271
+v 0.02364512 0.12179022 -0.01316276
+v 0.02045395 0.12288945 -0.01368354
+v 0.02045395 0.11216054 -0.10612494
+v 0.02045395 0.11302042 -0.10630767
+v 0.02399245 0.11316817 -0.10649953
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+v 0.03432032 0.11719862 -0.10320130
+v 0.03597378 0.11510953 -0.10509254
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+v 0.03893340 0.11455104 -0.10372208
+v 0.03893340 0.12321764 -0.07156217
+v 0.03858425 0.11648058 -0.10160245
+v 0.03893340 0.11598121 -0.10197704
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+f 50 60 62
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+f 53 63 64
+f 53 64 59
+f 54 61 55
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+f 60 64 65
+f 60 65 62
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acfc90a156b10a18675429aa0fde6cbc5262172e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.10383014 -0.06525269 -0.04164346
+v 0.10380789 -0.06577260 -0.04164346
+v 0.10589970 -0.06577258 -0.04679083
+v 0.10585518 -0.06525267 -0.04683753
+v 0.08731264 -0.06525269 -0.04164346
+v 0.10573280 -0.06995543 -0.04712443
+v 0.10281762 -0.07154184 -0.04164348
+v 0.10589970 -0.06577257 -0.04976648
+v 0.10585518 -0.06525266 -0.04969642
+v 0.07513452 -0.06525256 -0.07572010
+v 0.06105375 -0.08747411 -0.05061723
+v 0.06196613 -0.08819603 -0.04692100
+v 0.06572695 -0.08730780 -0.04164354
+v 0.10573280 -0.06995542 -0.04925610
+v 0.10148799 -0.07506518 -0.04656735
+v 0.08338493 -0.09559925 -0.04164357
+v 0.10344627 -0.06577253 -0.06108867
+v 0.10341290 -0.06525262 -0.06108867
+v 0.05655303 -0.08564701 -0.07572017
+v 0.05843900 -0.09012406 -0.05061724
+v 0.09728768 -0.06525256 -0.07572010
+v 0.06115946 -0.09199272 -0.04164356
+v 0.08441970 -0.09559922 -0.04851562
+v 0.10149909 -0.07504734 -0.05061719
+v 0.10043652 -0.07425410 -0.05958418
+v 0.10158812 -0.07119717 -0.06123214
+v 0.08441970 -0.09559923 -0.04732802
+v 0.05856694 -0.09559925 -0.04164357
+v 0.09723759 -0.06598337 -0.07572010
+v 0.05549600 -0.08680856 -0.07572018
+v 0.05912329 -0.09439906 -0.04164357
+v 0.05427206 -0.08815433 -0.07572018
+v 0.05216913 -0.09085479 -0.07572019
+v 0.05083393 -0.09285412 -0.07572020
+v 0.04907036 -0.09559912 -0.07572021
+v 0.05684788 -0.09275617 -0.05061725
+v 0.08321247 -0.09559918 -0.06108878
+v 0.09576889 -0.07007118 -0.07549328
+v 0.07671451 -0.09559912 -0.07572021
+v 0.09591353 -0.06948890 -0.07572012
+v 0.05545705 -0.09559921 -0.05061726
+v 0.09566318 -0.06993749 -0.07572012
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+f 1 21 10
+f 1 10 5
+f 1 5 13
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+f 26 40 29
+f 28 31 41
+f 31 36 41
+f 35 41 36
+f 38 42 40
+f 38 39 42
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d915bdd75445422a7fc6e1f51751951e2585d39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00031155 0.12152104 -0.04154456
+v 0.00031155 0.11976523 -0.04553022
+v 0.00031155 0.13541856 -0.04154451
+v -0.02446142 0.10996968 -0.04154461
+v 0.00031155 0.10602912 -0.08165044
+v 0.00031155 0.13705573 -0.04752097
+v -0.00203468 0.13544290 -0.04154451
+v -0.02565052 0.10958322 -0.04154461
+v 0.00031155 0.10602912 -0.08262773
+v -0.02833559 0.10887116 -0.04154461
+v -0.02973566 0.10858511 -0.04154461
+v -0.03355870 0.10717316 -0.04538146
+v -0.04591641 0.10602897 -0.04154462
+v 0.00031155 0.13711356 -0.05062985
+v -0.00071132 0.13710748 -0.05061779
+v -0.00061543 0.13704660 -0.04753303
+v -0.04719501 0.12659379 -0.04726762
+v -0.04402408 0.12568695 -0.04391743
+v -0.04408801 0.12424150 -0.04154455
+v 0.00031155 0.12669130 -0.08262765
+v -0.05066642 0.10602912 -0.08262773
+v -0.06499319 0.10602897 -0.04154462
+v 0.00031155 0.13699491 -0.05362613
+v -0.00003367 0.13699491 -0.05362613
+v -0.04719501 0.12659380 -0.04974508
+v -0.05287841 0.12218750 -0.05061784
+v -0.05249483 0.12176753 -0.04538140
+v -0.04906178 0.12445453 -0.04546585
+v -0.04826266 0.12223008 -0.04154456
+v -0.00041085 0.12665174 -0.08262765
+v 0.00023485 0.13166358 -0.07431048
+v 0.00031155 0.13166358 -0.07431048
+v -0.06185424 0.10602904 -0.05956650
+v -0.04738041 0.11344194 -0.08262770
+v -0.05237336 0.11932092 -0.04154457
+v -0.05188110 0.12107371 -0.04275113
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+v -0.04925355 0.12162144 -0.04154456
+v -0.03879458 0.11908067 -0.08262768
+v -0.05256516 0.11669488 -0.06499594
+v -0.04656211 0.12099470 -0.07391637
+v -0.04452913 0.11707531 -0.08262769
+v -0.04427979 0.11717575 -0.08262769
+v -0.04450355 0.12231538 -0.07192958
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+f 24 38 25
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+f 38 45 39
+f 39 45 40
+f 40 45 44
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13380aeb37b9f132785e5c37b05575705f54a765
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.08004555 0.07916836 -0.03447003
+v -0.08757765 0.06775002 -0.03447007
+v -0.06277534 0.07916853 -0.08043411
+v -0.09042970 0.07916836 -0.03447003
+v -0.08780734 0.06740288 -0.03447007
+v -0.09993335 0.04750757 -0.03712920
+v -0.08742451 0.04750773 -0.08042973
+v -0.07705951 0.06311342 -0.08043417
+v -0.08454375 0.07916853 -0.08043411
+v -0.09045362 0.07916836 -0.03490646
+v -0.10425927 0.07373815 -0.04207375
+v -0.10399608 0.07359246 -0.03490648
+v -0.10382859 0.07341579 -0.03447005
+v -0.08958748 0.06498841 -0.03447008
+v -0.09105179 0.06311325 -0.03447009
+v -0.09993335 0.04751687 -0.03712470
+v -0.10547952 0.04750757 -0.03712470
+v -0.10301987 0.04750773 -0.08042973
+v -0.10215851 0.06311342 -0.08043417
+v -0.08854427 0.07916845 -0.05882434
+v -0.09903370 0.06909224 -0.08043415
+v -0.09951701 0.06894966 -0.08016421
+v -0.09919641 0.07382814 -0.06917708
+v -0.09063068 0.07916838 -0.04014805
+v -0.10425927 0.07373816 -0.04294210
+v -0.10587669 0.07153135 -0.04025607
+v -0.10606811 0.07096104 -0.03490649
+v -0.10599634 0.07086495 -0.03447006
+v -0.10416837 0.07318334 -0.03447005
+v -0.10848471 0.06311325 -0.03447009
+v -0.11165738 0.04750757 -0.03712470
+v -0.10372332 0.05683085 -0.08042969
+v -0.10591499 0.04750769 -0.07109835
+v -0.10423056 0.05775137 -0.07949836
+v -0.10372332 0.05716869 -0.08042969
+v -0.10364197 0.05923601 -0.08042968
+v -0.10319215 0.06060907 -0.08042968
+v -0.10110096 0.06572935 -0.08043416
+v -0.09939739 0.06883189 -0.08043415
+v -0.09967493 0.06846926 -0.08043415
+v -0.10460859 0.06900542 -0.06955953
+v -0.10345055 0.07327947 -0.05061777
+v -0.10601069 0.07064805 -0.05061778
+v -0.10865698 0.06562386 -0.05075728
+v -0.10870961 0.06577572 -0.04534920
+v -0.10881011 0.06577570 -0.04024259
+v -0.10839379 0.06580047 -0.03490651
+v -0.10820237 0.06577876 -0.03447008
+v -0.10831723 0.06536344 -0.03447008
+v -0.10960925 0.06400591 -0.04204228
+v -0.10960925 0.06400592 -0.04358552
+v -0.10954226 0.06375180 -0.05351081
+v -0.11159995 0.04750757 -0.03781758
+v -0.10663757 0.04750768 -0.06802088
+v -0.10423056 0.05837127 -0.07949836
+v -0.10511584 0.06580060 -0.07056737
+v -0.10954705 0.06311332 -0.05351531
+v -0.11135590 0.04750758 -0.04014817
+v -0.10951355 0.04750763 -0.05344788
+v -0.10954705 0.06265150 -0.05351531
+f 1 2 3
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+f 1 20 24
+f 1 24 10
+f 1 10 4
+f 1 4 13
+f 1 13 29
+f 1 29 28
+f 1 28 48
+f 1 48 49
+f 1 49 30
+f 1 30 15
+f 1 15 14
+f 1 14 5
+f 1 5 2
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+f 2 6 3
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+f 3 8 19
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+f 3 40 39
+f 3 39 21
+f 3 21 9
+f 3 6 7
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+f 15 17 16
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+f 19 32 35
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+f 19 37 38
+f 20 23 25
+f 20 25 24
+f 21 39 22
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+f 22 41 23
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+f 25 41 43
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+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 30 49 31
+f 31 50 51
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+f 31 49 47
+f 31 47 50
+f 32 34 55
+f 32 55 35
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+f 34 54 55
+f 35 55 36
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+f 36 41 37
+f 37 41 38
+f 38 41 40
+f 41 55 56
+f 41 56 52
+f 41 52 43
+f 43 52 44
+f 44 52 45
+f 45 52 46
+f 46 52 51
+f 46 51 50
+f 46 50 47
+f 47 49 48
+f 52 57 58
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+f 52 56 55
+f 52 55 57
+f 54 59 60
+f 54 60 57
+f 54 57 55
+f 57 60 58
+f 58 60 59
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45af2427048f6d04649350bf3efca32cda76418e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03893511 0.11168178 -0.10595942
+v 0.03968810 0.11142062 -0.10593130
+v 0.03893511 0.10756656 -0.10593318
+v 0.03893511 0.11216939 -0.10576069
+v 0.03946833 0.10745129 -0.10590881
+v 0.04248203 0.11065347 -0.10566320
+v 0.04339346 0.10790423 -0.10570070
+v 0.04351613 0.10602618 -0.10568385
+v 0.04191474 0.10602618 -0.10576820
+v 0.04041725 0.10602618 -0.10576820
+v 0.03893511 0.10687186 -0.10581320
+v 0.03893511 0.11455038 -0.10372837
+v 0.04748895 0.10602618 -0.10481580
+v 0.04450423 0.11192456 -0.10294096
+v 0.04834928 0.11108804 -0.10116738
+v 0.05419437 0.10637606 -0.10151424
+v 0.05435283 0.10602616 -0.10163422
+v 0.05235277 0.10602617 -0.10260726
+v 0.03893511 0.10602618 -0.10560509
+v 0.03893511 0.11597753 -0.10197728
+v 0.04007312 0.11433615 -0.10320343
+v 0.04134061 0.11536239 -0.09774770
+v 0.04492161 0.11344146 -0.09774770
+v 0.04862867 0.11124513 -0.09774771
+v 0.05124372 0.10956293 -0.09774772
+v 0.05509560 0.10693101 -0.09774773
+v 0.05633753 0.10602615 -0.09774773
+v 0.03893511 0.10602611 -0.08680628
+v 0.03893511 0.11644780 -0.09774769
+v 0.03968810 0.11588873 -0.08680624
+v 0.04342924 0.11304459 -0.08680625
+v 0.05529663 0.10602614 -0.09507611
+v 0.04821470 0.10602611 -0.08680628
+v 0.03893511 0.11604989 -0.08680624
+v 0.04622999 0.10900896 -0.08680627
+v 0.05464073 0.10602613 -0.09389686
+v 0.05444311 0.10638113 -0.09413120
+f 1 2 3
+f 1 3 11
+f 1 11 19
+f 1 19 28
+f 1 28 34
+f 1 34 29
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+f 1 20 12
+f 1 12 4
+f 1 4 2
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+f 28 35 31
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+f 28 30 34
+f 29 34 30
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 32 37 36
+f 33 36 35
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78edd19ec5f8261d5509d1943fbc72a0d284de1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05722997 -0.10716844 -0.04013346
+v -0.03356698 -0.10716839 -0.05445062
+v -0.06908891 -0.09435216 -0.04014158
+v -0.06814835 -0.09542865 -0.04013342
+v -0.07010786 -0.10716844 -0.04013346
+v -0.03140367 -0.10716838 -0.05585578
+v -0.07183221 -0.09435216 -0.04013342
+v -0.02833116 -0.10716837 -0.05880908
+v -0.01297647 -0.10716829 -0.08186360
+v -0.02351078 -0.10306306 -0.08186359
+v -0.05270744 -0.09435201 -0.08186356
+v -0.07074274 -0.10703545 -0.04013346
+v -0.08065001 -0.10659004 -0.04151003
+v -0.08065001 -0.10716843 -0.04320930
+v -0.09129405 -0.09435216 -0.04013342
+v -0.05538020 -0.10716829 -0.08186360
+v -0.08340899 -0.09435201 -0.08186356
+v -0.07811833 -0.10530026 -0.04013346
+v -0.08587797 -0.10586360 -0.04211866
+v -0.08347954 -0.10716842 -0.04538240
+v -0.09304977 -0.09435214 -0.04511686
+v -0.09272057 -0.09734700 -0.04538237
+v -0.08944429 -0.10260903 -0.04190215
+v -0.09026726 -0.09729054 -0.04013343
+v -0.08075191 -0.10716840 -0.05061500
+v -0.08042270 -0.10573677 -0.06605958
+v -0.07541420 -0.10341938 -0.08186359
+v -0.08345602 -0.09717874 -0.08186357
+v -0.08865263 -0.09435207 -0.06404165
+v -0.08261735 -0.10374575 -0.04013345
+v -0.08587797 -0.10654109 -0.04538240
+v -0.08498443 -0.10258268 -0.04013345
+v -0.08587797 -0.10260903 -0.04038670
+v -0.08854290 -0.10528269 -0.04270278
+v -0.08345602 -0.10538299 -0.06413972
+v -0.08272708 -0.10716842 -0.04734310
+v -0.09189758 -0.09435212 -0.05061905
+v -0.09176432 -0.09734698 -0.05061906
+v -0.08978131 -0.10279844 -0.05037398
+v -0.09048675 -0.10260901 -0.04538239
+v -0.08764152 -0.10045104 -0.04013344
+v -0.08103407 -0.10146213 -0.08186358
+v -0.08319737 -0.09942583 -0.08186358
+v -0.08863695 -0.09540849 -0.06402938
+v -0.08863695 -0.10535921 -0.04538240
+v -0.08862911 -0.10535794 -0.04846233
+v -0.08594068 -0.10602416 -0.05037399
+v -0.08587797 -0.10206953 -0.04013344
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 15
+f 1 15 24
+f 1 24 41
+f 1 41 48
+f 1 48 32
+f 1 32 30
+f 1 30 18
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+f 1 12 5
+f 1 5 14
+f 1 14 20
+f 1 20 36
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+f 1 25 16
+f 1 16 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
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+f 3 37 21
+f 3 21 15
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+f 9 16 27
+f 9 27 42
+f 9 42 43
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+f 9 28 17
+f 9 17 11
+f 9 11 10
+f 12 18 13
+f 13 18 19
+f 13 19 14
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+f 17 28 29
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+f 20 31 35
+f 21 37 38
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+f 22 40 23
+f 23 40 34
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+f 23 41 24
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+f 28 43 44
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+f 35 47 46
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+f 35 43 42
+f 37 44 38
+f 38 44 43
+f 38 43 39
+f 39 46 40
+f 39 43 46
+f 40 46 45
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f067d8a221b3e70e787a9429dd8ca991fbace64b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.07740851 -0.00220973 -0.08363420
+v 0.07384597 -0.03419181 -0.08363432
+v 0.08692951 -0.00220976 -0.07572398
+v 0.10392522 -0.00220973 -0.08363420
+v 0.07342274 -0.03914967 -0.08363433
+v 0.08571501 -0.03914970 -0.07572411
+v 0.10997568 -0.00220976 -0.07572398
+v 0.10907401 -0.00220975 -0.07814312
+v 0.10907401 -0.00261839 -0.07815397
+v 0.10389947 -0.00261837 -0.08363420
+v 0.09766133 -0.03914967 -0.08363433
+v 0.10590158 -0.03914970 -0.07572411
+v 0.11100617 -0.00221698 -0.07572398
+v 0.11100249 -0.00220976 -0.07572706
+v 0.11101721 -0.00261840 -0.07572398
+v 0.10537160 -0.02783085 -0.07964703
+v 0.10558507 -0.02366494 -0.07988321
+v 0.10501827 -0.03133861 -0.07938300
+v 0.10598253 -0.03900867 -0.07572411
+v 0.10707927 -0.03419184 -0.07572410
+v 0.10693574 -0.03419184 -0.07636605
+v 0.10696886 -0.02932075 -0.07730302
+v 0.10639473 -0.03777554 -0.07572411
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 19
+f 3 19 23
+f 3 23 20
+f 3 20 15
+f 3 15 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 8 14 13
+f 8 13 15
+f 8 15 9
+f 9 15 16
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+f 9 17 10
+f 10 17 16
+f 10 16 11
+f 11 16 18
+f 11 18 19
+f 11 19 12
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 21
+f 16 21 18
+f 18 21 23
+f 18 23 19
+f 20 23 21
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2f3cdc18fa71ee4662cee27c5fd563ce652998
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.04560290 -0.12180620 -0.00103168
+v -0.04723445 -0.12181365 -0.00103168
+v -0.04723445 -0.12207784 0.00485546
+v -0.03879182 -0.12220431 -0.00103168
+v -0.04723445 -0.14011592 -0.00103174
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ccc327ddd4f31ba604822584535176c0a6c440
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d588d2c06f704b8e6325ada6c2057c85da4c2f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12060db6a323a55fb0fa46cb65fde5a3c4a6f4bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.06479966 -0.10716961 -0.06296845
+v -0.06469905 -0.10716960 -0.06595396
+v -0.05715810 -0.11586831 -0.06908052
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a8f66400fe7baf00d46be9e1801d0f82125964
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06177718 0.07622422 -0.08597559
+v -0.06177718 0.09915331 -0.08597551
+v -0.06177718 0.07996367 -0.08043464
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f940050541b893501224d2be06b3a0feff56bbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.02420924 -0.15597978 0.00698840
+v 0.02420924 -0.15593733 0.00723712
+v 0.01762853 -0.15822101 0.01033146
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29d6e00c5bf5e2eec7caa2f62baccb8f34d40b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07701633 -0.10716980 -0.01172418
+v 0.07884809 -0.10716975 -0.02451919
+v 0.05219272 -0.10716980 -0.01172418
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662cab42a50250cc745fc45ba022389cf7311fb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6700885403631f05095eb56ac3f97f69646876
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801bcd4111a260510af86d671f9dcdfdda4dc9d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..105cb7a9fa3359e9a0a2c375cd6be0864004dbe7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f008d27ea91d8848bc3226a3a0740a3a700521
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.12600401 -0.07210000 0.00150910
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+v -0.12574827 -0.07209999 0.00062263
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f27a7f0a9738ff0b86175a4b6ec1b5cc7ce5a83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.07311740 -0.08162433 -0.04164352
+v 0.08731661 -0.06524974 -0.04164346
+v 0.08943935 -0.08162433 -0.04164352
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+v 0.09041325 -0.06524995 0.01752457
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d46a1831a770184c9c7334681c2c61d41f84eb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00740429 -0.11839764 0.10728277
+v -0.00740429 -0.11313580 0.10642023
+v -0.01263809 -0.11839764 0.10659626
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+v -0.00740429 -0.12224583 0.10523074
+v -0.00217049 -0.11839764 0.10724505
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06460915370a1b02a54010c5389b30192f8a5883
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.10411562 -0.04553071 -0.03647995
+v -0.10934796 -0.00220991 -0.03647979
+v -0.11618635 -0.04553071 -0.03647995
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e1ee5ac25ec7df0b88870617b10745b753d590
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.00193293 0.13807984 -0.03488245
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4b1ddf8c73c14817673f0834d902e1eb1edec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05805167 -0.11362290 -0.01172577
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+f 1 14 31
+f 1 31 22
+f 1 22 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
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+f 1 21 12
+f 1 12 5
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+f 29 39 32
+f 30 35 40
+f 30 40 31
+f 31 40 35
+f 32 39 33
+f 33 41 34
+f 34 41 36
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b0a9e7a732f63d96c1924c7d71e2595de7cf0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.11709246 -0.07209995 -0.01173093
+v -0.11674092 -0.07209990 -0.02443485
+v -0.11681123 -0.07318827 -0.01173094
+v -0.09767591 -0.07209995 -0.01173093
+v -0.11653585 -0.07209988 -0.02966767
+v -0.11562186 -0.07496315 -0.02966769
+v -0.11593237 -0.07498382 -0.01173095
+v -0.09578346 -0.07209992 -0.01910470
+v -0.07214264 -0.09924261 -0.01173103
+v -0.07276369 -0.09466615 -0.02173233
+v -0.11531133 -0.07209987 -0.03289301
+v -0.11506525 -0.07424218 -0.03267614
+v -0.09313523 -0.10418976 -0.02443497
+v -0.09341059 -0.10485924 -0.01919659
+v -0.09568973 -0.10261397 -0.01173105
+v -0.08920389 -0.10576212 -0.03283475
+v -0.08983077 -0.10630800 -0.02966780
+v -0.09362738 -0.07209988 -0.03074371
+v -0.07109975 -0.09205000 -0.04013341
+v -0.06640673 -0.10573472 -0.01173106
+v -0.05842685 -0.10716971 -0.03548731
+v -0.05724335 -0.10716969 -0.04013346
+v -0.07129309 -0.09308340 -0.03490614
+v -0.10937036 -0.07209984 -0.04013333
+v -0.10919459 -0.07252900 -0.04013334
+v -0.09026436 -0.09728902 -0.04013343
+v -0.09052213 -0.10692943 -0.02443498
+v -0.09225639 -0.10681961 -0.01173106
+v -0.08588771 -0.10641098 -0.03335470
+v -0.08588771 -0.10716972 -0.03174480
+v -0.08724113 -0.10716973 -0.03096628
+v -0.08797937 -0.10716973 -0.02966780
+v -0.08764539 -0.10044754 -0.04013344
+v -0.08588771 -0.10206799 -0.04013344
+v -0.08498543 -0.10258298 -0.04013345
+v -0.08262430 -0.10374338 -0.04013345
+v -0.07812461 -0.10529861 -0.04013346
+v -0.08871171 -0.10716974 -0.02820250
+v -0.09300047 -0.07209986 -0.03490606
+v -0.07339059 -0.08988024 -0.04013340
+v -0.06524666 -0.10716980 -0.01173106
+v -0.07011545 -0.10716969 -0.04013346
+v -0.09268995 -0.07209984 -0.04013333
+v -0.09007101 -0.10716975 -0.02440996
+v -0.09018818 -0.10716975 -0.02399844
+v -0.09186970 -0.10716980 -0.01173106
+v -0.07074821 -0.10703580 -0.04013346
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 28
+f 1 28 46
+f 1 46 41
+f 1 41 20
+f 1 20 9
+f 1 9 4
+f 1 4 8
+f 1 8 18
+f 1 18 39
+f 1 39 43
+f 1 43 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 15
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+f 6 17 13
+f 8 10 19
+f 8 19 18
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 19
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 16
+f 13 17 27
+f 13 27 14
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+f 14 27 28
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 16 26 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 29
+f 17 32 38
+f 17 38 27
+f 18 19 40
+f 18 40 39
+f 19 23 22
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+f 19 42 47
+f 19 47 37
+f 19 37 36
+f 19 36 35
+f 19 35 34
+f 19 34 33
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+f 19 26 25
+f 19 25 24
+f 19 24 43
+f 19 43 40
+f 20 41 21
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+f 21 46 45
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+f 21 38 32
+f 21 32 31
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+f 21 42 22
+f 27 38 44
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 29 37 30
+f 30 37 47
+f 30 47 42
+f 39 40 43
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c926b322870df6f6d741b569e875c775125ba4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02084236 -0.13305368 -0.01172584
+v -0.03641276 -0.13158146 -0.03236751
+v -0.03607214 -0.13158146 -0.03236751
+v -0.02084236 -0.13250400 -0.01615516
+v -0.02084236 -0.12214765 -0.01172580
+v -0.04403023 -0.13263145 -0.01172584
+v -0.04778735 -0.13220159 -0.01172584
+v -0.04949562 -0.13199047 -0.01172583
+v -0.04925821 -0.12849257 -0.04537955
+v -0.04925821 -0.12729240 -0.05061647
+v -0.02084236 -0.12369568 -0.06296634
+v -0.02084236 -0.12545315 -0.05585337
+v -0.02084236 -0.12664381 -0.05093250
+v -0.02084236 -0.13190486 -0.01985712
+v -0.02209129 -0.12161698 -0.01172580
+v -0.02084236 -0.11933646 -0.01937050
+v -0.02558521 -0.11570555 -0.02170302
+v -0.05114193 -0.13125441 -0.01172583
+v -0.05367075 -0.12729622 -0.04537955
+v -0.05311339 -0.12685684 -0.05061647
+v -0.05240634 -0.12652017 -0.05352585
+v -0.04925821 -0.12650115 -0.05351081
+v -0.02084236 -0.11362271 -0.06296631
+v -0.04403023 -0.12259443 -0.06296634
+v -0.02460464 -0.12067741 -0.01172579
+v -0.02084236 -0.11754667 -0.02449704
+v -0.02218934 -0.11671169 -0.02443684
+v -0.02480591 -0.11526998 -0.02443683
+v -0.02833596 -0.11362284 -0.02623766
+v -0.02833596 -0.11408695 -0.02443683
+v -0.02833596 -0.11531184 -0.02093051
+v -0.02833596 -0.11956473 -0.01172579
+v -0.05213799 -0.13078270 -0.01172583
+v -0.05479585 -0.12910325 -0.01172582
+v -0.05628734 -0.12555969 -0.04537954
+v -0.05572995 -0.12527248 -0.05061646
+v -0.05772724 -0.12198391 -0.05399235
+v -0.05219476 -0.12130298 -0.06296634
+v -0.04939756 -0.12205234 -0.06296634
+v -0.02084236 -0.11362277 -0.04687935
+v -0.05834138 -0.11362271 -0.06296631
+v -0.02084236 -0.11652527 -0.02967376
+v -0.02119844 -0.11626662 -0.02967376
+v -0.02381503 -0.11460616 -0.02967375
+v -0.02619419 -0.11362283 -0.02967375
+v -0.03137572 -0.11362285 -0.02443683
+v -0.05805236 -0.11362290 -0.01172577
+v -0.07356600 -0.11362290 -0.01172577
+v -0.05807300 -0.12264202 -0.05061645
+v -0.05703050 -0.11564835 -0.06296631
+v -0.05460489 -0.11851274 -0.06296633
+v -0.02275187 -0.11434557 -0.03500599
+v -0.02084236 -0.11533651 -0.03640551
+v -0.02423822 -0.11362281 -0.03506116
+v -0.02084236 -0.11640736 -0.03031585
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 23
+f 1 23 40
+f 1 40 53
+f 1 53 55
+f 1 55 42
+f 1 42 26
+f 1 26 16
+f 1 16 5
+f 1 5 15
+f 1 15 25
+f 1 25 32
+f 1 32 47
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+f 1 48 34
+f 1 34 33
+f 1 33 18
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+f 1 7 6
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+f 26 42 43
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+f 28 45 29
+f 29 46 30
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+f 31 47 32
+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 37 49 48
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+f 37 50 51
+f 37 51 38
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+f 40 54 52
+f 42 55 43
+f 43 55 53
+f 43 53 52
+f 43 52 44
+f 44 54 45
+f 44 52 54
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3705d84ca46ac7404713a3211b18b2b4b65b37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04715043 0.10602505 -0.08042993
+v -0.01388695 0.10602505 -0.08042993
+v -0.04715043 0.09552836 -0.08042997
+v -0.04715043 0.10602489 -0.03878889
+v -0.01728984 0.10354551 -0.08042994
+v -0.01833511 0.10602501 -0.07187346
+v -0.02884982 0.09858437 -0.08042996
+v -0.03049101 0.09985341 -0.07388317
+v -0.02300144 0.10602499 -0.06636615
+v -0.02300144 0.10395752 -0.07144951
+v -0.01964091 0.10480118 -0.07311678
+v -0.01807461 0.10309236 -0.08042994
+v -0.02065688 0.10602500 -0.06909330
+v -0.02817249 0.09880118 -0.08042996
+f 1 2 5
+f 1 5 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 6 11
+f 5 11 12
+f 6 13 11
+f 7 14 8
+f 8 14 12
+f 8 12 11
+f 8 11 10
+f 9 11 13
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ed39bac9aea92b2a8bdf446206e8731a621f8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.09236660 0.08226217 -0.01665378
+v -0.09421299 0.08140369 -0.01665378
+v -0.07851258 0.08226217 -0.01665378
+v -0.08788297 0.08226224 -0.03447002
+v -0.10382957 0.07341869 -0.03447005
+v -0.10417115 0.07318625 -0.03447005
+v -0.10133080 0.07554047 -0.01665380
+v -0.08323624 0.07361355 -0.01665381
+v -0.07760477 0.08226220 -0.02443357
+v -0.07705085 0.08226224 -0.03447002
+v -0.10473430 0.07217962 -0.01665381
+v -0.10599599 0.07086760 -0.03447006
+v -0.07707240 0.08226222 -0.02966891
+v -0.08745215 0.06685436 -0.01665383
+v -0.08300236 0.07319559 -0.02645831
+v -0.08300236 0.07319559 -0.02786396
+v -0.08747985 0.06711121 -0.02966896
+v -0.08781528 0.06740364 -0.03447007
+v -0.10571288 0.07086753 -0.01665382
+v -0.10820858 0.06578038 -0.03447008
+v -0.08934777 0.06422267 -0.01665384
+v -0.08959396 0.06499313 -0.03447008
+v -0.09088027 0.06311306 -0.03200066
+v -0.09105567 0.06311307 -0.03447009
+v -0.10786392 0.06575595 -0.01665384
+v -0.10832245 0.06536426 -0.03447008
+v -0.09033866 0.06311300 -0.01665385
+v -0.10848861 0.06311307 -0.03447009
+v -0.10818705 0.06352350 -0.01665385
+v -0.10824549 0.06311300 -0.01665385
+f 1 2 7
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+f 1 11 19
+f 1 19 25
+f 1 25 29
+f 1 29 30
+f 1 30 27
+f 1 27 21
+f 1 21 14
+f 1 14 8
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+f 1 10 4
+f 1 4 2
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+f 2 6 7
+f 2 4 5
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+f 25 26 29
+f 26 28 30
+f 26 30 29
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceaf006f1886b7800e6785bcc98126efe618182b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00433007 -0.10717156 -0.10534328
+v -0.00433007 -0.11839764 -0.10832240
+v -0.00433007 -0.10717163 -0.08821264
+v 0.04459300 -0.10717156 -0.10492109
+v 0.03968678 -0.10999350 -0.10576746
+v -0.00433007 -0.12148732 -0.10836779
+v 0.03445388 -0.11313630 -0.10623507
+v 0.01876123 -0.11839765 -0.10714260
+v -0.00433007 -0.12609215 -0.08821271
+v 0.05372789 -0.10717163 -0.08821264
+v 0.05014654 -0.10717157 -0.10381429
+v 0.04452042 -0.10828080 -0.10509669
+v 0.04250590 -0.11030798 -0.10564120
+v -0.00216432 -0.12365901 -0.10824350
+v -0.00433007 -0.12365901 -0.10830663
+v 0.02399413 -0.11839765 -0.10677565
+v 0.04250590 -0.11065222 -0.10564120
+v 0.03948714 -0.11269855 -0.10585231
+v 0.03445388 -0.11668920 -0.10605554
+v -0.00433007 -0.12876527 -0.10298378
+v -0.00216432 -0.12658938 -0.08821271
+v 0.04337097 -0.11668715 -0.08821268
+v 0.05487125 -0.10717162 -0.09031180
+v 0.05496807 -0.10717158 -0.10157506
+v 0.05014654 -0.10787281 -0.10370581
+v 0.00306253 -0.12365901 -0.10781539
+v 0.00306253 -0.12701642 -0.10632981
+v -0.00216432 -0.12726930 -0.10660208
+v -0.00433007 -0.12577971 -0.10734189
+v 0.01876123 -0.12260080 -0.10652905
+v 0.03761781 -0.11608785 -0.10579905
+v 0.02399413 -0.12178906 -0.10611080
+v -0.00433007 -0.12820003 -0.10448713
+v -0.00216432 -0.12887789 -0.10298378
+v 0.00306253 -0.12786644 -0.09791739
+v 0.00829543 -0.12756895 -0.09816795
+v -0.00027685 -0.12642365 -0.08821271
+v 0.03931775 -0.11892684 -0.08821269
+v 0.04401224 -0.11678271 -0.09774965
+v 0.04662567 -0.11519538 -0.09774964
+v 0.05314714 -0.11077552 -0.09467586
+v 0.05636551 -0.10717161 -0.09310936
+v 0.05553067 -0.10717158 -0.10128306
+v 0.05493176 -0.10752220 -0.10141921
+v 0.00829543 -0.12365902 -0.10730243
+v 0.00306253 -0.12859315 -0.10298378
+v 0.00829543 -0.12665731 -0.10597075
+v -0.00433007 -0.12725655 -0.10660996
+v 0.01144725 -0.12641294 -0.10572609
+v 0.01332265 -0.12392464 -0.10661981
+v 0.05014654 -0.11161060 -0.10148235
+v 0.04350407 -0.11651285 -0.10141925
+v 0.03948714 -0.11743293 -0.10309224
+v 0.02710363 -0.12126208 -0.10577146
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99589b6d06dc60a09a53d7e81249286fdce74dd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.08371278 0.03224762 -0.08626901
+v -0.08371278 0.03224762 -0.08526901
+v -0.08371278 0.04304222 -0.08626901
+v -0.08371278 0.04304222 -0.08526901
+v -0.06182831 0.03224762 -0.08626901
+v -0.06182831 0.03224762 -0.08526901
+v -0.06182831 0.04304222 -0.08626901
+v -0.06182831 0.04304222 -0.08526901
+f 2 4 1
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+f 4 8 3
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d774d921b7d32ff6c851e771f15c1f27f91716c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02314444 -0.11623444 -0.04691568
+v 0.05365386 -0.11623444 -0.04691568
+v 0.02314444 -0.12547118 -0.04691571
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cef5b27c72afbd3d2aee61c77340cd9be31fe1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.10603827 -0.00220971 -0.08849443
+v 0.10603827 -0.00220970 -0.09144351
+v 0.10392801 -0.00220973 -0.08363656
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89a5aa92adc999994156757ba15872e80dd0b36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_70.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.08677600 -0.08682196 0.02607040
+v 0.08677062 -0.09207022 0.02572441
+v 0.09194055 -0.08162619 0.02597105
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efec23b13a1d69855a41eb8c1a3e792cf1e285ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.09010283 0.10264039 -0.02798146
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1bf58951265c1df7c575d3b034d2930e90061d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03893341 0.12487212 -0.03911399
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64bb9bb95614aff683719c8b71c3b26e941615a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.11293509 0.07106573 0.02429188
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+v 0.11783751 0.08664976 0.00099480
+v 0.11625514 0.08573058 -0.00141325
+v 0.12021316 0.07785041 -0.00034737
+v 0.12060771 0.08664974 0.00461172
+v 0.11838735 0.08664975 0.00167723
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 14
+f 3 14 18
+f 3 18 24
+f 3 24 32
+f 3 32 43
+f 3 43 53
+f 3 53 64
+f 3 64 68
+f 3 68 69
+f 3 69 65
+f 3 65 55
+f 3 55 45
+f 3 45 35
+f 3 35 34
+f 3 34 33
+f 3 33 25
+f 3 25 19
+f 3 19 11
+f 3 11 4
+f 4 12 5
+f 4 11 12
+f 5 12 6
+f 6 12 20
+f 6 20 27
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+f 6 26 36
+f 6 36 44
+f 6 44 54
+f 6 54 48
+f 6 48 41
+f 6 41 40
+f 6 40 46
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+f 6 37 28
+f 6 28 21
+f 6 21 13
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+f 8 13 9
+f 9 13 15
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+f 11 19 20
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+f 13 21 22
+f 13 22 15
+f 14 17 18
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+f 16 22 23
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+f 18 23 24
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 35 44 36
+f 35 45 56
+f 35 56 61
+f 35 61 59
+f 35 59 58
+f 35 58 57
+f 35 57 54
+f 35 54 44
+f 37 46 38
+f 38 46 39
+f 39 46 40
+f 41 47 42
+f 41 48 49
+f 41 49 50
+f 41 50 47
+f 42 47 51
+f 42 51 50
+f 42 50 52
+f 42 52 53
+f 42 53 43
+f 45 55 56
+f 47 50 51
+f 48 54 57
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 49 59 50
+f 50 60 52
+f 50 59 61
+f 50 61 62
+f 50 62 63
+f 50 63 53
+f 50 53 60
+f 52 60 53
+f 53 63 64
+f 55 65 66
+f 55 66 61
+f 55 61 56
+f 61 66 67
+f 61 67 62
+f 62 67 68
+f 62 68 63
+f 63 68 64
+f 65 69 67
+f 65 67 66
+f 67 69 68
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab9ef68575cabbbf8466e9ac75cec90ee64d2ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.08001720 0.10602588 -0.02443348
+v -0.07928056 0.10602587 -0.02108508
+v -0.07911121 0.10602589 -0.02768247
+v -0.08072843 0.10442088 -0.03446994
+v -0.08138889 0.10386959 -0.03446994
+v -0.08427618 0.10143648 -0.03446995
+v -0.08224407 0.10412311 -0.02443349
+v -0.08389517 0.10116427 -0.02118973
+v -0.08040245 0.10236917 -0.01665370
+v -0.07105471 0.10602585 -0.01665369
+v -0.07893340 0.10590958 -0.02878987
+v -0.07579633 0.10602591 -0.03244694
+v -0.07600376 0.10587006 -0.03446993
+v -0.08566058 0.09737738 -0.03446996
+v -0.09236656 0.08226217 -0.01665378
+v -0.08411531 0.10149226 -0.02443350
+v -0.08940728 0.08729125 -0.01665376
+v -0.05402301 0.10602585 -0.01665369
+v -0.07579208 0.10587704 -0.03446993
+v -0.06662216 0.10602592 -0.03446993
+v -0.08787897 0.08226224 -0.03447002
+v -0.07851003 0.08226217 -0.01665378
+v -0.06286696 0.09543966 -0.01665373
+v -0.04911629 0.10602592 -0.03446993
+v -0.07704946 0.08226224 -0.03447002
+v -0.07759983 0.08226220 -0.02443357
+v -0.06755777 0.08947086 -0.02696750
+v -0.06861615 0.09017796 -0.01665375
+v -0.06210491 0.09446505 -0.02607458
+v -0.06548332 0.09280880 -0.01665374
+v -0.06152916 0.09384400 -0.03446998
+v -0.07707062 0.08226222 -0.02966891
+v -0.06499644 0.09085494 -0.03446999
+f 1 2 10
+f 1 10 18
+f 1 18 24
+f 1 24 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 3 12 13
+f 3 13 11
+f 4 11 13
+f 4 13 19
+f 4 19 20
+f 4 20 24
+f 4 24 31
+f 4 31 33
+f 4 33 25
+f 4 25 21
+f 4 21 14
+f 4 14 6
+f 4 6 5
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 8
+f 8 16 15
+f 8 15 17
+f 8 17 9
+f 9 17 15
+f 9 15 22
+f 9 22 28
+f 9 28 30
+f 9 30 23
+f 9 23 18
+f 9 18 10
+f 12 19 13
+f 12 20 19
+f 14 21 15
+f 15 21 25
+f 15 25 32
+f 15 32 26
+f 15 26 22
+f 18 23 24
+f 22 26 27
+f 22 27 28
+f 23 29 24
+f 23 30 29
+f 24 29 31
+f 25 33 32
+f 26 32 27
+f 27 33 31
+f 27 31 29
+f 27 29 30
+f 27 30 28
+f 27 32 33
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1de43436bb370ccd8883fd9179a430e0549cb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.09985584 0.10000766 0.02531748
+v 0.09775975 0.09790241 0.02432119
+v 0.10247314 0.09211577 0.02441091
+v 0.10770212 0.08664969 0.02424934
+v 0.10770212 0.08685261 0.02425233
+v 0.09985584 0.10000957 0.02531748
+v 0.09201512 0.10602381 0.02416265
+v 0.10247314 0.08685261 0.02329493
+v 0.09201512 0.10264020 0.02328601
+v 0.10246754 0.08664969 0.02322912
+v 0.11240991 0.08664970 0.02199645
+v 0.10770212 0.09211577 0.02364799
+v 0.10194630 0.10211483 0.02412375
+v 0.09740666 0.10602381 0.02468622
+v 0.08700471 0.10602382 0.02201748
+v 0.09876297 0.08685262 0.02103008
+v 0.09883021 0.08664970 0.02097623
+v 0.11259486 0.08664970 0.02184088
+v 0.11236508 0.08685262 0.02198449
+v 0.11137307 0.09211578 0.02129937
+v 0.10795994 0.09733722 0.02205634
+v 0.10236104 0.10602382 0.02256498
+v 0.08492543 0.10602383 0.02019842
+v 0.08370365 0.10602383 0.01911536
+v 0.07725287 0.10602386 0.01127963
+v 0.06891337 0.10042693 -0.00524751
+v 0.09689665 0.08664971 0.01774500
+v 0.12045237 0.08664973 0.01450480
+v 0.12042435 0.08685265 0.01447788
+v 0.11068933 0.09555818 0.02054841
+v 0.11535228 0.09924526 0.01468136
+v 0.10627860 0.10264021 0.02130240
+v 0.10495593 0.10602382 0.02066215
+v 0.06491736 0.10602392 -0.00524749
+v 0.06729927 0.10264031 -0.00524750
+v 0.07055549 0.09908412 -0.00524752
+v 0.09667247 0.08664972 0.01726630
+v 0.12213933 0.08664974 0.01189589
+v 0.12211691 0.08685266 0.01185998
+v 0.12137711 0.09211582 0.01077993
+v 0.11937631 0.09211581 0.01339783
+v 0.11674780 0.10264025 0.01124371
+v 0.11433787 0.10264024 0.01386162
+v 0.10537627 0.10574310 0.02044375
+v 0.11327862 0.10602385 0.01283241
+v 0.08907277 0.10602392 -0.00524749
+v 0.08708877 0.08664980 -0.00524756
+v 0.12216736 0.08664974 0.01167150
+v 0.12137711 0.09211583 0.00850013
+v 0.12091755 0.09513146 0.00990632
+v 0.11589592 0.10588539 0.01020852
+v 0.11564933 0.10602386 0.01037609
+v 0.09202073 0.10309741 -0.00524750
+v 0.09910482 0.10602391 -0.00396697
+v 0.10137465 0.08664980 -0.00524756
+v 0.12191514 0.08664975 0.00681867
+v 0.12091755 0.09513147 0.00933189
+v 0.12039072 0.08812722 0.00491584
+v 0.11972939 0.09211584 0.00587924
+v 0.11589592 0.10588540 0.00876646
+v 0.11575580 0.10602387 0.00863481
+v 0.09643147 0.09666970 -0.00524752
+v 0.10247314 0.10602391 -0.00347630
+v 0.10441790 0.10602391 -0.00300957
+v 0.11600801 0.08664978 -0.00123545
+v 0.09678456 0.09597175 -0.00524753
+v 0.12060929 0.08664976 0.00461367
+v 0.11889433 0.09708122 0.00734828
+v 0.11506645 0.10380670 0.00527493
+v 0.11838992 0.08664977 0.00167863
+v 0.11564933 0.10029792 0.00427563
+v 0.11446117 0.10602388 0.00625328
+v 0.10689509 0.10602391 -0.00193848
+v 0.10797115 0.10260047 -0.00210305
+v 0.11285828 0.10231216 0.00193598
+v 0.11784068 0.08664978 0.00099649
+v 0.11065010 0.10081952 -0.00119651
+v 0.11193353 0.10602389 0.00277972
+v 0.10942833 0.10602390 0.00006608
+v 0.10988789 0.10432830 -0.00040365
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 4
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+f 4 10 17
+f 4 17 27
+f 4 27 37
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+f 4 76 70
+f 4 70 67
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+f 4 28 18
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+f 7 33 45
+f 7 45 52
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+f 7 23 15
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+f 8 9 15
+f 8 15 10
+f 10 16 17
+f 10 15 16
+f 11 18 19
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+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 15 23 17
+f 15 17 16
+f 17 23 24
+f 17 24 25
+f 17 25 26
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+f 18 28 29
+f 18 29 20
+f 18 20 19
+f 20 30 21
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+f 21 32 22
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+f 25 34 35
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+f 26 46 53
+f 26 53 62
+f 26 62 66
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+f 26 36 27
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+f 28 38 29
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+f 30 31 32
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+f 32 43 44
+f 33 44 45
+f 36 47 37
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+f 40 49 57
+f 40 57 50
+f 40 50 41
+f 40 48 49
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+f 43 45 44
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+f 49 59 57
+f 50 57 60
+f 50 60 51
+f 51 60 61
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+f 53 54 62
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+f 55 66 63
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+f 57 59 68
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+f 57 69 60
+f 58 70 71
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+f 58 67 70
+f 59 71 69
+f 59 69 68
+f 60 69 61
+f 61 69 72
+f 62 63 66
+f 64 73 74
+f 64 74 65
+f 65 75 71
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+f 65 74 77
+f 65 77 75
+f 69 71 75
+f 69 75 78
+f 69 78 72
+f 70 76 71
+f 73 79 80
+f 73 80 77
+f 73 77 74
+f 75 77 80
+f 75 80 78
+f 78 80 79
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_76.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe94ed40b03a11601f43c5545d7c1a368e3ab72b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_76.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.08371278 0.03226951 -0.08597575
+v -0.08371278 0.04303793 -0.08597571
+v -0.08371278 0.03434229 -0.08556187
+v -0.08829299 -0.00220513 -0.08597588
+v -0.08415685 0.04473847 -0.08597571
+v -0.08947149 0.04473845 -0.08043477
+v -0.08371278 0.03948523 -0.08558571
+v -0.09445593 -0.00220515 -0.08043494
+v -0.11152712 -0.00220513 -0.08597588
+v -0.10303280 0.04473847 -0.08597571
+v -0.10469238 0.04473845 -0.08043477
+v -0.11271416 -0.00220515 -0.08043494
+v -0.11241242 -0.00220515 -0.08203784
+v -0.11263446 0.02896037 -0.08203772
+v -0.11139902 0.02896039 -0.08597576
+v -0.10451304 0.04473845 -0.08203767
+v -0.10507099 0.04319421 -0.08597571
+v -0.10843000 0.04104326 -0.08043478
+v -0.10834745 0.04097891 -0.08203768
+v -0.11279387 0.02896037 -0.08043482
+v -0.11240957 0.03422278 -0.08203770
+v -0.11134209 0.03422280 -0.08597574
+v -0.11137341 0.03346907 -0.08597575
+v -0.10531863 0.04303793 -0.08582980
+v -0.11005827 0.03821213 -0.08597573
+v -0.11033724 0.03806507 -0.08582767
+v -0.11050233 0.03834541 -0.08203769
+v -0.11056211 0.03841434 -0.08043479
+v -0.11263730 0.03260959 -0.08043481
+v -0.11253482 0.03422278 -0.08043480
+v -0.11048810 0.03736188 -0.08597573
+v -0.11026606 0.03789961 -0.08597573
+v -0.11121115 0.03708151 -0.08043479
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 22
+f 1 22 31
+f 1 31 32
+f 1 32 25
+f 1 25 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
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+f 2 6 7
+f 3 7 6
+f 3 6 8
+f 3 8 4
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 10 16
+f 5 16 11
+f 5 11 6
+f 6 11 18
+f 6 18 28
+f 6 28 33
+f 6 33 30
+f 6 30 29
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+f 6 20 12
+f 6 12 8
+f 9 13 14
+f 9 14 15
+f 10 17 16
+f 11 16 19
+f 11 19 18
+f 12 20 14
+f 12 14 13
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 17 24
+f 16 24 19
+f 17 25 26
+f 17 26 24
+f 18 19 27
+f 18 27 28
+f 19 24 26
+f 19 26 27
+f 20 29 21
+f 21 29 30
+f 21 30 26
+f 21 26 22
+f 22 26 31
+f 25 32 26
+f 26 32 31
+f 26 30 27
+f 27 30 33
+f 27 33 28
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_77.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1795748ca284c3edf49d3eb9e07157f215909ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_77.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.06177717 0.09265591 -0.08597553
+v -0.06177717 0.07622614 -0.08597559
+v -0.06177717 0.09265589 -0.08043459
+v -0.03488150 0.09265591 -0.08597553
+v -0.06177717 0.07996563 -0.08043464
+v -0.05993692 0.07710432 -0.08597559
+v -0.04997215 0.09265589 -0.08043459
+v -0.04997215 0.09265427 -0.08043459
+v -0.05684876 0.08394159 -0.08043462
+v -0.05823618 0.08279319 -0.08043463
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 4 5 6
+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_78.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9f95813973fe7432f213fe59a83e3b294bed6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_78.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.09338564 -0.08162605 -0.01153407
+v 0.08495610 -0.10161898 -0.01153414
+v 0.08439260 -0.10547451 -0.02153822
+v 0.08468122 -0.10579951 -0.03624366
+v 0.09361471 -0.08162600 -0.02327425
+v 0.07931199 -0.08162605 -0.01153407
+v 0.08317857 -0.10419938 -0.01153415
+v 0.08191414 -0.10556206 -0.01153416
+v 0.08068179 -0.10627716 -0.01153416
+v 0.08193245 -0.10639965 -0.02462138
+v 0.08468122 -0.10579950 -0.03821853
+v 0.09362847 -0.08162600 -0.02447391
+v 0.07884469 -0.10716975 -0.02451821
+v 0.08173089 -0.10651712 -0.03466080
+v 0.07869808 -0.08162604 -0.01395992
+v 0.06323168 -0.08944964 -0.02703538
+v 0.07107941 -0.08666928 -0.01395994
+v 0.07092823 -0.08726688 -0.01153409
+v 0.07724582 -0.10716980 -0.01153416
+v 0.08536842 -0.10260903 -0.03894952
+v 0.08154306 -0.10649459 -0.03914702
+v 0.08167592 -0.10295908 -0.04164065
+v 0.08943659 -0.08162594 -0.04164352
+v 0.07762605 -0.10716971 -0.03484650
+v 0.07394729 -0.08162596 -0.03479925
+v 0.06309426 -0.08932707 -0.03693628
+v 0.04683073 -0.10716971 -0.03490546
+v 0.04726137 -0.10716973 -0.02966762
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_79.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2864cf7137fb15fe21c935f8a1f57b8f443d6358
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_79.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ce28452210c597750ae2e31080fb949c06ebb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_80.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b24a779c56c0f641c414da58ef0bdd0870d2d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_80.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00433008 -0.11980958 -0.04691569
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_81.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd8d829b3cb07d4f883622418852e6e49532892
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_81.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.08951593 0.08664991 -0.03580713
+v 0.08881331 0.08664993 -0.04084157
+v 0.08428536 0.09505400 -0.06918759
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+v 0.08817500 0.08664994 -0.04491727
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_82.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb9b0a9aa79f3f05b9d66f4313c75cd533f2190
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_82.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00433008 -0.10717198 -0.08821264
+v -0.00433008 -0.12609097 -0.08821271
+v -0.00433008 -0.10717200 -0.08268883
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_83.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb50ced66f8fa5a63dd1f1276a97238a83f85cf9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_83.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04260321 0.10602599 -0.05529135
+v 0.04260321 0.10490055 -0.05775900
+v 0.04260321 0.10602609 -0.08052351
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_84.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0166d64d3fd76ca7e377587cab411cbd9710e015
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_84.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.09063721 0.07917148 -0.04014355
+v -0.09044991 0.07917146 -0.03474899
+v -0.08595905 0.09737762 -0.04014348
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+v -0.04715469 0.09552719 -0.08043405
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_85.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d691fe1b1abfd047256573df9a5abcc67c3a982
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_85.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.07562823 0.08664988 -0.03388796
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_86.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e873f4906e05bca6ce92f0bf1f6e891b9887c0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_86.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00433008 -0.14123508 -0.01396310
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+
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_87.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3cebf908a9f5d0c432aada47860079240a3158
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_87.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03893341 0.11605252 -0.08680624
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_9.obj b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b726d7274a5ad8d0352f60a763918b8f62d5cf78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/basket_collision_9.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00530861 -0.10716954 -0.08253094
+v -0.01297869 -0.10716954 -0.08186632
+v 0.00530861 -0.10716946 -0.10451235
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diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..050622357e95e1eb70b4b1f940846e7634a36cf9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2732d6ebbc7551b81717d0bcd64f08a0ebe0ef7fd9af15efb05e4a2c028ee0c
+size 4031363
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/textures/material_0.png b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..050622357e95e1eb70b4b1f940846e7634a36cf9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2732d6ebbc7551b81717d0bcd64f08a0ebe0ef7fd9af15efb05e4a2c028ee0c
+size 4031363
diff --git a/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/video.mp4 b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..faaa379ff981beb62787fdee58cbc76cb751e541
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e10cdefcd01d33fe345c671fb808b091e5cc657df77f764e7d5565c48b48f6
+size 514377