diff --git a/.gitattributes b/.gitattributes
index c6666f92a6e9d7638c5d3cb4890c3298fd7ae25b..85143c2ebcd6e610a37b102e9058463f91b5f1be 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2744,3 +2744,5 @@ dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_b
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.urdf b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4582a4f13657e9246f173fad8e7d8850ebab4aae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_021">
+   <link name="basket_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_021.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4581ce08678b59de916b3bb04cac49c2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>pink fabric basket</name>
+         <color>pink,brown</color>
+         <shape>irregular</shape>
+         <material>fabric</material>
+         <description>soft oval pink fabric basket with gathered sides</description>
+         <min_height>0.0503</min_height>
+         <max_height>0.0503</max_height>
+         <real_height>0.0503</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131929</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074050 -0.052939 -0.016271</min>
+            <max>0.075950 0.053221 0.034065</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.usd b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..25d82dbd3dc52cd1d15001d492f8056fc39b7023
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d79c449f36a0eb25653655bc28f64f53a7872f261d5e3f4c40c2ca961440a0a
+size 5027270
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.glb b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b11dc20f79f7fe5a31968ed30a5c5261a304bea9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b0974febefb9607fd73c07eed8e10e5044f5529e48b40f9c9b457f1973033e7
+size 15507272
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.mtl b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14e67ae0baf895a930e4d284c91b0c394a2d170a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.mtl
@@ -0,0 +1,6 @@
+newmtl basket_021_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8929a8ac74fe6163fd647adf29e77dc48acf7f10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.obj
@@ -0,0 +1,117548 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_collision.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14e5d75456ced67bbab2774dd68e03e8eee9781
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c85c99c33b20dfd2ad81752f7f443ec791c7593
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e63db4466796fa82a861bdb8dead8b0ef87b381459c5c8b47ebac1ddcc63807
+size 11970409
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material.mtl b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a6d7713845835964107168f9e3adcaf797457ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_021_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material_0.png b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e63db4466796fa82a861bdb8dead8b0ef87b381459c5c8b47ebac1ddcc63807
+size 11970409
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/basket_021.xml b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/basket_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..401833ed3a977fe0894e58b04b37607595574d71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/basket_021.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_19" file="mesh/basket_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_021_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_021_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44dd21004fc4ec6d1dd0d385db24495eb077fada
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021.obj
@@ -0,0 +1,117548 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25170ebac61ff4cd35c912b22bda4669f74d0ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision.obj
@@ -0,0 +1,9627 @@
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_0.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f67ed3f8445e669dc2b28e7e833cd2aa08d0a82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_1.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2babb2401d3f3c917120e2be8d7e0b9b9558bc48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_10.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afe77e6b4f991b880ed34c727550a7efcfb836d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_11.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087f36aac31e252b889a165c5d96f836c567537b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_11.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_12.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5705f75af1749a8ec4704444cc3a83204cee3cda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_12.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_13.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc803044635b0230a73c2b848a33af9f54a3f110
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_13.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_14.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1a1ded335286432be11f8bb53234ea3d180739
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_14.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_15.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66be5f861d3af2b36e6bf9a30684860d7a2c3e9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_16.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69ffbf080437f273b493348b1ac5d06a7665f44
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_17.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e647b8f3c22463dce332808959fd9cd8fd63bc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_17.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_18.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c91094f87cda96b8a3d8606d3f169c311993b29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_19.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49e6ee9947de820ddb5ad0d4a11defb448ed51e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_19.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_2.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa4ea53bb28597fea85e30cdecc8f28a538cc7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_20.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986c00cbe54ddc60e91b91ac497f1b6edefc01a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00972309 -0.03709760 -0.00240305
+v 0.00086725 -0.03818072 -0.00240305
+v 0.00086725 -0.04086976 0.00296682
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+v 0.00086725 -0.04826253 -0.00240309
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+
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_21.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3052153b5823e8ac8aa76258c5421d2f7cde37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_21.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01454644 -0.03982818 0.00296682
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+
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_22.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bcc83ab1f5519ae591d1163ef78797c8fbc7ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_22.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.03175525 -0.04441094 -0.00225386
+v -0.03175525 -0.03452434 -0.00225383
+v -0.03091214 -0.04471054 -0.00225386
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+
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_23.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de15fdda2f709d63a2379d492def59b6626121fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.01019254 -0.05078080 0.00731835
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+v -0.01019254 -0.04880481 -0.00225388
+v -0.00941676 -0.04883290 -0.00225388
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+
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_24.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea62157eba704f670dab1435c89b886f4d9c44d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_24.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+v -0.03888727 -0.03434370 0.01791068
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+
diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_3.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f4cb01a074e4954ea408b1da2b75443f41b728e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_3.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
+v 0.07049435 -0.00021265 -0.00240343
+v 0.07041937 -0.00072077 -0.00240343
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_4.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da969c4b02a7f73df70c7b00dc40dd23f0b4d70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_5.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6690094a94eb1d7b7f3a84645376558c6fab8d84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_5.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_6.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68943a7a868445685ee851102f1158bd08e63a09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_7.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df5680830385a5a9ba8bbb14b9404204e3c20c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_7.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_8.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c45975242d98969cded50ea0ac2eb1ccf625dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_8.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_9.obj b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef72281951a6f544a33007b7129634b7efea3293
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mjcf/mesh/basket_021_collision_9.obj
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