diff --git a/.gitattributes b/.gitattributes
index 3e2adc59092d230d390446ed85c60fa48f1c13a6..aa0dee9112f88af29d182aa092899e9b6f019b77 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2715,3 +2715,6 @@ dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd
 dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/mesh/storage_bin_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/storage_bin_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.urdf b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ebc4ed55fba1eeeee693e48b19cf12920e91e216
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gray_basket">
+   <link name="gray_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_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/gray_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>0.300000</scale>
+         <version>v0.1.7</version>
+         <category>gray basket</category>
+         <description>gray woven basket with hinged lid, cylindrical shape</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260117184303</generate_time>
+         <gs_model>mesh/gray_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object has missing geometry at the base and redundant overlapping parts.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.711416721343994</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.usd b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..81566aaa6c76637435838c2660ca144d5c5e0296
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/20123526bb765a85ba100fcb662e59e7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25d85d15cd0420e153cfe23d3b0ced95ab972320fd97702d06a389312b583c5
+size 980787
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.glb b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..074307003687adc46a85abf28988ddc629ab0cc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e4b11fdb05b392fed7040e673152ffdd0e2ebedeb9b51208026c6ed0a4201f
+size 3442724
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be18a93505158c2998b8632c6198ab9d1ca3278
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket.obj
@@ -0,0 +1,63736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be0f86f426845a4035193771a9fe4f085a66a20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_gs.ply b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6f834c652d4fdbe8498597228b75e6743ff2f9a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/gray_basket_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:735b8a74ec8105f621124c4e8e5b295d2746ea6dd7cde11356401830f74a6f9e
+size 5637770
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/material.mtl b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/material_0.png b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mesh/material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d79e1a028c9618113defa327142af42423119a274a9686da73a47cd4e4df0a57
+size 2750149
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/20123526bb765a85ba100fcb662e59e7.xml b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/20123526bb765a85ba100fcb662e59e7.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="gray_basket">
+  <asset>
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdce4b017cbf52d327d2f9ec1e0768721929c128
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket.obj
@@ -0,0 +1,63736 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5daea4dc23ccce3b7a067795dde0d33b9f230573
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision.obj
@@ -0,0 +1,18709 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_0.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43606f166770812543aeb20943579f0509444e30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_1.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2db41361d7c245ad493c8e29b36efb7361647dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_1.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_10.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e2f67bbe3e196c03a108d54cf2983c3c18f321
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_10.obj
@@ -0,0 +1,124 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_11.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902fe59e5ccbddaad058022c574091199924569d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_11.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_12.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8f5025c0d3608db88af439736aedac33d57ddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_13.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47679c22f11f4a8bac15f23a6ae87a0066e7455e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_13.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_14.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17436a948f89251f6f9b505f75d124e66ba9ba9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_14.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_15.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8c4171e010895f78968d9e53e59f181065ddc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_15.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_16.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46466a6bb8fbb18e26e2b2828ca94f5cb6141bb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_17.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a737dc937d461b71f622f510318e224b9930f494
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_17.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_18.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d648c863596984de2ff80732182d6eeadd266292
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_18.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_19.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8895a998de3a6d5ce7b86d0100e5a6d0dc7e3a00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_2.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe4c6196c9b119e554cc1956da6c77ed6af66e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_2.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_20.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be4d2d63230cd545ea5f38ec7b3a6ac3556797a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_20.obj
@@ -0,0 +1,244 @@
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+f 49 51 50
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+f 54 65 55
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_21.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78d05b771a3908271afee154af950ff3224283d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.09263486 -0.10359967 -0.04241764
+v 0.08118647 -0.10359967 -0.04241764
+v 0.09270874 -0.10359967 -0.04491902
+v 0.09729384 -0.07581348 -0.04241754
+v 0.08100790 -0.07581348 -0.04241754
+v 0.07744901 -0.10359957 -0.07164907
+v 0.09276005 -0.10359966 -0.04691318
+v 0.09713375 -0.07085080 -0.04241752
+v 0.09744983 -0.07581345 -0.05186025
+v 0.09744161 -0.07085077 -0.05186023
+v 0.09731026 -0.07085079 -0.04691306
+v 0.08112900 -0.07085080 -0.04241752
+v 0.07987497 -0.07581345 -0.05186025
+v 0.07677582 -0.10359954 -0.07870158
+v 0.09276211 -0.10359965 -0.04986620
+v 0.09441430 -0.05485573 -0.04241746
+v 0.09739441 -0.07581325 -0.10626532
+v 0.09742725 -0.07085075 -0.05680741
+v 0.09446151 -0.05485572 -0.04691300
+v 0.08283661 -0.06545390 -0.04241750
+v 0.08168520 -0.06588333 -0.05186021
+v 0.08011511 -0.07085077 -0.05186023
+v 0.07901706 -0.07231090 -0.06304004
+v 0.07652953 -0.10359953 -0.08171018
+v 0.09274568 -0.10359964 -0.05186035
+v 0.08651454 -0.05485573 -0.04241746
+v 0.09232289 -0.10359946 -0.10131824
+v 0.09225926 -0.10359944 -0.10626542
+v 0.09630663 -0.08077590 -0.11121251
+v 0.09715839 -0.07581323 -0.11121249
+v 0.09700856 -0.07085057 -0.10626530
+v 0.09314796 -0.05485548 -0.11121241
+v 0.08531798 -0.05485568 -0.05674482
+v 0.07933519 -0.06952892 -0.06670177
+v 0.07941728 -0.07073144 -0.06153225
+v 0.07911763 -0.06832639 -0.07879872
+v 0.07894933 -0.07201026 -0.06670177
+v 0.07648643 -0.10359952 -0.08330829
+v 0.09183851 -0.10359942 -0.11121259
+v 0.09610960 -0.08077589 -0.11339428
+v 0.09651187 -0.07085055 -0.11121247
+v 0.09658370 -0.07801302 -0.11339427
+v 0.09686489 -0.07581322 -0.11339426
+v 0.09306791 -0.05485547 -0.11339418
+v 0.08454833 -0.05485557 -0.08813716
+v 0.07988113 -0.06537737 -0.09142374
+v 0.07896780 -0.06788736 -0.08733816
+v 0.07884260 -0.07036871 -0.08189072
+v 0.07877693 -0.07036869 -0.08600411
+v 0.07870098 -0.07085062 -0.09142376
+v 0.07648438 -0.10359948 -0.09637106
+v 0.09132130 -0.10359941 -0.11339436
+v 0.09650366 -0.07304557 -0.11339425
+v 0.09610754 -0.07085054 -0.11339424
+v 0.08419737 -0.05485547 -0.11339418
+v 0.08436361 -0.05485554 -0.09637088
+v 0.08427536 -0.05485552 -0.10131806
+v 0.08418505 -0.05485548 -0.11121241
+v 0.08418710 -0.05485548 -0.11191420
+v 0.07986266 -0.06569229 -0.09637092
+v 0.07896780 -0.06786347 -0.09142375
+v 0.07912378 -0.06830723 -0.09896264
+v 0.07652337 -0.10359941 -0.11339436
+v 0.07648848 -0.10359947 -0.09839996
+v 0.08189455 -0.06588787 -0.11339422
+v 0.08103664 -0.07085054 -0.11339424
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 38
+f 1 38 51
+f 1 51 64
+f 1 64 63
+f 1 63 52
+f 1 52 39
+f 1 39 28
+f 1 28 27
+f 1 27 25
+f 1 25 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 15 9
+f 8 11 16
+f 9 15 17
+f 9 17 10
+f 10 17 18
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+f 10 19 16
+f 10 16 11
+f 12 20 21
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+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 17
+f 16 19 32
+f 16 32 44
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+f 16 45 33
+f 16 33 26
+f 17 27 28
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+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 17 25 27
+f 18 31 19
+f 19 31 32
+f 20 26 21
+f 21 26 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 34
+f 23 34 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 28 39 29
+f 29 40 30
+f 29 39 40
+f 30 41 31
+f 30 40 42
+f 30 42 43
+f 30 43 41
+f 31 41 44
+f 31 44 32
+f 33 36 34
+f 33 45 46
+f 33 46 47
+f 33 47 36
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 39 52 40
+f 40 52 63
+f 40 63 66
+f 40 66 65
+f 40 65 55
+f 40 55 44
+f 40 44 54
+f 40 54 53
+f 40 53 43
+f 40 43 42
+f 41 43 53
+f 41 53 54
+f 41 54 44
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 55
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+f 46 60 61
+f 46 61 47
+f 47 61 50
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+f 47 49 48
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+f 50 62 63
+f 50 63 64
+f 50 64 51
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+f 60 62 61
+f 62 65 66
+f 62 66 63
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_22.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2940448c1b1671670bb91e02f07b3a1ae1b7af1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01559654 0.08803877 -0.14108480
+v -0.01559654 0.08307238 -0.14113417
+v -0.01559654 0.08803870 -0.12148923
+v -0.00714654 0.08803877 -0.14153720
+v -0.01207045 0.03342571 -0.14160320
+v -0.01559654 0.03342571 -0.14130161
+v -0.01559654 0.03839203 -0.12192810
+v 0.07652381 0.07810589 -0.11444286
+v 0.07652381 0.08307228 -0.11493089
+v 0.07652381 0.08782050 -0.11644708
+v 0.07651479 0.08803868 -0.11653208
+v -0.00221361 0.08803877 -0.14172913
+v -0.01559654 0.02938945 -0.14125501
+v -0.00221361 0.08307238 -0.14174010
+v 0.00271931 0.08307238 -0.14183058
+v -0.00714654 0.03342571 -0.14165530
+v -0.01207045 0.02938945 -0.14149080
+v -0.01559654 0.03342564 -0.12198021
+v 0.07652381 0.03824273 -0.11604148
+v 0.07652381 0.08799848 -0.11653482
+v 0.07652381 0.08803868 -0.11673771
+v 0.00271931 0.08803877 -0.14178122
+v -0.01559654 0.02938938 -0.12221602
+v 0.06680225 0.08307238 -0.14214589
+v 0.07652381 0.03839210 -0.14245040
+v -0.00714654 0.02938945 -0.14148805
+v -0.01559654 0.03053767 -0.12214747
+v 0.07652381 0.03342562 -0.11629922
+v 0.07652381 0.08803877 -0.14190459
+v 0.07173518 0.08803877 -0.14208007
+v -0.01559654 0.02987740 -0.12218586
+v 0.07652381 0.02938936 -0.11753304
+v 0.07652381 0.03330505 -0.11632664
+v 0.07652381 0.03342571 -0.14172933
+v 0.04707956 0.02938945 -0.14132081
+v 0.03722273 0.02938945 -0.14135920
+v 0.00765224 0.02938945 -0.14147160
+v 0.07652381 0.02938945 -0.14074229
+v 0.07652381 0.02951002 -0.14077245
+v 0.07173518 0.02938945 -0.14098082
+v 0.06680225 0.02938945 -0.14116727
+v 0.06187834 0.02938945 -0.14123033
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 31
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+f 1 27 18
+f 1 18 7
+f 1 7 3
+f 1 3 11
+f 1 11 21
+f 1 21 29
+f 1 29 30
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+f 1 22 12
+f 1 12 4
+f 1 4 2
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+f 5 17 13
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+f 8 19 28
+f 8 28 33
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+f 8 34 25
+f 8 25 29
+f 8 29 21
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+f 8 10 9
+f 8 18 19
+f 10 20 11
+f 11 20 21
+f 12 22 15
+f 12 15 14
+f 13 17 26
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+f 13 37 36
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+f 13 41 40
+f 13 40 38
+f 13 38 32
+f 13 32 23
+f 15 22 24
+f 15 24 25
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 18 27 28
+f 18 28 19
+f 22 30 24
+f 23 32 33
+f 23 33 28
+f 23 28 31
+f 24 30 25
+f 25 30 29
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 27 31 28
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_23.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daab58f74eecb25e64acb3bf052d942ae9b356d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06145344 -0.10368812 -0.11684034
+v -0.07565602 -0.10368813 -0.11395476
+v -0.06145344 -0.10368808 -0.12737134
+v -0.06145344 0.02937060 -0.12055289
+v -0.08089739 0.02938360 -0.11395427
+v -0.08844543 -0.10368813 -0.11395476
+v -0.08671450 -0.10368808 -0.12737134
+v -0.06145344 0.02938365 -0.12737085
+v -0.06145344 0.02938362 -0.12083790
+v -0.09674490 0.02938360 -0.11395427
+v -0.09544765 -0.08077572 -0.11395468
+v -0.09516726 -0.08077570 -0.12110493
+v -0.09374663 -0.08383674 -0.12397871
+v -0.09429619 -0.08077568 -0.12448830
+v -0.09137268 -0.08563430 -0.12737127
+v -0.09108108 0.02938365 -0.12737085
+v -0.09953383 0.00838599 -0.11395435
+v -0.09614300 0.02938361 -0.11620022
+v -0.09902165 0.00822969 -0.11618585
+v -0.09642714 -0.07579985 -0.11395466
+v -0.09592244 -0.07579983 -0.12110491
+v -0.09467378 -0.07579981 -0.12485473
+v -0.09162316 -0.08422751 -0.12737127
+v -0.09158204 0.01534182 -0.12737090
+v -0.09492426 0.00363161 -0.12455235
+v -0.09468873 0.00859444 -0.12440786
+v -0.09757112 0.00338410 -0.12074081
+v -0.09715614 0.00822970 -0.12074079
+v -0.09841601 0.00634096 -0.11885210
+v -0.09905156 0.00338409 -0.11661404
+v -0.09964225 0.00350131 -0.11395437
+v -0.09675986 -0.04104696 -0.12110478
+v -0.09207925 -0.07579980 -0.12737124
+v -0.09189233 -0.08076264 -0.12737126
+v -0.09841601 0.00488206 -0.11885210
+v -0.09502894 -0.04104694 -0.12493734
+v -0.09202691 -0.04096878 -0.12737111
+v -0.09207925 -0.07574771 -0.12737124
+v -0.09205308 -0.04600977 -0.12737113
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
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+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 31 20
+f 2 20 11
+f 2 11 6
+f 3 7 15
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+f 3 38 39
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+f 5 18 10
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+f 7 13 14
+f 7 14 15
+f 10 18 19
+f 10 19 17
+f 11 20 12
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+f 18 29 19
+f 19 29 30
+f 20 31 21
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+f 21 31 30
+f 21 30 32
+f 22 33 34
+f 22 34 23
+f 22 32 35
+f 22 35 27
+f 22 27 36
+f 22 36 33
+f 24 37 36
+f 24 36 25
+f 25 27 26
+f 25 36 27
+f 27 35 29
+f 27 29 28
+f 29 35 30
+f 30 35 32
+f 33 36 38
+f 36 37 39
+f 36 39 38
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_24.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381c86ab41f5a24d216d92f29b801d943af99b1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03248232 0.14066392 -0.01080788
+v 0.03248232 0.14066391 -0.00922170
+v 0.03248232 0.13961697 -0.01558722
+v 0.03225167 0.13961697 -0.01558722
+v -0.01560556 0.13889772 -0.01558722
+v 0.03248232 0.13144410 -0.00230888
+v -0.01560556 0.13850037 -0.01333407
+v -0.01560556 0.13827416 -0.01228615
+v -0.01560556 0.13700384 -0.00870947
+v -0.01560556 0.13142670 -0.00230498
+v 0.03248232 0.11103822 -0.01558732
+v -0.01560556 0.11138915 -0.01558732
+v 0.03220460 0.13143540 -0.00230498
+v 0.03229404 0.13143540 -0.00230498
+v 0.03248232 0.13092786 -0.00230498
+v -0.01560556 0.11782468 -0.00230503
+v 0.03248232 0.11794649 -0.00230503
+v 0.03238347 0.11794359 -0.00230503
+v 0.02252207 0.11785078 -0.00230503
+v 0.01758901 0.11780728 -0.00230503
+v 0.01266066 0.11777247 -0.00230503
+v 0.00773702 0.11775507 -0.00230503
+v 0.00764759 0.11775507 -0.00230503
+v 0.00271453 0.11776088 -0.00230503
+v -0.00221382 0.11777538 -0.00230503
+v -0.00714687 0.11779278 -0.00230503
+v -0.01207522 0.11781018 -0.00230503
+f 1 2 6
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+f 1 17 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
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+f 2 10 6
+f 3 11 12
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+f 5 16 10
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+f 10 22 21
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+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 15
+f 10 15 14
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+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 16
+f 11 16 12
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_25.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27751e3906549e9d9ef72371018b1d41f27d54b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_25.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.10235626 -0.10359978 -0.01723526
+v 0.10197837 -0.10560442 -0.01723527
+v 0.10226880 -0.10359977 -0.02018281
+v 0.10168095 -0.10359978 -0.01523999
+v 0.10183140 -0.10560440 -0.02217808
+v 0.09950453 -0.11057162 -0.01344748
+v 0.09906715 -0.11368481 -0.01431442
+v 0.10072570 -0.11057161 -0.01723529
+v 0.09891668 -0.11817689 -0.01946264
+v 0.10082017 -0.11057159 -0.02217810
+v 0.10212883 -0.10359976 -0.02217807
+v 0.10049477 -0.10359980 -0.01211372
+v 0.09918261 -0.11422552 -0.02512833
+v 0.09959900 -0.11057158 -0.02563780
+v 0.09809090 -0.11057163 -0.01097474
+v 0.10001539 -0.10552334 -0.01200170
+v 0.09859827 -0.10712241 -0.01016115
+v 0.09739109 -0.11541908 -0.01251388
+v 0.09518668 -0.12041332 -0.01219914
+v 0.09851079 -0.11699498 -0.01616565
+v 0.09936107 -0.11541907 -0.01758207
+v 0.09891668 -0.11817689 -0.02021220
+v 0.09758704 -0.12009658 -0.01758209
+v 0.09406698 -0.12814217 -0.01931864
+v 0.09568704 -0.12546158 -0.02217815
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_26.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5463d8d8f9f3e58f512aa6848ccd1987ba291e3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_27.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7982cd3114dc7a45577db52e7b534e8cdaca9cc4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_27.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_28.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae229731df60686c9c030b3462412b5e17d062ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_28.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_29.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d004d5f5b6e04a096467db025dd26812b6cd9a41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_3.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..643f5b211c81b995318a815df2f770eece9c61a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_3.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_30.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8986162ba1e5651be0a939fb575cc361e840c70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_31.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be2134961b733ef59d2080c43614b65310f68c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_31.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_32.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66afe6eaebb7ce1d19fcbcf4715206dd97c4531c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_32.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_33.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a844a3ab1a60927f79a102f247279fbb38658cc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_33.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_34.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440b19f93195c17ecf5edddc2a6ab158eaab9ddd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.08003636 -0.03112379 -0.14283610
+v 0.08003636 -0.04105285 -0.14282461
+v 0.06203846 -0.03127931 -0.14188527
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_35.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fab4e9c62a1ca711bc425692f5e9c41565f343f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_35.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_36.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337f1715d0070e4fc3ecc2f2e0c1d5537bcb6947
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_36.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_37.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9977c92ec99c528995e9b08213c961a21e7213da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_37.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_38.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d8c9d034c1066216ed0da1196368ff209d09f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_38.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_39.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f4a34206b32ab1dc4fe2e19fc242a3df15dd06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_39.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.00053407 -0.13307405 0.01501798
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_4.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf27dafdc7daeb28239937d96d81d18a4a813f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_4.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.06203670 -0.10359942 -0.11714906
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_40.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578d3e8e1c65352ac0473f5620391ff25af8afdf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_40.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_41.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48fe9a54b952804be0a318cd3a1225f2c9b3a1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_41.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_42.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5634ff141081e0ac646df02629d89ea4a1136f19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_42.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_43.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c31b67d6d3a9fb0ffd8cebf0eda0ec704823d32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_43.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04421550 0.05055758 0.11482667
+v -0.04421550 0.05055759 0.11250078
+v -0.04421550 0.05137362 0.11730043
+v -0.04426044 0.04340906 0.12530140
+v -0.04421550 0.05082960 0.11121931
+v -0.04421550 0.05257369 0.11878610
+v -0.04702294 0.04786135 0.12530142
+v -0.04781865 0.03992082 0.12530139
+v -0.04421550 0.05108563 0.11002702
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+v -0.04421550 0.05566189 0.12154855
+v -0.04421550 0.05768602 0.12283003
+v -0.04421550 0.05888610 0.12337455
+v -0.04421550 0.06017018 0.12394253
+v -0.04421550 0.06115025 0.12394253
+v -0.05612466 0.05728999 0.12530145
+v -0.05084286 0.03852473 0.12530138
+v -0.04421550 0.05356581 0.10729275
+v -0.05107814 0.03844472 0.12530138
+v -0.05605593 0.03698062 0.12530138
+v -0.06487743 0.03606456 0.12406683
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+v -0.04659469 0.05356581 0.10729040
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+v -0.06752891 0.03540452 0.12530137
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+v -0.07122193 0.05822205 0.12530145
+v -0.04659469 0.06641462 0.11973199
+v -0.05152490 0.06642662 0.11972261
+v -0.05645510 0.06643462 0.11971087
+v -0.07122193 0.06633862 0.11971087
+v -0.06970983 0.06625468 0.10132432
+v -0.04659469 0.06624668 0.10132432
+v -0.04421550 0.07605534 0.10132436
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+v -0.06138267 0.06642662 0.11968036
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+v -0.06631287 0.07606334 0.10132436
+v -0.06798888 0.07605133 0.10132436
+v -0.07122193 0.07602733 0.10132436
+v -0.07122193 0.07587133 0.10132436
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+f 42 52 53
+f 43 46 54
+f 49 51 52
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_44.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee123f317143d73e87c0ed6f076a1499be9a0319
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_44.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01560556 0.12834327 -0.02402775
+v -0.01560556 0.11952016 -0.03062270
+v -0.01560556 0.12834324 -0.01558726
+v -0.00297166 0.12834328 -0.02698597
+v 0.00271453 0.12777373 -0.03062267
+v -0.00218557 0.12678816 -0.03062267
+v -0.01560556 0.10480340 -0.03062276
+v -0.01560556 0.11139036 -0.01558732
+v 0.03248232 0.12834324 -0.01558726
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+v -0.01241413 0.10473407 -0.03062276
+v -0.01560556 0.10454834 -0.03042260
+v -0.01560556 0.10605142 -0.01938004
+v -0.01507836 0.10546454 -0.01974209
+v 0.02736569 0.10526149 -0.01955665
+v 0.03248232 0.11103625 -0.01558732
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+v -0.00744342 0.10472169 -0.03062276
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+v -0.01207522 0.10451615 -0.03045645
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+v -0.01560556 0.10509557 -0.02032785
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+v 0.03229404 0.10383018 -0.02217932
+v 0.03248232 0.10528129 -0.01958020
+v 0.03229404 0.10528129 -0.01957873
+v 0.03248232 0.10537787 -0.01950956
+v -0.01560556 0.10415953 -0.02185112
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+v 0.03183274 0.10484550 -0.03062275
+v -0.00221382 0.10449386 -0.03046234
+v 0.01750428 0.10476378 -0.03062276
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+v -0.01560556 0.10335226 -0.02573949
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+v -0.01207522 0.10396886 -0.02226321
+v 0.00764759 0.10304768 -0.02712441
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+v 0.01750428 0.10451119 -0.03042996
+v 0.00764759 0.10450130 -0.03044762
+v 0.03248232 0.10308483 -0.02712441
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+f 39 54 44
+f 46 54 47
+f 47 51 50
+f 47 50 48
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_45.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ed1848ab9c705dce80fd46c3cd66dfa71a0f69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_45.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.08003636 -0.10359931 -0.14320873
+v 0.08003636 -0.10359942 -0.11340130
+v 0.06203846 -0.10359932 -0.14153979
+v 0.06203846 -0.10063272 -0.14197452
+v 0.06203846 -0.08574175 -0.14204448
+v 0.06681147 -0.08574175 -0.14232166
+v 0.08003636 -0.07581282 -0.14272137
+v 0.07652135 -0.10359942 -0.11340130
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+v 0.06203846 -0.10359941 -0.11714765
+v 0.06203846 -0.08092948 -0.14194235
+v 0.06203846 -0.07581282 -0.14163597
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+v 0.08003636 -0.07085077 -0.14227493
+v 0.06203846 -0.08077487 -0.14193652
+v 0.07660064 -0.10340132 -0.11340130
+v 0.08003636 -0.07085087 -0.11517223
+v 0.06823861 -0.07085086 -0.11810454
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+v 0.06203846 -0.06603850 -0.14083356
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+v 0.07174129 -0.05423982 -0.12256567
+v 0.08003636 -0.05423982 -0.12307628
+f 1 2 8
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_46.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3215561829a9ac44f860550c7dc4339c1c11226e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_46.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.09146317 -0.00630924 -0.14937991
+v 0.09146317 -0.00133670 -0.14936066
+v 0.09550863 -0.01126877 -0.14918386
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+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_47.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40f09da61ceab511e33f13222f92f3279db0e8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_47.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04147087 0.04851559 0.12717283
+v 0.04113838 0.04829888 0.12717283
+v 0.07042593 0.04851559 0.12717283
+v 0.06538110 0.04851564 0.11550759
+v 0.03776876 0.04335264 0.12717281
+v 0.07042593 0.03519910 0.12717278
+v 0.07042593 0.04851564 0.11401918
+v 0.06989204 0.04851564 0.11416983
+v 0.04419150 0.03818707 0.12717279
+v 0.04222216 0.03957664 0.12717280
+v 0.07042593 0.03509930 0.12609510
+v 0.06187721 0.03540793 0.12717278
+v 0.07042593 0.04018215 0.11837109
+v 0.04709116 0.03738065 0.12717279
+v 0.07042593 0.03754091 0.12061528
+v 0.06448274 0.03592806 0.12379682
+v 0.06042258 0.03544996 0.12717278
+v 0.06639774 0.03532257 0.12575003
+v 0.07042593 0.03562860 0.12301656
+v 0.05202730 0.03655190 0.12717278
+v 0.06776924 0.03574681 0.12342214
+f 1 2 5
+f 1 5 10
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+f 1 12 6
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_48.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..566056d3b2102609a542ef73e0bfff92f88d927d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_48.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.03673622 0.12382314 -0.13594236
+v -0.03673622 0.12207165 -0.13205876
+v -0.03180420 0.12205798 -0.13203254
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+v -0.01560556 0.12140251 -0.14417582
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+v -0.03673622 0.12112938 -0.14395299
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+v -0.04166249 0.12266575 -0.14088955
+v -0.05152079 0.12203071 -0.14088955
+v -0.06137908 0.12261452 -0.13594236
+v -0.06631110 0.12130345 -0.13215988
+v -0.07124312 0.11769463 -0.12590943
+v -0.06655828 0.11777316 -0.12590943
+v -0.01885334 0.11585097 -0.12590943
+v -0.01560556 0.12167561 -0.13232653
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+v -0.01701389 0.11783127 -0.14503720
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+v -0.07124312 0.12083913 -0.13269543
+v -0.07432994 0.11731225 -0.12590943
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+v -0.01865214 0.11579976 -0.12590943
+v -0.01560556 0.11446140 -0.12590944
+v -0.01560556 0.11641780 -0.14496978
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+v -0.05668849 0.11815220 -0.14390994
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+v -0.03180420 0.08894383 -0.14180907
+v -0.07432994 0.10784818 -0.14289132
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_49.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8699b27e0b8daff2c45b536a78cc508422eac5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_49.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07432994 0.10094579 -0.09145822
+v -0.07432994 0.10109927 -0.11006734
+v -0.05152547 0.10235428 -0.11006733
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+v -0.07124531 0.12644066 -0.03571807
+v -0.06704622 0.12586975 -0.03571807
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_5.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4fb894f0c43b507b1b31029fb56f85ae66b222
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_5.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.08160426 0.05601916 0.10132429
+v 0.08316665 0.06048861 0.09364541
+v 0.08440025 0.06048861 0.09364541
+v 0.08315613 0.05605178 0.10132429
+v 0.07829273 0.05867798 0.10132430
+v 0.07127250 0.11787384 -0.00230503
+v 0.07675665 0.11690329 -0.00230503
+v 0.08153588 0.11642209 -0.00230503
+v 0.08359802 0.11515792 -0.00026612
+v 0.08661232 0.05702233 0.10132429
+v 0.08432397 0.11515792 -0.00026612
+v 0.07127250 0.06636083 0.10132432
+v 0.07127250 0.13167361 -0.00230498
+v 0.08180417 0.11643840 -0.00230503
+v 0.09349052 0.06064355 0.10132430
+v 0.09406392 0.07055302 0.08397836
+v 0.09424541 0.06538215 0.09348313
+v 0.08613887 0.11823270 -0.00230503
+v 0.09407708 0.12496947 -0.00230500
+v 0.09419280 0.12003512 0.00461309
+v 0.09404025 0.10037115 0.03458808
+v 0.09459524 0.09496376 0.04375810
+v 0.09420859 0.08538868 0.05911584
+v 0.07127250 0.07610713 0.10132436
+v 0.08156218 0.13875293 -0.00230495
+v 0.07127250 0.13173070 -0.00191951
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_50.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aee66984e00217f1f131e76d7361c7acbb4957f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_50.obj
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_51.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f79c6ff04c9ca5f76d2fee8ab2c29c8a9bd2b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_51.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.07042913 0.07609561 0.10132436
+v 0.07042913 0.06712990 0.12115354
+v 0.07042913 0.06635787 0.10132432
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+v -0.00038598 0.06625528 0.10132432
+v 0.06895959 0.05692779 0.12717286
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+v -0.00038598 0.06004053 0.12387854
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+v 0.04175234 0.04870457 0.12717283
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+v 0.04894060 0.05246792 0.12717284
+v 0.05694681 0.05648504 0.12717286
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+v 0.07042913 0.04851834 0.11402082
+v -0.00038598 0.05095346 0.11119712
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_52.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a04bfb0cdbfebcdd2ca29b9a51c05ce8df7c2a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_52.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.09815855 0.00362270 -0.11340250
+v 0.09803791 0.00362271 -0.11615914
+v 0.09670027 0.02938361 -0.11340240
+v 0.09686348 -0.07580784 -0.11340279
+v 0.09663640 -0.04105208 -0.12110620
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+v 0.09658495 -0.07800774 -0.11340280
+v 0.09584516 -0.08076735 -0.12110635
+v 0.09492619 -0.08076733 -0.12471893
+v 0.09523487 0.00362274 -0.12466103
+v 0.09225088 0.02938367 -0.12974542
+v 0.09513553 0.02938363 -0.12079396
+v 0.09243538 -0.08076731 -0.12974583
+v 0.08003636 0.02938362 -0.11605344
+v 0.08023151 0.00362270 -0.11340250
+v 0.09610949 -0.08076737 -0.11340281
+v 0.09132304 -0.10359943 -0.11340289
+v 0.09395399 -0.08826521 -0.12361982
+v 0.09445606 -0.08573988 -0.12423417
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+v 0.08003636 -0.02734506 -0.11340261
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+v 0.09176123 -0.08905923 -0.12974586
+v 0.08003636 -0.10359937 -0.12974591
+v 0.08810131 -0.10359937 -0.12974591
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_53.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a3f535102f1bb328e8a4dc60ad65c568fa227e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_53.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00271931 0.12372744 -0.13594163
+v 0.00271931 0.12359471 -0.14088777
+v -0.00221361 0.12361218 -0.14088777
+v -0.00221361 0.12372395 -0.13594163
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_54.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a74ef49e9a11f198ff03c4377c9e4aaabefd21f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_54.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00271931 0.12789802 -0.11615864
+v 0.00271931 0.12672364 -0.12032114
+v -0.00221361 0.12656757 -0.12012938
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+f 10 20 21
+f 10 21 11
+f 11 22 31
+f 11 31 37
+f 11 37 38
+f 11 38 33
+f 11 33 32
+f 11 32 24
+f 11 24 23
+f 11 23 12
+f 11 21 20
+f 11 20 19
+f 11 19 18
+f 11 18 29
+f 11 29 35
+f 11 35 36
+f 11 36 30
+f 11 30 22
+f 12 23 24
+f 12 24 14
+f 13 14 25
+f 14 24 25
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 22 30 31
+f 24 32 25
+f 25 32 33
+f 26 34 40
+f 26 40 41
+f 26 41 36
+f 26 36 35
+f 26 35 28
+f 26 28 27
+f 28 35 29
+f 30 36 41
+f 30 41 39
+f 30 39 37
+f 30 37 31
+f 34 39 40
+f 34 38 39
+f 37 39 38
+f 39 41 40
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_55.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb62b7b18f5214462ce068f51b3adabd9d49573a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_55.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03180420 0.12598956 -0.11615848
+v -0.03197090 0.12571753 -0.11006880
+v -0.02825751 0.12556887 -0.11615848
+v -0.02818853 0.12554350 -0.11906142
+v -0.03180420 0.12570306 -0.11934210
+v -0.07124312 0.12544196 -0.11891720
+v -0.07124312 0.12552173 -0.11615848
+v -0.07124312 0.12548543 -0.11006880
+v -0.02698140 0.12415084 -0.11006880
+v -0.02904503 0.12540204 -0.11320280
+v -0.01560556 0.12128222 -0.11691523
+v -0.03180420 0.11827216 -0.12590943
+v -0.01560556 0.12124234 -0.11974375
+v -0.01865214 0.11579882 -0.12590943
+v -0.01885334 0.11585322 -0.12590943
+v -0.06655828 0.11777532 -0.12590943
+v -0.07124312 0.11769553 -0.12590943
+v -0.07387584 0.12535491 -0.11876523
+v -0.07393906 0.12538392 -0.11615848
+v -0.07393331 0.12539114 -0.11006880
+v -0.07188118 0.12546730 -0.11006880
+v -0.01560556 0.11887412 -0.11006882
+v -0.01560556 0.11446060 -0.12590944
+v -0.07145581 0.11767015 -0.12590943
+v -0.07432994 0.11731474 -0.12590943
+v -0.07432994 0.12473477 -0.11907227
+v -0.07432994 0.12506477 -0.11830002
+v -0.07432994 0.12512280 -0.11615848
+v -0.07432994 0.12507199 -0.11006880
+v -0.01560556 0.10625715 -0.11006887
+v -0.01560556 0.08894739 -0.12590953
+v -0.07432994 0.08894739 -0.12590953
+v -0.07432994 0.10110011 -0.11006889
+v -0.01560556 0.10021523 -0.11350218
+v -0.05152079 0.10235492 -0.11006888
+v -0.01560556 0.08894738 -0.12117208
+v -0.07432994 0.08894737 -0.11960741
+v -0.07432994 0.09971475 -0.11089852
+v -0.07124312 0.08894737 -0.11966633
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 21
+f 2 21 20
+f 2 20 29
+f 2 29 33
+f 2 33 35
+f 2 35 30
+f 2 30 22
+f 2 22 9
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 14
+f 4 14 15
+f 4 15 12
+f 5 12 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 11
+f 9 11 10
+f 11 22 30
+f 11 30 34
+f 11 34 36
+f 11 36 31
+f 11 31 23
+f 11 23 13
+f 12 15 14
+f 12 14 23
+f 12 23 31
+f 12 31 32
+f 12 32 25
+f 12 25 24
+f 12 24 17
+f 12 17 16
+f 13 23 14
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 25 32 37
+f 25 37 38
+f 25 38 33
+f 25 33 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 30 35 34
+f 31 36 39
+f 31 39 37
+f 31 37 32
+f 33 38 35
+f 34 35 36
+f 35 38 36
+f 36 38 39
+f 37 39 38
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_56.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ecaddfecc294c1404df1c028184b86afa5f6e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_56.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05952097 -0.12757679 -0.06606487
+v 0.05952097 -0.12758818 -0.06669986
+v 0.05952097 -0.11865642 -0.06606484
+v 0.05345224 -0.13211903 -0.06606489
+v 0.05349179 -0.13216005 -0.06669988
+v 0.05952097 -0.12740808 -0.08164386
+v 0.05952097 -0.11716355 -0.07772950
+v 0.03722354 -0.11383840 -0.06606482
+v 0.05098696 -0.13382607 -0.06606489
+v 0.05952097 -0.12696356 -0.10928329
+v 0.05952097 -0.12701371 -0.10626491
+v 0.05102651 -0.13384202 -0.06669988
+v 0.05028384 -0.13341339 -0.11049675
+v 0.05952097 -0.11675331 -0.08153943
+v 0.05952097 -0.11509630 -0.11049668
+v 0.03631828 -0.11265774 -0.09142524
+v 0.03229736 -0.11248453 -0.09142524
+v 0.03659953 -0.11385664 -0.06606482
+v 0.04708468 -0.13553311 -0.06606490
+v 0.05952097 -0.12690201 -0.11049673
+v 0.04708468 -0.13554906 -0.06669989
+v 0.05062221 -0.13368469 -0.08648458
+v 0.04708468 -0.13482874 -0.10131986
+v 0.04708468 -0.13465779 -0.10626493
+v 0.04708468 -0.13450507 -0.11049675
+v 0.03229736 -0.11433052 -0.11049668
+v 0.03528119 -0.11293346 -0.10398585
+v 0.03562835 -0.11284687 -0.10131977
+v 0.03617766 -0.11270786 -0.09637033
+v 0.03229736 -0.11246628 -0.09637033
+v 0.03229736 -0.11417571 -0.06606482
+v 0.02809187 -0.11280815 -0.09637033
+v 0.02909820 -0.11287653 -0.09142524
+v 0.04215411 -0.13574734 -0.06606490
+v 0.04215411 -0.13573594 -0.06669989
+v 0.04215411 -0.13502246 -0.10131986
+v 0.04215411 -0.13486975 -0.10626494
+v 0.04215411 -0.13449595 -0.11049675
+v 0.02736679 -0.11431229 -0.11049668
+v 0.03229736 -0.11293575 -0.10399020
+v 0.03229736 -0.11272152 -0.10131977
+v 0.02857966 -0.11292436 -0.10131977
+v 0.02562659 -0.11322522 -0.09637034
+v 0.02736679 -0.11550443 -0.06606482
+v 0.01462728 -0.13130767 -0.06606488
+v 0.01462728 -0.13130538 -0.06669987
+v 0.01462728 -0.13112076 -0.07009662
+v 0.01462728 -0.13103416 -0.07164495
+v 0.01462728 -0.12859537 -0.11026622
+v 0.01462728 -0.12855207 -0.11049673
+v 0.02967827 -0.11301324 -0.10385973
+v 0.02243622 -0.11477039 -0.11049668
+v 0.02611437 -0.11334371 -0.10131978
+v 0.02243622 -0.11442402 -0.09637034
+v 0.01462728 -0.11938801 -0.06606484
+v 0.01766385 -0.11592133 -0.11049669
+v 0.01462728 -0.11743693 -0.11049669
+f 1 2 6
+f 1 6 11
+f 1 11 10
+f 1 10 20
+f 1 20 15
+f 1 15 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 31
+f 1 31 44
+f 1 44 55
+f 1 55 45
+f 1 45 34
+f 1 34 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 12
+f 5 12 13
+f 5 13 10
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 12
+f 10 13 20
+f 12 19 21
+f 12 21 22
+f 12 22 13
+f 13 22 21
+f 13 21 23
+f 13 23 24
+f 13 24 25
+f 13 25 38
+f 13 38 50
+f 13 50 57
+f 13 57 56
+f 13 56 52
+f 13 52 39
+f 13 39 26
+f 13 26 15
+f 13 15 20
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 31 18
+f 17 30 32
+f 17 32 33
+f 17 33 31
+f 19 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 25
+f 25 37 38
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 30
+f 27 30 28
+f 28 30 29
+f 30 41 42
+f 30 42 32
+f 31 33 43
+f 31 43 44
+f 32 42 43
+f 32 43 33
+f 34 45 46
+f 34 46 35
+f 35 46 36
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 39 51 40
+f 39 52 51
+f 40 51 41
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 43 54 55
+f 43 55 44
+f 43 53 56
+f 43 56 54
+f 45 55 57
+f 45 57 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 52 56 53
+f 54 56 55
+f 55 56 57
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_57.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04fa12cb33865563995f86cc45e5114c6b7f09c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_57.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.06144970 -0.10368808 -0.12737135
+v -0.07938296 -0.10368808 -0.12737135
+v -0.06144970 -0.10368803 -0.14117943
+v -0.06144970 0.02938365 -0.12737086
+v -0.07938296 -0.10368802 -0.14300336
+v -0.07938296 0.02938365 -0.12737086
+v -0.06144970 -0.10062696 -0.14182972
+v -0.06144970 0.02938370 -0.14139315
+v -0.06144970 -0.08573845 -0.14194596
+v -0.06631618 -0.10062696 -0.14220920
+v -0.07938296 -0.03113423 -0.14291282
+v -0.07938296 0.02938370 -0.14203276
+v -0.06144970 -0.09566412 -0.14188938
+v -0.07938296 0.00859450 -0.14273058
+v -0.07938296 0.01377878 -0.14263416
+v -0.06144970 -0.04104688 -0.14188612
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 16
+f 1 16 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 14
+f 2 14 11
+f 2 11 5
+f 3 5 7
+f 4 8 12
+f 4 12 6
+f 5 9 10
+f 5 10 7
+f 5 11 9
+f 7 10 13
+f 8 14 15
+f 8 15 12
+f 8 16 14
+f 9 13 10
+f 9 11 16
+f 11 14 16
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_58.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae947282b9856be184be7cd26779818468d2739f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_58.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.08942727 -0.10359936 -0.13107394
+v 0.08823574 -0.10921899 -0.13107396
+v 0.09273350 -0.10560310 -0.13444503
+v 0.09296608 -0.10359935 -0.13427184
+v 0.05952097 -0.10359936 -0.13107394
+v 0.08789224 -0.11056721 -0.13107397
+v 0.09441524 -0.11056718 -0.13772525
+v 0.09499490 -0.10560309 -0.13691933
+v 0.09514518 -0.10359934 -0.13674441
+v 0.05952097 -0.10359932 -0.14137923
+v 0.05952097 -0.11333320 -0.13107398
+v 0.08671145 -0.11333320 -0.13107398
+v 0.09401806 -0.11325313 -0.13827568
+v 0.09579283 -0.10560307 -0.14088884
+v 0.09607193 -0.10359932 -0.14088883
+v 0.08249637 -0.11333313 -0.14858953
+v 0.08058205 -0.11333314 -0.14794481
+v 0.05952097 -0.10464454 -0.14124376
+v 0.08660411 -0.10359930 -0.14809395
+v 0.08405287 -0.10803746 -0.14831517
+v 0.05952097 -0.11333317 -0.13813164
+v 0.09387494 -0.11333317 -0.13817280
+v 0.09398228 -0.11333317 -0.13835798
+v 0.09401806 -0.11326646 -0.14088887
+v 0.09472654 -0.11056717 -0.14088886
+v 0.09395723 -0.11313496 -0.14340946
+v 0.09424349 -0.11056716 -0.14381755
+v 0.09543501 -0.10359931 -0.14296360
+v 0.08506191 -0.11333313 -0.14850038
+v 0.08760957 -0.10359930 -0.14831343
+v 0.08860072 -0.10359930 -0.14831000
+v 0.05952097 -0.10560307 -0.14111860
+v 0.09398586 -0.11333316 -0.14088887
+v 0.09371392 -0.11333315 -0.14356721
+v 0.09152766 -0.11333315 -0.14543108
+v 0.09146325 -0.11056715 -0.14615638
+v 0.09472296 -0.10560306 -0.14436622
+v 0.09485535 -0.10359931 -0.14446739
+v 0.08615325 -0.11333313 -0.14837691
+v 0.08942012 -0.10359930 -0.14805452
+v 0.08749507 -0.11056715 -0.14817458
+v 0.08752727 -0.11333314 -0.14797225
+v 0.09096947 -0.10514189 -0.14711487
+v 0.09114479 -0.10359930 -0.14710629
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 28
+f 1 28 38
+f 1 38 44
+f 1 44 40
+f 1 40 31
+f 1 31 30
+f 1 30 19
+f 1 19 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 7
+f 4 8 9
+f 5 10 18
+f 5 18 32
+f 5 32 21
+f 5 21 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 18
+f 10 19 20
+f 10 20 16
+f 11 21 17
+f 11 17 16
+f 11 16 29
+f 11 29 39
+f 11 39 42
+f 11 42 35
+f 11 35 34
+f 11 34 33
+f 11 33 23
+f 11 23 22
+f 11 22 12
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 16 20 30
+f 16 30 31
+f 16 31 29
+f 17 21 32
+f 17 32 18
+f 19 30 20
+f 23 33 24
+f 24 33 26
+f 24 26 25
+f 26 34 27
+f 26 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 29 31 39
+f 31 40 41
+f 31 41 39
+f 35 42 36
+f 36 43 37
+f 36 42 43
+f 37 43 38
+f 38 43 44
+f 39 41 42
+f 40 44 43
+f 40 43 42
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_59.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b1e6a121376186560ddba96daacab1011d6194
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_59.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.09096660 0.00363170 -0.14993081
+v -0.09096660 -0.00134416 -0.14992861
+v -0.09551616 -0.00134416 -0.14948033
+v -0.09542030 0.00363170 -0.14946486
+v -0.09096660 0.00859453 -0.14988220
+v -0.08790098 0.00859453 -0.14878690
+v -0.08427936 -0.10368801 -0.14801219
+v -0.08644581 -0.10368800 -0.14869676
+v -0.09096660 -0.03609704 -0.14988457
+v -0.09555834 -0.00630700 -0.14946710
+v -0.09808522 -0.01623268 -0.14764751
+v -0.09527651 0.00859453 -0.14940521
+v -0.09512696 0.01355737 -0.14932791
+v -0.09473968 0.02844588 -0.14908274
+v -0.09472243 0.02938373 -0.14906286
+v -0.09096660 0.01355737 -0.14975851
+v -0.08797959 0.01355737 -0.14873829
+v -0.07938471 0.01377878 -0.14263238
+v -0.07938471 0.00859450 -0.14272957
+v -0.08267273 -0.10368801 -0.14662981
+v -0.08734691 -0.10368800 -0.14869676
+v -0.09096660 -0.04600969 -0.14976758
+v -0.09096660 -0.04104685 -0.14985588
+v -0.09556025 -0.02119551 -0.14942078
+v -0.09561968 -0.01623267 -0.14943843
+v -0.09559668 -0.01126984 -0.14945166
+v -0.09806221 -0.01126985 -0.14742666
+v -0.09802387 -0.00630701 -0.14725219
+v -0.09798169 -0.00134417 -0.14707771
+v -0.09802579 -0.02119552 -0.14769390
+v -0.09889812 -0.02119553 -0.14522283
+v -0.09672784 0.02938372 -0.14644162
+v -0.09096660 0.02938373 -0.14921301
+v -0.08832469 0.02938373 -0.14845778
+v -0.07938471 0.02938370 -0.14203167
+v -0.07938471 -0.03113423 -0.14291299
+v -0.08154733 -0.10368802 -0.14561179
+v -0.08949035 -0.10368800 -0.14867468
+v -0.09495633 -0.04600969 -0.14927734
+v -0.09508670 -0.04104685 -0.14934799
+v -0.09519790 -0.03609704 -0.14937004
+v -0.09531293 -0.03113420 -0.14938770
+v -0.09836897 0.02938371 -0.14338314
+v -0.09788584 0.00363169 -0.14682816
+v -0.09723589 0.02938372 -0.14575925
+v -0.09790117 -0.02617138 -0.14741568
+v -0.09882335 -0.02617139 -0.14494240
+v -0.09476844 -0.05097252 -0.14916031
+v -0.09348199 -0.07901711 -0.14834334
+v -0.09897098 -0.02119554 -0.14088796
+v -0.07938471 0.02938365 -0.12737306
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_6.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642ed848e19491c378e707b8dc8dbb5fb748463e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_6.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_60.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b63ca4169d9e660bfa1baa06c31520c0382cd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_60.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_61.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6962b91e88c14584f442d6d79ddb6fab3b712c37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_61.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_62.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e01d8bb97e545619f1a048d60c3dd412177998
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_62.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_63.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0112d54f827c695ad4a8e0ef3a407759eab8f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_63.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_64.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9195fbe98445bd30099a9ed8cd8238d7c540e091
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_64.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00053407 -0.10360203 -0.14146103
+v 0.00053407 -0.10360208 -0.12882768
+v 0.00271663 -0.10360203 -0.14153181
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+v 0.05952097 -0.10360208 -0.12882768
+v 0.02737150 -0.10360203 -0.14166265
+v 0.00271663 -0.12083416 -0.14943575
+v 0.00053407 -0.12546317 -0.15066478
+v 0.00053407 -0.12864855 -0.13739657
+v 0.03436955 -0.12820706 -0.13317330
+v 0.04215286 -0.12238357 -0.12882775
+v 0.05952097 -0.12086404 -0.12882774
+v 0.05952097 -0.10360203 -0.14137738
+v 0.01257858 -0.12075562 -0.14943575
+v 0.05694578 -0.12069602 -0.14946149
+v 0.05201481 -0.12064456 -0.14947865
+v 0.00764761 -0.12081521 -0.14944433
+v 0.00053407 -0.12937170 -0.14954518
+v 0.04708384 -0.12546317 -0.15073558
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+v 0.03722189 -0.13026287 -0.14088845
+v 0.03539154 -0.12820706 -0.13317330
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+v 0.05952097 -0.12950987 -0.14069326
+v 0.04889109 -0.12185540 -0.12882775
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+v 0.05694578 -0.12546317 -0.15068194
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+v 0.04708384 -0.12950172 -0.14957522
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+v 0.05952097 -0.13127045 -0.14583669
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+v 0.05952097 -0.12546317 -0.15062833
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+v 0.05952097 -0.12758131 -0.15005137
+v 0.05952097 -0.12954505 -0.14949800
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+f 30 34 35
+f 32 37 33
+f 33 37 39
+f 37 38 39
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_65.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8286762d82e3cb514411a9272ec21ec355339c70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_65.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00053407 -0.13494270 -0.10908309
+v -0.00221947 -0.13484786 -0.10908309
+v 0.00053407 -0.13483255 -0.11121418
+v 0.00053407 -0.11610309 -0.10908302
+v -0.00221947 -0.13470100 -0.11121417
+v -0.00411885 -0.13414727 -0.10908308
+v -0.00478638 -0.13296630 -0.12364120
+v 0.00053407 -0.13463063 -0.11339950
+v -0.00221947 -0.13424513 -0.11615928
+v 0.00053407 -0.10368812 -0.11706503
+v -0.02189832 -0.11561970 -0.10909707
+v -0.00230950 -0.11609391 -0.10908302
+v -0.00565811 -0.13355375 -0.10908308
+v -0.00555491 -0.13347113 -0.11121417
+v -0.00221947 -0.13319575 -0.12386014
+v -0.00221947 -0.13367302 -0.12110438
+v -0.02189832 -0.12519553 -0.11117196
+v -0.02189832 -0.12519247 -0.11121414
+v -0.02189832 -0.12419815 -0.11646857
+v -0.02189832 -0.12416450 -0.11662122
+v -0.02189832 -0.12080526 -0.12960260
+v 0.00053407 -0.13436751 -0.11615928
+v 0.00053407 -0.10368807 -0.12960254
+v -0.00229852 -0.10368812 -0.11707909
+v -0.02189832 -0.12522307 -0.10908305
+v -0.01877588 -0.11619181 -0.10908302
+v -0.02189832 -0.10368812 -0.11720965
+v -0.02189832 -0.12534545 -0.10908305
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+v -0.01182614 -0.12169554 -0.12960261
+v -0.00714907 -0.12198924 -0.12960261
+v 0.00053407 -0.13411358 -0.11834661
+v -0.02189832 -0.10368807 -0.12960254
+v 0.00053407 -0.12192805 -0.12960261
+v -0.00201526 -0.12198312 -0.12960261
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_66.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c1f2eb2463f9237c33a57107cd9d832fd2259c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_66.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.08103703 0.02938361 -0.11361586
+v -0.08066319 0.03088762 -0.11361586
+v -0.09683594 0.02938361 -0.11361586
+v -0.07432994 0.02938362 -0.11777640
+v -0.07432994 0.03342523 -0.11660558
+v -0.08057523 0.03134147 -0.11361585
+v -0.09852187 0.03370350 -0.11361585
+v -0.09836794 0.02938372 -0.14332506
+v -0.07432994 0.02938371 -0.14158280
+v -0.07432994 0.03839111 -0.11629544
+v -0.08017207 0.03342522 -0.11361585
+v -0.09880775 0.03455488 -0.11361584
+v -0.09836794 0.02938372 -0.14338082
+v -0.09928909 0.03839110 -0.11361583
+v -0.08832320 0.02938374 -0.14845780
+v -0.07432994 0.03156684 -0.14189988
+v -0.07432994 0.04029929 -0.11662298
+v -0.08328494 0.06322714 -0.11361574
+v -0.08047994 0.04335699 -0.11361581
+v -0.07987886 0.03839110 -0.11361583
+v -0.08005723 0.03503193 -0.11361584
+v -0.09836550 0.03118257 -0.14336688
+v -0.09759827 0.02938372 -0.14501507
+v -0.09914004 0.04081938 -0.11361582
+v -0.09704851 0.06321399 -0.14088925
+v -0.09728063 0.05824811 -0.14088927
+v -0.09096694 0.02938374 -0.14921394
+v -0.08828655 0.03342535 -0.14846824
+v -0.07432994 0.03342532 -0.14208805
+v -0.07432994 0.03191137 -0.14193821
+v -0.07432994 0.06322717 -0.12143854
+v -0.09233034 0.06322714 -0.11361574
+v -0.09704362 0.06322724 -0.14089971
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+v -0.09682861 0.03839122 -0.14583391
+v -0.09735393 0.03307417 -0.14534261
+v -0.09723421 0.02938373 -0.14575728
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+v -0.09472241 0.02938374 -0.14906063
+v -0.09096694 0.03342535 -0.14913378
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+v -0.09440233 0.03839123 -0.14880275
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+v -0.08853088 0.04577213 -0.14830442
+v -0.08840627 0.04246265 -0.14836366
+v -0.07432994 0.04149530 -0.14193818
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+v -0.09096694 0.06322726 -0.14728687
+v -0.09341276 0.05081090 -0.14830788
+v -0.09363267 0.04831638 -0.14840894
+v -0.09220818 0.04831638 -0.14840894
+v -0.09049048 0.04381428 -0.14857970
+v -0.08974280 0.04831637 -0.14824865
+v -0.09096694 0.05824813 -0.14768762
+v -0.09144828 0.05279195 -0.14808139
+f 1 2 6
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+f 1 11 21
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+f 1 20 19
+f 1 19 18
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+f 1 32 40
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+f 1 38 24
+f 1 24 14
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_67.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3a16677675bcd5460c0d438d49c5ce60696e17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_67.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.07124680 -0.13893312 -0.02196570
+v -0.07124680 -0.13890551 -0.02153486
+v -0.07171806 -0.13877441 -0.02194442
+v -0.07380944 -0.13792217 -0.02476083
+v -0.07124680 -0.13848802 -0.02561984
+v -0.07124680 -0.13875371 -0.01924504
+v -0.07124680 -0.13862951 -0.01760147
+v -0.07367559 -0.13786009 -0.02014395
+v -0.07380944 -0.13792217 -0.02343906
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_68.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929e9f172a098bfa4b7aaaa9981c73f2c321d739
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_68.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_69.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a76d7a1b1543d16ecd22fb0962f7e638fe98013
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_69.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_7.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0d34d7b472252631a36f7206a1e49b8fbcce9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_7.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00053407 -0.10368812 -0.11706629
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_70.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228ef2efc126461098e96b5d39104a8b42a974bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_70.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_71.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69821f955d28cee8a958d7bb7d93a3450c8db36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_71.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07652381 0.09384197 -0.11432612
+v 0.07055343 0.09827926 -0.11432610
+v 0.07652381 0.12444986 -0.11432600
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_72.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6745da66856050840fb125133cbc008df89938
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_72.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02365754 -0.12564135 -0.11049672
+v 0.00674952 -0.13372165 -0.11049675
+v 0.00673594 -0.13370630 -0.11121440
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_73.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c8fbccd11794ac095fbb8aa20378f1b836bb3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_73.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_74.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f63fff89e0fbce5c343f283a9a1ec7e444e457
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_74.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_75.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90705928a6ede141c7d515875548ccfcfd2ce244
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_75.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.07432994 0.10056586 -0.02712287
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_76.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36577e4ff47cdfd717139ba38786e41b1fdbd87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_76.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02365754 -0.10359938 -0.12882554
+v 0.02365754 -0.12092520 -0.12882560
+v 0.02365754 -0.10359942 -0.11715826
+v 0.05951747 -0.10359938 -0.12882554
+v 0.02365754 -0.12396565 -0.12039497
+v 0.03214246 -0.12180556 -0.12882561
+v 0.04215445 -0.13322604 -0.12394739
+v 0.03959879 -0.13296285 -0.12364597
+v 0.02365754 -0.11466594 -0.11049668
+v 0.02413497 -0.10359942 -0.11705600
+v 0.05951747 -0.10359942 -0.11713674
+v 0.05951747 -0.12086470 -0.12882560
+v 0.02365754 -0.12523325 -0.11616080
+v 0.03722919 -0.12229869 -0.12882561
+v 0.04215445 -0.13381296 -0.12110368
+v 0.04708672 -0.13326234 -0.12398686
+v 0.04708672 -0.13399146 -0.12110368
+v 0.03932146 -0.13311413 -0.12110368
+v 0.02365754 -0.12564169 -0.11049672
+v 0.02736815 -0.11431198 -0.11049668
+v 0.02722422 -0.10359942 -0.11686582
+v 0.05951747 -0.10560518 -0.11591674
+v 0.03229692 -0.10359942 -0.11672409
+v 0.05951747 -0.12519998 -0.11808412
+v 0.04971259 -0.13301125 -0.12369800
+v 0.04889113 -0.12185699 -0.12882561
+v 0.03894935 -0.12232894 -0.12882561
+v 0.04215445 -0.13449671 -0.11049675
+v 0.04348493 -0.12228659 -0.12882561
+v 0.04215445 -0.12238339 -0.12882561
+v 0.05028130 -0.13328959 -0.12110368
+v 0.04708672 -0.13426980 -0.11616083
+v 0.03947241 -0.13358610 -0.11049675
+v 0.03896339 -0.13340458 -0.11049675
+v 0.02935862 -0.10359942 -0.11677791
+v 0.03229692 -0.11433014 -0.11049668
+v 0.05951747 -0.11509553 -0.11049668
+v 0.05951747 -0.12588067 -0.11616080
+v 0.05513985 -0.12895435 -0.11984598
+v 0.04708672 -0.13447856 -0.11121440
+v 0.04708672 -0.13450276 -0.11049675
+v 0.05295631 -0.13166502 -0.11616082
+v 0.05049193 -0.13341969 -0.11616083
+v 0.05951747 -0.12640405 -0.11416214
+v 0.05951747 -0.12686693 -0.11121438
+v 0.05951747 -0.12690324 -0.11049673
+v 0.05028480 -0.13341365 -0.11049675
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+f 1 9 3
+f 1 3 10
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+f 1 23 11
+f 1 11 4
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+f 1 27 14
+f 1 14 6
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+f 9 20 21
+f 9 21 10
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+f 12 24 25
+f 12 25 16
+f 12 16 26
+f 13 18 19
+f 14 27 16
+f 15 17 28
+f 15 28 18
+f 16 29 26
+f 16 25 17
+f 16 27 30
+f 16 30 29
+f 17 25 31
+f 17 31 32
+f 17 32 28
+f 18 28 33
+f 18 33 34
+f 18 34 19
+f 20 35 21
+f 20 36 23
+f 20 23 35
+f 22 23 36
+f 22 36 37
+f 24 38 39
+f 24 39 25
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+f 25 38 31
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+f 31 40 32
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+f 43 46 47
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_77.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6761a991d4d54a6099a40f26dbddc1850ca1d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_77.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01560938 0.11782338 -0.00230503
+v -0.02687353 0.10525090 -0.01953818
+v -0.02193996 0.10528770 -0.01957743
+v -0.01837279 0.10536620 -0.01965593
+v -0.01560938 0.10509635 -0.02032641
+v -0.01560938 0.12815371 -0.00230499
+v -0.04650063 0.11781111 -0.00230503
+v -0.05470665 0.10522392 -0.01947931
+v -0.02193996 0.10387713 -0.02217762
+v -0.01560938 0.10415925 -0.02184728
+v -0.01560938 0.12815379 -0.02381940
+v -0.05470665 0.12815371 -0.00230499
+v -0.05152222 0.11784301 -0.00230503
+v -0.05470665 0.11788717 -0.00230503
+v -0.05470665 0.10437022 -0.02124548
+v -0.01560938 0.10309459 -0.02712286
+v -0.01560938 0.10335462 -0.02573937
+v -0.05470665 0.10393356 -0.02217762
+v -0.01560938 0.11902555 -0.03571810
+v -0.02823993 0.12620110 -0.03571808
+v -0.03186451 0.12782021 -0.03571807
+v -0.03676363 0.12812930 -0.03571807
+v -0.03672918 0.12815379 -0.02422496
+v -0.05470665 0.12815378 -0.02292978
+v -0.01701022 0.10310931 -0.02712286
+v -0.05470665 0.10481184 -0.03571816
+v -0.05152222 0.10486090 -0.03571815
+v -0.01560938 0.10454934 -0.03041968
+v -0.05470665 0.10356805 -0.02712286
+v -0.01560938 0.11035848 -0.03571813
+v -0.03791569 0.12779567 -0.03571807
+v -0.04388266 0.12815379 -0.02405489
+v -0.04165892 0.12815379 -0.02419880
+v -0.05470665 0.11904519 -0.03571810
+v -0.04079774 0.12652492 -0.03571808
+v -0.05132320 0.10488053 -0.03571815
+v -0.05094811 0.10493696 -0.03571815
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 10 17
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+f 1 28 30
+f 1 30 19
+f 1 19 11
+f 1 11 6
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+f 1 14 13
+f 1 13 7
+f 1 7 8
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+f 22 33 23
+f 24 31 35
+f 24 35 34
+f 25 29 26
+f 27 36 28
+f 28 36 37
+f 28 37 30
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_78.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c30ebc44697c9ff3c0cd8eec8f3a491c6dc7c8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_78.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05970642 -0.11408292 -0.12960258
+v -0.05970642 -0.11408290 -0.13695388
+v -0.05970642 -0.10368807 -0.12960254
+v -0.08525604 -0.11408292 -0.12960258
+v -0.05970642 -0.10935102 -0.13907380
+v -0.07271685 -0.11408287 -0.14540320
+v -0.05970642 -0.10368803 -0.14101294
+v -0.08721956 -0.10368807 -0.12960254
+v -0.08626683 -0.11194391 -0.12960257
+v -0.09040557 -0.11408290 -0.13647622
+v -0.05970642 -0.10684465 -0.14014708
+v -0.07598141 -0.11408286 -0.14740897
+v -0.05970642 -0.10560316 -0.14060570
+v -0.07805762 -0.11408285 -0.14843659
+v -0.08644098 -0.10368800 -0.14869725
+v -0.09318865 -0.10368805 -0.13658084
+v -0.08692589 -0.10662793 -0.12960255
+v -0.08649562 -0.11038290 -0.12960257
+v -0.09398430 -0.10368804 -0.13753425
+v -0.09383746 -0.10560317 -0.13775881
+v -0.09356770 -0.10883814 -0.13819842
+v -0.09135148 -0.11408289 -0.13831071
+v -0.08103875 -0.11408285 -0.14898275
+v -0.08190952 -0.11408285 -0.14904365
+v -0.08603462 -0.11056701 -0.14902080
+v -0.08734591 -0.10368800 -0.14869725
+v -0.09430188 -0.10368804 -0.13896721
+v -0.09458872 -0.10368803 -0.14088924
+v -0.09430871 -0.10560316 -0.14088925
+v -0.09368038 -0.10931336 -0.14088926
+v -0.09314767 -0.11179632 -0.14088927
+v -0.09242714 -0.11408288 -0.14088928
+v -0.08605853 -0.11408285 -0.14886287
+v -0.08685417 -0.11408285 -0.14874679
+v -0.08905673 -0.11056701 -0.14857740
+v -0.08942894 -0.10560313 -0.14867825
+v -0.08948699 -0.10368800 -0.14867443
+v -0.09403552 -0.10368802 -0.14458488
+v -0.09390235 -0.10560315 -0.14438697
+v -0.09362916 -0.10897041 -0.14384082
+v -0.09192175 -0.11408288 -0.14228228
+v -0.08791618 -0.11408285 -0.14854126
+v -0.08869134 -0.11355674 -0.14842898
+v -0.09189444 -0.10560314 -0.14685897
+v -0.09195248 -0.10368801 -0.14705878
+v -0.09280278 -0.10368801 -0.14610537
+v -0.09179541 -0.11060265 -0.14562775
+v -0.09049436 -0.11408286 -0.14595507
+v -0.08853768 -0.11408286 -0.14834144
+v -0.08908404 -0.11408286 -0.14773438
+f 1 2 5
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+f 1 11 13
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+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 18
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+f 44 46 45
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_79.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4432459309334d3b7898130f738d076ac9a4489a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_79.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.08919786 -0.10369063 -0.10908297
+v -0.08722056 -0.10369055 -0.12960254
+v -0.08944460 -0.10435925 -0.10908297
+v -0.07676389 -0.10369063 -0.10908297
+v -0.08692714 -0.10662942 -0.12960255
+v -0.08902114 -0.11553338 -0.12006186
+v -0.09009147 -0.11553339 -0.11615921
+v -0.09102511 -0.11056877 -0.11121409
+v -0.08982139 -0.10538710 -0.10908298
+v -0.05717432 -0.10369055 -0.12960254
+v -0.05717432 -0.11640909 -0.10908302
+v -0.05717432 -0.10611805 -0.11534972
+v -0.05717432 -0.10567149 -0.11563494
+v -0.05717432 -0.10401493 -0.11669545
+v -0.05717432 -0.10369060 -0.11690434
+v -0.08649699 -0.11038409 -0.12960257
+v -0.08876439 -0.11839241 -0.11950148
+v -0.08626692 -0.11194583 -0.12960257
+v -0.09089840 -0.11553341 -0.11121410
+v -0.09123517 -0.11056878 -0.10908300
+v -0.05717432 -0.12038820 -0.12960260
+v -0.05717432 -0.12658535 -0.10908305
+v -0.08911450 -0.11880157 -0.11615923
+v -0.08472643 -0.11520154 -0.12960258
+v -0.08476311 -0.11941276 -0.12431001
+v -0.08625692 -0.12006642 -0.12113245
+v -0.08091522 -0.12517326 -0.12110435
+v -0.09104845 -0.11553342 -0.10908301
+v -0.08943793 -0.11914338 -0.11121412
+v -0.06791441 -0.12363144 -0.12960261
+v -0.05717432 -0.12536787 -0.11653485
+v -0.07251588 -0.12825680 -0.12395252
+v -0.05717432 -0.12658535 -0.10910916
+v -0.07100206 -0.12917494 -0.10908306
+v -0.07812766 -0.12765558 -0.12110436
+v -0.08108528 -0.11951753 -0.12960260
+v -0.08004494 -0.12433000 -0.12426986
+v -0.08950129 -0.11921823 -0.10908303
+v -0.07834106 -0.12780528 -0.11615926
+v -0.07099873 -0.12401314 -0.12960262
+v -0.05717432 -0.12652547 -0.11121414
+v -0.07167894 -0.12851628 -0.12110436
+v -0.07484996 -0.12825680 -0.12395252
+v -0.07387964 -0.12912007 -0.10908306
+v -0.07566021 -0.12851628 -0.12110436
+v -0.07604033 -0.12190754 -0.12960261
+v -0.07837441 -0.12779533 -0.10908306
+v -0.07587361 -0.12864353 -0.11615926
+v -0.07590695 -0.12885312 -0.10908306
+v -0.07731073 -0.12828930 -0.10908306
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+f 1 9 20
+f 1 20 28
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+f 1 34 22
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+f 1 15 10
+f 1 10 2
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+f 40 43 46
+f 44 49 48
+f 44 48 45
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_8.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab816017aaa2e650fe98ce83689d6bc0a0e6ee5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_8.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.07127250 0.06636500 0.10132432
+v 0.07127250 0.12078825 0.01089457
+v 0.07127250 0.07611184 0.10132436
+v 0.05838051 0.06633435 0.10132432
+v 0.00731484 0.12084955 0.01089457
+v 0.07127250 0.12880027 0.01089460
+v 0.03378249 0.06629144 0.10132432
+v 0.02885730 0.06628531 0.10132432
+v -0.02036665 0.06624240 0.10132432
+v -0.03179364 0.06623627 0.10132432
+v -0.07126489 0.06625466 0.10131546
+v -0.07126489 0.12083116 0.01093883
+v 0.07127250 0.07910333 0.09665947
+v -0.01206499 0.08073394 0.09426065
+v -0.01431132 0.08073394 0.09426065
+v -0.05644747 0.07663289 0.10049228
+v -0.06629784 0.07607506 0.10132436
+v 0.00234780 0.12085568 0.01089457
+v 0.06910988 0.12881253 0.01089460
+v 0.07127250 0.12776428 0.01280659
+v -0.07123698 0.06625466 0.10132432
+v -0.07126489 0.06635887 0.10132432
+v -0.01431132 0.12088020 0.01089457
+v -0.07126489 0.12482185 0.01093885
+v 0.07127250 0.08068490 0.09418097
+v -0.00713981 0.08238908 0.09157855
+v 0.07127250 0.08232778 0.09157855
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_80.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e1359dd9bf881f63f2128516ce1cc9265cfd27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_80.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.00053407 -0.11408292 -0.12960375
+v 0.00053407 -0.11408289 -0.13938531
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_81.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cef375d788d6349941e6128b9bbd8bc781c29f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_81.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.05717087 -0.12038947 -0.12960260
+v -0.05717087 -0.10368812 -0.11690434
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_82.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d7c79469d88237016e6be0a55c354406e1b946
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_82.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.07652381 0.12845288 -0.00230499
+v 0.07652381 0.12845297 -0.02751778
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+f 24 35 36
+f 25 27 26
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 31
+f 31 38 32
+f 32 38 33
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 36 41 37
+f 37 41 40
+f 37 40 38
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_83.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac67667fbd23cb522ba59c2931de1a3cef3a924
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_83.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03248232 0.10486564 -0.03062275
+v 0.03183492 0.10484565 -0.03062275
+v 0.01750654 0.10955395 -0.03440320
+v 0.01922223 0.10962283 -0.03440320
+v 0.02167629 0.10976059 -0.03440320
+v 0.03248232 0.10777640 -0.03257385
+v 0.03248232 0.12697395 -0.03062267
+v 0.02701599 0.10481232 -0.03062276
+v 0.01426241 0.10980059 -0.03440320
+v 0.02203655 0.10478121 -0.03062276
+v 0.01750654 0.10476343 -0.03062276
+v 0.01426241 0.10477454 -0.03062276
+v 0.03229506 0.11057827 -0.03440319
+v 0.03248232 0.11058049 -0.03439764
+v 0.03248232 0.12745169 -0.03440313
+v 0.03215238 0.12746279 -0.03440313
+v 0.03202397 0.12694062 -0.03062267
+v 0.01426241 0.11981487 -0.03440316
+v 0.01426241 0.11197808 -0.03062273
+v 0.03248232 0.11189588 -0.03440319
+v 0.02990343 0.12678733 -0.03440313
+v 0.02871029 0.12609629 -0.03309710
+v 0.01426241 0.11984818 -0.03063750
+v 0.01600307 0.11946823 -0.03062270
+v 0.02853194 0.12622739 -0.03440314
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 15
+f 1 15 7
+f 1 7 17
+f 1 17 24
+f 1 24 19
+f 1 19 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 2
+f 2 8 3
+f 3 9 18
+f 3 18 25
+f 3 25 21
+f 3 21 16
+f 3 16 15
+f 3 15 20
+f 3 20 13
+f 3 13 5
+f 3 5 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 17
+f 9 12 19
+f 9 19 23
+f 9 23 18
+f 13 20 14
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 18 23 25
+f 19 24 23
+f 21 25 23
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_84.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18ed14686ca6b71af33353d2784793c47adf872
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_84.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00221657 -0.11329325 -0.03119367
+v -0.00221657 -0.11481002 -0.03641251
+v -0.00509885 -0.11333343 -0.03119367
+v 0.00053713 -0.11335603 -0.03096162
+v 0.00122644 -0.11336356 -0.03096162
+v 0.00271223 -0.11338114 -0.03096162
+v -0.00291660 -0.11499836 -0.03641251
+v -0.01702082 -0.11454385 -0.03119367
+v 0.01946656 -0.11420734 -0.03096162
+v 0.00053713 -0.11547048 -0.03665962
+v 0.00053713 -0.13889289 -0.03096171
+v -0.01700654 -0.11959143 -0.03641253
+v -0.01702082 -0.11958892 -0.03640528
+v -0.01702082 -0.13009097 -0.03119373
+v 0.01946656 -0.12983734 -0.03096168
+v 0.01946656 -0.11918210 -0.03665964
+v 0.00053713 -0.13645947 -0.03665970
+v -0.01702082 -0.12880268 -0.03641256
+v -0.00221657 -0.13864177 -0.03119376
+v -0.00221657 -0.13641427 -0.03641259
+v 0.00271223 -0.13654235 -0.03665970
+v 0.00238364 -0.13894061 -0.03096171
+v -0.01700654 -0.13020649 -0.03119373
+v -0.01702082 -0.13020649 -0.03119652
+v 0.00490518 -0.13796625 -0.03096171
+v 0.01946656 -0.12828537 -0.03665967
+v -0.00643462 -0.13433496 -0.03641258
+v -0.01702082 -0.12893327 -0.03641256
+v 0.00776960 -0.13432240 -0.03665969
+v 0.00271223 -0.13894563 -0.03096171
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 7
+f 3 8 4
+f 4 11 22
+f 4 22 30
+f 4 30 25
+f 4 25 15
+f 4 15 9
+f 4 9 6
+f 4 6 5
+f 4 8 14
+f 4 14 11
+f 7 10 12
+f 7 12 13
+f 7 13 8
+f 8 13 18
+f 8 18 28
+f 8 28 24
+f 8 24 14
+f 9 15 26
+f 9 26 16
+f 9 16 10
+f 10 16 26
+f 10 26 29
+f 10 29 21
+f 10 21 17
+f 10 17 28
+f 10 28 18
+f 10 18 12
+f 11 19 20
+f 11 20 17
+f 11 17 21
+f 11 21 22
+f 11 14 23
+f 11 23 19
+f 12 18 13
+f 14 24 23
+f 15 25 26
+f 17 20 27
+f 17 27 28
+f 19 23 24
+f 19 24 28
+f 19 28 27
+f 19 27 20
+f 21 29 30
+f 21 30 22
+f 25 30 29
+f 25 29 26
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_85.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b35f35c2f7e74c49fea25110682f1ade1b869c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_85.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.06660868 -0.11293699 -0.03096161
+v 0.06660868 -0.13017837 -0.03096168
+v 0.06660868 -0.11705959 -0.03666019
+v 0.03723082 -0.11490503 -0.03666018
+v 0.03229759 -0.11477988 -0.03666018
+v 0.02925643 -0.11339834 -0.03096162
+v 0.04643736 -0.13737577 -0.03096170
+v 0.06660868 -0.12839188 -0.03666023
+v 0.03189610 -0.11488540 -0.03666018
+v 0.01946842 -0.11420568 -0.03096162
+v 0.04439761 -0.13786656 -0.03096171
+v 0.04709266 -0.13510832 -0.03666026
+v 0.01946842 -0.11917979 -0.03666020
+v 0.01946842 -0.12983973 -0.03096168
+v 0.04215943 -0.13800398 -0.03096171
+v 0.04215943 -0.13611689 -0.03666026
+v 0.04251016 -0.13607026 -0.03666026
+v 0.01946842 -0.12828882 -0.03666023
+v 0.03731388 -0.13721872 -0.03096170
+v 0.03723543 -0.13489236 -0.03666026
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 3 8 12
+f 3 12 17
+f 3 17 16
+f 3 16 20
+f 3 20 18
+f 3 18 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 18
+f 10 18 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 15 19 16
+f 16 19 20
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_86.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9715f5ff2b381e4a9783a0852930bd4499d65f6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_86.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01767418 0.11961271 -0.10664836
+v 0.02758419 0.12439937 -0.10664834
+v 0.01767418 0.10680820 -0.10664841
+v 0.01767418 0.12047185 -0.10420860
+v 0.02974074 0.12538626 -0.10664834
+v 0.05201663 0.10406045 -0.10664842
+v 0.02243806 0.10485946 -0.10016363
+v 0.01921045 0.10520261 -0.09968275
+v 0.01767418 0.10583131 -0.10119610
+v 0.01767418 0.12057202 -0.10131627
+v 0.02798088 0.12650325 -0.06670012
+v 0.02937651 0.12550649 -0.10517741
+v 0.03203072 0.12585716 -0.10664834
+v 0.05451217 0.10412307 -0.10664842
+v 0.05451217 0.10340918 -0.10131633
+v 0.05201663 0.10280049 -0.09637319
+v 0.02736782 0.10356696 -0.09637319
+v 0.02243806 0.10420068 -0.09637319
+v 0.01767418 0.10487445 -0.09112595
+v 0.01767418 0.10493206 -0.09182605
+v 0.01767418 0.12092014 -0.08647978
+v 0.01767418 0.12128571 -0.05186363
+v 0.02807104 0.12646308 -0.04197027
+v 0.03229758 0.12826413 -0.06670011
+v 0.03229758 0.12635809 -0.10131625
+v 0.03697130 0.12589723 -0.10664834
+v 0.03722374 0.12657602 -0.10131625
+v 0.05451217 0.11850308 -0.10664836
+v 0.05451217 0.10285059 -0.09637319
+v 0.05201663 0.10267524 -0.09142297
+v 0.02736782 0.10331648 -0.09142297
+v 0.02243806 0.10385500 -0.09142297
+v 0.01767418 0.10492954 -0.08683341
+v 0.01767418 0.12124311 -0.04691342
+v 0.02818283 0.12649313 -0.03702005
+v 0.03229758 0.12816883 -0.03702004
+v 0.03722374 0.12822405 -0.06670011
+v 0.03722374 0.12777074 -0.08152953
+v 0.03714801 0.12585465 -0.10664834
+v 0.04045134 0.12562170 -0.10466825
+v 0.04212104 0.12380073 -0.10664835
+v 0.05451217 0.11916435 -0.10379844
+v 0.05451217 0.10273536 -0.09142297
+v 0.05201663 0.10268525 -0.08647984
+v 0.02736782 0.10347676 -0.08647984
+v 0.02243806 0.10392762 -0.08647984
+v 0.01767418 0.10956071 -0.03440357
+v 0.01767418 0.12085486 -0.04262795
+v 0.01767418 0.12080977 -0.04227437
+v 0.02853625 0.12622761 -0.03440351
+v 0.02990663 0.12678618 -0.03440350
+v 0.03215694 0.12746247 -0.03440350
+v 0.03722374 0.12750005 -0.03440350
+v 0.03722374 0.12801103 -0.03702004
+v 0.04177484 0.12646318 -0.06670012
+v 0.04156568 0.12633296 -0.07658640
+v 0.04145749 0.12626285 -0.08152954
+v 0.04061723 0.12570936 -0.10131625
+v 0.05451217 0.11919188 -0.10120312
+v 0.05451217 0.10276289 -0.08647984
+v 0.05451217 0.10448350 -0.03440359
+v 0.05201663 0.10450854 -0.03440359
+v 0.04842840 0.10495941 -0.03440358
+v 0.01767418 0.11917912 -0.03440353
+v 0.04084804 0.12607482 -0.03440351
+v 0.04126276 0.12633282 -0.03702005
+v 0.05451217 0.11947721 -0.04197029
+v 0.05451217 0.11939971 -0.08116890
+v 0.05451217 0.11913654 -0.03440353
+v 0.05451217 0.11931189 -0.03718979
+f 1 2 5
+f 1 5 13
+f 1 13 26
+f 1 26 39
+f 1 39 41
+f 1 41 28
+f 1 28 14
+f 1 14 6
+f 1 6 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 33
+f 1 33 47
+f 1 47 64
+f 1 64 49
+f 1 49 48
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+f 1 34 22
+f 1 22 21
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+f 1 10 4
+f 1 4 2
+f 2 4 5
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+f 3 7 8
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+f 4 11 12
+f 4 12 5
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+f 6 14 15
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+f 14 43 29
+f 14 29 15
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+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 19
+f 19 32 33
+f 22 34 35
+f 22 35 23
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 27
+f 26 27 40
+f 26 40 39
+f 27 38 40
+f 28 41 40
+f 28 40 42
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 34 48 35
+f 35 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 40
+f 39 40 41
+f 40 58 42
+f 42 58 57
+f 42 57 56
+f 42 56 55
+f 42 55 59
+f 43 60 44
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 46
+f 46 62 63
+f 46 63 47
+f 47 63 62
+f 47 62 61
+f 47 61 69
+f 47 69 65
+f 47 65 53
+f 47 53 52
+f 47 52 51
+f 47 51 50
+f 47 50 64
+f 49 64 50
+f 53 65 54
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+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 59
+f 65 69 66
+f 66 69 70
+f 66 70 67
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_87.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec43ef56670364f4fe02ebfdef8bc77a97f685a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_87.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03248232 0.14489560 -0.02267227
+v 0.03248232 0.14489398 -0.02264581
+v 0.03248232 0.14318635 -0.02645626
+v -0.01560556 0.14252048 -0.02697227
+v -0.01560556 0.14402558 -0.02354153
+v -0.01560556 0.14458290 -0.02218008
+v 0.03248232 0.14489074 -0.02262728
+v 0.03248232 0.14314424 -0.02649463
+v 0.03244467 0.14314748 -0.02649199
+v -0.00221382 0.13769243 -0.02910376
+v -0.01560556 0.14115468 -0.02757163
+v 0.02736569 0.14263227 -0.02695375
+v -0.01560556 0.14223691 -0.01842653
+v 0.03248232 0.14244915 -0.01822939
+v 0.02736569 0.14477570 -0.02218008
+v 0.03248232 0.13769243 -0.02883650
+v 0.00271453 0.13769243 -0.02910243
+v 0.00271453 0.12834576 -0.02801623
+v -0.00714687 0.13769243 -0.02909053
+v -0.01207522 0.13769243 -0.02907465
+v -0.01560556 0.13769243 -0.02906142
+v 0.00764759 0.13769243 -0.02907200
+v -0.01560556 0.13889939 -0.01558854
+v 0.03229404 0.13961874 -0.01558854
+v 0.03229404 0.14235357 -0.01808385
+v 0.03248232 0.14235519 -0.01808385
+v 0.03248232 0.12834576 -0.02682414
+v -0.00297166 0.12834576 -0.02698688
+v -0.01560556 0.13272826 -0.02740495
+v -0.01560556 0.13627966 -0.02859835
+v -0.01560556 0.12834572 -0.01558858
+v 0.03248232 0.13961874 -0.01558854
+v 0.03248232 0.12834572 -0.01558858
+v -0.01560556 0.12834575 -0.02402848
+v -0.01560556 0.12886743 -0.02459873
+v -0.01560556 0.12957382 -0.02531582
+v -0.01560556 0.13181288 -0.02680560
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 32
+f 1 32 33
+f 1 33 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 21
+f 4 21 30
+f 4 30 29
+f 4 29 37
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+f 4 35 34
+f 4 34 31
+f 4 31 23
+f 4 23 13
+f 4 13 6
+f 4 6 5
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+f 4 12 10
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 8 16 12
+f 8 12 9
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 12 17
+f 11 19 20
+f 11 20 21
+f 12 16 22
+f 12 22 17
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 16 27 18
+f 16 18 22
+f 17 22 18
+f 18 28 29
+f 18 29 30
+f 18 30 21
+f 18 21 20
+f 18 20 19
+f 18 27 33
+f 18 33 31
+f 18 31 34
+f 18 34 28
+f 23 31 33
+f 23 33 32
+f 23 32 24
+f 24 32 26
+f 24 26 25
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 29
+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_88.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e4225e58037e0555681cc54d28a76a336b513f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_88.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.07652381 0.09859382 -0.02712363
+v 0.07652381 0.09925438 -0.02514418
+v 0.05563686 0.10393979 -0.02217813
+v 0.05563686 0.10374981 -0.02349462
+v 0.05563686 0.10324708 -0.02712361
+v 0.05563686 0.10400706 -0.03206910
+v 0.05563686 0.10444550 -0.03440359
+v 0.07652381 0.10127707 -0.03440360
+v 0.07652381 0.10846732 -0.01193210
+v 0.05563686 0.10535446 -0.01962997
+v 0.05563686 0.11928214 -0.03440353
+v 0.07652381 0.12438261 -0.03440351
+v 0.07652381 0.11015676 -0.00976727
+v 0.05563686 0.11816840 -0.00230503
+v 0.06474730 0.12511041 -0.03440351
+v 0.05563686 0.12845124 -0.02336257
+v 0.07518260 0.12599021 -0.03440351
+v 0.07652381 0.12845125 -0.02751627
+v 0.07652381 0.11695832 -0.00230817
+v 0.07652381 0.11739675 -0.00230503
+v 0.05563686 0.12845116 -0.00230499
+v 0.06591064 0.12558392 -0.03440351
+v 0.06569596 0.12845125 -0.02720835
+v 0.07173960 0.12678231 -0.03440350
+v 0.06934545 0.12642279 -0.03440351
+v 0.06721096 0.12606913 -0.03440351
+v 0.07652381 0.12845116 -0.00230499
+v 0.07175391 0.12845125 -0.02773935
+v 0.07172529 0.12845125 -0.02773935
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 18 27
+f 1 27 20
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+f 9 14 10
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_89.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c8f966a8488fe13fc1d3ccbdeb1505959d129f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_89.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00271108 0.12789647 -0.03440313
+v -0.00218602 0.12697529 -0.03440313
+v 0.00271108 0.12777393 -0.03062267
+v 0.00661415 0.12663721 -0.03062267
+v 0.00698253 0.12641034 -0.03440314
+v -0.00218310 0.12678922 -0.03062267
+v -0.00460388 0.12584311 -0.03440314
+v 0.00836834 0.12532123 -0.03062268
+v 0.00814614 0.12570244 -0.03440314
+v -0.01560556 0.11951962 -0.03062270
+v -0.00501319 0.12560941 -0.03440314
+v 0.00944716 0.12472453 -0.03440314
+v 0.01422732 0.11985769 -0.03062270
+v 0.01426241 0.11984862 -0.03063750
+v -0.01560556 0.11905452 -0.03440316
+v -0.01560556 0.10480346 -0.03062276
+v 0.01211060 0.12205856 -0.03440315
+v 0.01426241 0.11197776 -0.03062273
+v 0.01426241 0.11981460 -0.03440316
+v -0.01560556 0.10937534 -0.03440320
+v -0.01241586 0.10473312 -0.03062276
+v 0.01426241 0.10477396 -0.03062276
+v 0.01426241 0.10979962 -0.03440320
+v 0.01278304 0.10922786 -0.03440320
+v -0.00744566 0.10471951 -0.03062276
+v 0.01258716 0.10476943 -0.03062276
+f 1 2 3
+f 1 3 4
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+f 1 19 23
+f 1 23 24
+f 1 24 20
+f 1 20 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_9.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a505a8eeb5d44b9ef63fd2cdf4fb4721f86f3e20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_9.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.09802148 0.02938636 -0.03691044
+v 0.08694922 0.02938636 -0.03691044
+v 0.09841936 0.02938636 -0.03794985
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+v 0.07652381 0.02938665 -0.11752467
+v 0.09875865 0.02938637 -0.04005054
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+v 0.10108735 0.03838901 -0.04196521
+v 0.09963497 0.03775809 -0.03691041
+v 0.08230160 0.03828587 -0.03691041
+v 0.07652381 0.03330256 -0.11632113
+v 0.07652381 0.02938674 -0.14074175
+v 0.08090292 0.04323611 -0.03691039
+v 0.08086875 0.04335440 -0.03701980
+v 0.09897346 0.02938637 -0.04196524
+v 0.09931765 0.02996574 -0.04692157
+v 0.10051860 0.03342362 -0.04692156
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+v 0.10135342 0.04335443 -0.04692152
+v 0.10092625 0.04335441 -0.04196519
+v 0.09967158 0.04331194 -0.03691039
+v 0.09967891 0.04307231 -0.03691039
+v 0.09972284 0.03854369 -0.03691041
+v 0.07652381 0.03342388 -0.11628831
+v 0.07652381 0.03342397 -0.14172643
+v 0.08903137 0.02938676 -0.14831301
+v 0.08088339 0.04335440 -0.03691039
+v 0.08139112 0.04831677 -0.03691037
+v 0.07652381 0.06037116 -0.12170407
+v 0.07652381 0.04335469 -0.11716356
+v 0.07652381 0.03838929 -0.11602570
+v 0.09904914 0.02938639 -0.04692157
+v 0.09779691 0.02938674 -0.14088398
+v 0.09929079 0.03006585 -0.05186696
+v 0.10045758 0.03342364 -0.05186695
+v 0.10144617 0.03838905 -0.05186693
+v 0.10141200 0.04335445 -0.05186691
+v 0.10006214 0.04831680 -0.04692150
+v 0.09958127 0.04865044 -0.04216211
+v 0.09934449 0.04721874 -0.03804825
+v 0.09955930 0.04402475 -0.03691039
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diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_90.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd24890ae25643147eed9c4c35470ee5a22d494
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_90.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03697130 0.12589786 -0.10664908
+v 0.03714801 0.12585295 -0.10664908
+v 0.03874919 0.12508689 -0.11432600
+v 0.03853642 0.12513708 -0.11432600
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+v 0.03203072 0.12585559 -0.10664908
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+v 0.05451217 0.09894700 -0.11432610
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+v 0.01767418 0.09921647 -0.11432610
+v 0.01767418 0.11961055 -0.10664910
+v 0.01767418 0.10680875 -0.10664915
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_91.obj b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af1c8abaee87f35d04c2854e3bba12fe3f64563
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/gray_basket_collision_91.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03673445 -0.11359030 -0.03119350
+v -0.03673445 -0.11474375 -0.03641282
+v -0.03917224 -0.11361793 -0.03119350
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+v -0.03669563 -0.13665969 -0.03119358
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+v -0.04113644 -0.13531280 -0.03641290
+v -0.04165661 -0.13534043 -0.03641290
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+
diff --git a/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed547eb8dc3dfdca79ad540195dc4978a810cd27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/20123526bb765a85ba100fcb662e59e7/mjcf/mesh/material_0.png
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