diff --git a/.gitattributes b/.gitattributes
index 804b144e3868ccd3c749de7b801e45d851de98f7..3f6610d23095b581a50adc8dfb662f2e76321dd5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2767,5 +2767,5 @@ dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_
dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/663158968e3f5900af1f6e7cecef24c7.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/mesh/jewelry_box_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/mesh/remote_holder_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/remote_holder_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.urdf b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6b2f011fa4aeff9faa7a1d2d2b60696346880c74
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.usd b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.usd
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.glb b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.glb
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.mtl b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8dfbd91cce9244130751d86423f77ce47ebeacf
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+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.mtl
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c837ae0d377c3cdb7991ea8ae31bcce7080c8812
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+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_collision.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf6dd7972cd7703e2bcf06ad4f1fa472291bd91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47a640577aa323c12f9b554623df71928874b570
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68ee69004c600d3537ce0d569af1824c5f0d77a3cb080d3b07b445e19eeb01c
+size 9829086
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material.mtl b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..062322f1ef3d0268ded44b9125c88b9f8a93272b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material_0.png b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47a640577aa323c12f9b554623df71928874b570
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68ee69004c600d3537ce0d569af1824c5f0d77a3cb080d3b07b445e19eeb01c
+size 9829086
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/basket_005.xml b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/basket_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cfa3d8c38b392ba2ebf6d0a7a7e52cc6e927ca62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/basket_005.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be02c9625c76606255bd7d7128af94c76930074
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005.obj
@@ -0,0 +1,115904 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_005_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8638a19d7cf37bb09f94193cc0dc6f94dfaa21bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision.obj
@@ -0,0 +1,33110 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_0.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abeb6dd2973bb107344cf50730f40dbd7f275527
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_1.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101c20f9661e456f500d5de02a486192be13db29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_10.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baaebbfadd0203c18fbed12a02426b279446c87e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_11.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92db7292853af5f8ef33b3e5541311851a2c65cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_12.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6651149b88162e6ba2b035bc717d872df024e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_12.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_13.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46bf4cf5889e92561f4e574c7a98368709398ea7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_13.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_14.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073ed9d3134319f493651c937a2e452a28863a7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_15.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a699f86c69d18ac30f0c20d60b33583134c3f42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_16.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6cee0c981f2318efa90ca0b32514ef22ef1583e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_16.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_17.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d3dd6be181b5156f9a7e038cbdb83a624a9708c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_17.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_18.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8882d1276ff521b21f9bdb03fc9ee64e22e8e2de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_19.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62d8e13c8e72434d7af4bb8faf89051a821bbf0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_2.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b924f007f941c5caf3054d08d7ea1bea517a3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_2.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_20.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12bff1f5e7e5f321c9db13e22c08c18c98a253c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_20.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_21.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239c595de53be0b84549771f954be7ce2d171d92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_21.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_22.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..219214dca1cc0d36c40e40652ce76d99444df300
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_22.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_23.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6acd4dc89a587c7e886bee19ed4e04fec30a467b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_24.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d708fc634607e3777dc5cf5e3789c8ccee2db84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_25.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea63143d8a329b60a64173b0edaa255c38c70103
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_25.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_26.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60aed2754726a5e0d98c96c3e076e061178337f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_26.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_27.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e91ed92eebb1a5b90307bddd4e7e18f7b5c377
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_28.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90543134dc2b0200001e14502160c74727e92510
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_28.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_29.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a6992facfac4b78433850e83996037a4183c1c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_29.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_3.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ad3e3a06b7176fac5d38ea985d10a0a6dbeb28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_30.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e04bf81943598abe927012d4fbba5d20fad6a2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_31.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c6b3f269918a397b1735c2203354cbf371957a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_31.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_32.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9593a6de449b615b35b94f44a048c4f356ea5112
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_33.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf731d910995b0df1e59974f2cb60f4f648d9893
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_33.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_34.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cfaff063aef788cf5a128754d87ba49c0e78ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_34.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_35.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d7d9834762ae549127c989d1c9c7e72964325d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_35.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_36.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4d141ffe27b0a312d74a09fc2ed10dea25f2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_37.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e38c3d69aaea1cfb45d1c79fa3acee624d0265
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_38.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741831c42734b6d105a6a4b9e1f65b4bfe47469a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_38.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_39.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1a99a8ea5df4de8d0a491014a87cbdb5753b7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_39.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_4.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a892341e1188f6aadb8a9802192e7b65d935ff95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_4.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_40.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efe68431efb5d82e3eee36e60a2cba784be852a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_40.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_41.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7536b37f75f440c9e1075c9a3c5d31398d6410fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_41.obj
@@ -0,0 +1,193 @@
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_42.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f795ee6de0300d1493f9d81e41ed9ec518eeca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_42.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_43.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad84859ee07ff1d2865ace31f226d5533b4152de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_43.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_44.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b39f6a608798da9f06ff636d5e0e2b5d33c6c38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_44.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.02188120 0.05553749 -0.04220472
+v -0.02188120 0.05505156 -0.04034025
+v -0.02188120 0.05552771 -0.04480107
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_45.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5064c4a4ee146c01047319564e37d5da3cd952d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_45.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_46.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3009990433cb9828a2fb5c5e867838aa5bd0038a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_47.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80060dfc10a9e0869d94388740c4e1aceef9510
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_47.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_48.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a254b49f2403104767fa201980dfc4c11aa96f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_48.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_49.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1983daa43c918ad5544078323aeea23d07b60f6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_49.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_5.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a868d49772962e415470a31ab5bf62f5bd8d566e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_50.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e3769112f44f797ad93b012d51877e2ac8410c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_50.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_51.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659ce2ffa197dc603c56c81da42c75d09445527c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_51.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_52.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbdc49cc695e1f325fccce15965eeb3a3cc29404
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_52.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05610390 -0.00001189 -0.02979237
+v -0.05610483 -0.00072200 -0.02979237
+v -0.06201264 -0.00001189 -0.02979237
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+v -0.06201356 -0.00036302 -0.02979237
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+v -0.05781688 -0.00891311 -0.01363448
+v -0.05741345 -0.00891309 -0.01899531
+v -0.05610761 -0.00129618 -0.02979237
+v -0.06201542 -0.00130141 -0.02979237
+v -0.06408732 -0.00129623 -0.01623189
+v -0.06408547 -0.00001194 -0.01623189
+v -0.06230942 -0.00044232 -0.02803979
+v -0.06557309 -0.00001198 -0.00410466
+v -0.05971258 -0.00029428 -0.00410466
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+v -0.05970979 -0.00129627 -0.00410466
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+v -0.05827319 -0.00891308 -0.02141171
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+v -0.06340194 -0.00483199 -0.00410468
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_53.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf5b857694eca23e545ef618a2f432194b1e64a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_53.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05144208 0.03693459 0.00959617
+v 0.05344801 0.03771994 0.00959617
+v 0.05402883 0.03662821 0.00672101
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+v 0.05272902 0.03578157 0.00672101
+v 0.05171141 0.03448339 0.00672101
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+v 0.05614367 0.03582350 0.00672101
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_54.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..222be17372c27d515f6a8025b74f75437ff85e6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_54.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03715419 -0.05579279 0.00959575
+v 0.03715419 -0.05089376 0.00959576
+v 0.03715419 -0.05570934 0.00921362
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+v 0.04873819 -0.04603251 0.00714844
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+v 0.04234716 -0.04394979 0.00586395
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+v 0.04811240 -0.04002207 0.00586396
+v 0.04817278 -0.03971354 0.00959580
+v 0.04580685 -0.04073993 0.00714846
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+f 41 45 42
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_55.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971739ec202cf609c03d3076b4e631c41fb6e683
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_55.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00984378 -0.05576459 -0.03531173
+v 0.00984378 -0.05784026 -0.03625357
+v 0.00984378 -0.05424400 -0.03770105
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+v 0.00462312 -0.05791804 -0.02989084
+v 0.00490098 -0.05847206 -0.02989084
+v 0.00984378 -0.05891588 -0.04151152
+v 0.00411844 -0.06014923 -0.02989085
+v 0.00380657 -0.06068488 -0.02989085
+v 0.00984378 -0.05293399 -0.04220409
+v 0.00135312 -0.05576028 -0.02989083
+v -0.00003615 -0.05577648 -0.02979257
+v -0.00003615 -0.06165361 -0.02979260
+v 0.00984378 -0.05892559 -0.04410455
+v 0.00135312 -0.06164281 -0.02989086
+v -0.00946623 -0.05300419 -0.04220409
+v -0.00946623 -0.05309923 -0.04177991
+v -0.00097746 -0.05577756 -0.02979257
+v 0.00984378 -0.05062069 -0.05427531
+v -0.00124398 -0.06164928 -0.02979260
+v -0.00124398 -0.05934890 -0.05259299
+v -0.00003615 -0.05934890 -0.05259299
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+v 0.00135312 -0.05934782 -0.05259299
+v 0.00395022 -0.05922579 -0.05259299
+v 0.00654732 -0.05898712 -0.05259299
+v 0.00914630 -0.05863721 -0.05259299
+v 0.00914630 -0.05883161 -0.04999757
+v -0.00946623 -0.05074704 -0.05411474
+v -0.00946623 -0.05391353 -0.03917491
+v -0.00124398 -0.05577865 -0.02979257
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+v -0.00003615 -0.05188099 -0.05427531
+v -0.00179402 -0.06146785 -0.02979260
+v -0.00946623 -0.05896447 -0.04220412
+v -0.00946623 -0.05896771 -0.04480193
+v -0.00946623 -0.05878625 -0.04999757
+v -0.00946623 -0.05875600 -0.05042415
+v -0.00903527 -0.05886077 -0.04999757
+v -0.00903527 -0.05867285 -0.05259299
+v -0.00643817 -0.05901303 -0.05259299
+v -0.00384107 -0.05923659 -0.05259299
+v -0.00276367 -0.05893742 -0.05411477
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+v -0.00003615 -0.05896550 -0.05427534
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+v 0.00984378 -0.05851085 -0.05259298
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+v -0.00946623 -0.05824625 -0.05411476
+v -0.00946623 -0.05413168 -0.03852785
+v -0.00315116 -0.05629162 -0.02979258
+v -0.00401497 -0.06055529 -0.02979259
+v -0.00946623 -0.05782945 -0.03784725
+v -0.00946623 -0.05859833 -0.05259299
+v -0.00903527 -0.05832401 -0.05411476
+v -0.00795787 -0.05846548 -0.05411476
+v -0.00643817 -0.05866420 -0.05411477
+v -0.00384107 -0.05888991 -0.05411477
+v -0.00946623 -0.05587041 -0.03687187
+v -0.00377681 -0.05651085 -0.02979258
+v -0.00500920 -0.05854873 -0.02979259
+v -0.00946623 -0.05735643 -0.03733679
+v -0.00946623 -0.05599245 -0.03684791
+f 1 2 7
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+f 1 23 46
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+f 1 53 32
+f 1 32 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
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+f 1 6 2
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+f 6 12 13
+f 6 13 8
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+f 8 13 9
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+f 10 12 11
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+f 24 49 25
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+f 26 52 27
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+f 29 45 55
+f 30 56 31
+f 31 56 57
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+f 35 58 59
+f 38 60 40
+f 38 40 39
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+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 43
+f 43 64 45
+f 43 45 44
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+f 45 63 62
+f 45 62 61
+f 45 61 55
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+f 56 65 66
+f 56 66 57
+f 58 67 68
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+f 65 67 66
+f 67 69 68
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_56.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b74c6908dc08ba5af9c4db0bd2219688ef3974d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_56.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02290878 0.04557369 -0.05489021
+v 0.00985432 0.05012311 -0.05489020
+v 0.02290878 0.05405782 -0.05489018
+v 0.02290878 0.04860152 -0.04235410
+v 0.01434211 0.05335442 -0.03334487
+v 0.01181198 0.05417819 -0.03334487
+v 0.00985432 0.05304432 -0.04149979
+v 0.00985432 0.05797868 -0.05489017
+v 0.02175105 0.05459638 -0.05489018
+v 0.02144565 0.05483451 -0.05460119
+v 0.02290878 0.05452993 -0.05334189
+v 0.02290878 0.04883964 -0.04153355
+v 0.01541295 0.05320905 -0.03334487
+v 0.02290878 0.04914977 -0.04054846
+v 0.01059164 0.05471260 -0.03334487
+v 0.01056992 0.05469875 -0.03344823
+v 0.00985432 0.05382932 -0.03885249
+v 0.01379903 0.05737505 -0.05444719
+v 0.01264386 0.05747334 -0.05489017
+v 0.00985432 0.05852139 -0.05259515
+v 0.02077478 0.05498404 -0.05489018
+v 0.01553051 0.05715214 -0.05364985
+v 0.01953655 0.05596840 -0.05259515
+v 0.02290878 0.05461299 -0.05290102
+v 0.01693869 0.05304291 -0.03334488
+v 0.02290878 0.04918438 -0.04049573
+v 0.01002556 0.05589911 -0.03334486
+v 0.00985432 0.05424328 -0.03756787
+v 0.01419899 0.05710784 -0.05489017
+v 0.01174426 0.05817665 -0.05259515
+v 0.00985432 0.05867230 -0.05070513
+v 0.01325850 0.05971752 -0.03334485
+v 0.01666268 0.05639760 -0.05489017
+v 0.01453507 0.05751625 -0.05270906
+v 0.01588064 0.05725320 -0.05191804
+v 0.01682241 0.05686554 -0.05270906
+v 0.01476636 0.05694447 -0.05489017
+v 0.02290878 0.05475697 -0.05183367
+v 0.02224047 0.05495634 -0.05238423
+v 0.01693869 0.05869577 -0.03334485
+v 0.01774501 0.05332258 -0.03334487
+v 0.02290878 0.05080699 -0.03871328
+v 0.01891041 0.05383622 -0.03334487
+v 0.01000255 0.05795229 -0.03334486
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+v 0.02290878 0.05246145 -0.03862679
+v 0.01944966 0.05588111 -0.03334486
+v 0.00985432 0.05786508 -0.03592676
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+v 0.02290878 0.05487049 -0.04999850
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+v 0.02290878 0.05504907 -0.04480308
+v 0.02290878 0.05500339 -0.04615519
+v 0.02290878 0.05496047 -0.04739974
+v 0.02290878 0.05320492 -0.03925328
+v 0.02290878 0.05478186 -0.04064547
+v 0.01223495 0.05947246 -0.03334485
+v 0.02290878 0.05503938 -0.04220642
+f 1 2 8
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+f 1 9 3
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_57.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f4055814add064558eb460eef9ca61b8c26444
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_57.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02187942 0.04655350 -0.05461711
+v -0.02187942 0.05465547 -0.05461708
+v -0.00944428 0.05045813 -0.05461709
+v -0.00944428 0.05705138 -0.01430129
+v -0.01349194 0.05995020 0.00959653
+v -0.01478110 0.05957494 0.00959653
+v -0.01682989 0.05901016 0.00959653
+v -0.02187942 0.05325183 -0.01623726
+v -0.02146431 0.05487499 -0.05461708
+v -0.02187942 0.05496130 -0.05345424
+v -0.00944428 0.05813604 -0.05461707
+v -0.00944428 0.05732720 -0.01315103
+v -0.01133968 0.06128990 0.00959654
+v -0.01942770 0.05868556 0.00959653
+v -0.02187942 0.05371715 -0.01363503
+v -0.01942770 0.05607208 -0.05259311
+v -0.01549081 0.05716973 -0.05379995
+v -0.01681163 0.05643234 -0.05461707
+v -0.02187942 0.05514517 -0.05256798
+v -0.00961349 0.05810602 -0.05461707
+v -0.00944428 0.05820922 -0.05430279
+v -0.00944428 0.05872504 -0.01097620
+v -0.00945767 0.06367845 0.00959654
+v -0.00994217 0.06286601 0.00959654
+v -0.02186725 0.05902518 0.00959653
+v -0.02187942 0.05906270 0.00958396
+v -0.01675442 0.05691267 -0.05280053
+v -0.01788532 0.06491120 0.00959655
+v -0.01446947 0.05754124 -0.05280053
+v -0.01163671 0.05821296 -0.05259311
+v -0.01375975 0.05738176 -0.05449136
+v -0.01386688 0.05731233 -0.05461707
+v -0.01493327 0.05703276 -0.05461707
+v -0.01677389 0.06521141 0.00959655
+v -0.01560646 0.06499753 0.00570577
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+v -0.01923779 0.06438771 0.00959655
+v -0.01899919 0.06448340 0.00959655
+v -0.01343716 0.05741178 -0.05461707
+v -0.00944428 0.05860699 -0.05259310
+v -0.00944428 0.05906466 -0.01055507
+v -0.01172923 0.06554164 0.00959655
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+v -0.02187942 0.05991080 0.00959653
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+v -0.01596558 0.06509509 0.00714518
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+v -0.02185751 0.06297671 0.00959654
+v -0.02164691 0.06310993 0.00959654
+v -0.00944428 0.06295054 -0.01623723
+v -0.01413591 0.06571426 0.00959655
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+f 1 20 11
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+f 1 3 4
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_58.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b824063e07d8a47d91c837a039b296cd6c495eb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_58.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05089967 -0.00925842 -0.05427334
+v 0.05037225 0.00933672 -0.05489246
+v 0.05121431 -0.00000818 -0.05489249
+v 0.05834350 -0.00925842 -0.05427334
+v 0.05324928 -0.00925846 -0.04220548
+v 0.05818618 0.00933672 -0.05489246
+v 0.05600408 -0.00129515 -0.02989040
+v 0.05328550 0.00933667 -0.04197292
+v 0.05895014 -0.00000818 -0.05489249
+v 0.05837406 -0.00909096 -0.05427334
+v 0.05872718 -0.00925843 -0.05259446
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_59.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e387039d02d48db87476a264ff9cdc82e497a2fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_59.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_6.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e427b1c4511aba1c3d344da2ef865f1fedc3cb17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_6.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_60.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaba12a2da3057d095bdd80287f8a51c0be52500
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_60.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_61.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4f8be6f6c8708c9e0211cb3793a0ab8862c184
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_61.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_62.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f073ed2b42c2ca29bfe6be7907d8131605ac7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_62.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_63.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc41a96f4bb684c0b3a6bab2a7a23396a5840612
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_63.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_64.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccdb56c14c507407b2febe67f1acb52141846b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_64.obj
@@ -0,0 +1,199 @@
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+f 30 38 35
+f 30 35 39
+f 30 39 31
+f 31 39 40
+f 31 40 35
+f 32 34 41
+f 34 42 41
+f 35 40 39
+f 35 38 43
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 36 45 47
+f 36 47 48
+f 36 48 46
+f 37 43 38
+f 41 42 49
+f 42 50 49
+f 43 51 48
+f 43 48 47
+f 43 47 44
+f 44 47 45
+f 46 48 52
+f 48 51 52
+f 49 53 54
+f 49 50 53
+f 50 55 53
+f 51 56 52
+f 52 56 57
+f 53 58 54
+f 53 55 58
+f 54 58 60
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 64
+f 54 64 59
+f 55 63 62
+f 55 62 61
+f 55 61 60
+f 55 60 58
+f 56 65 66
+f 56 66 67
+f 56 67 57
+f 59 64 65
+f 64 67 65
+f 65 67 66
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_65.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e3c24399df5192f7a496b2ada71fb35bd3364b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_65.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00985432 0.05012283 -0.05488960
+v -0.00003695 0.05101855 -0.05488959
+v 0.00985432 0.05797867 -0.05488957
+v 0.00985432 0.05304577 -0.04149660
+v 0.00135340 0.05611162 -0.02720097
+v -0.00003695 0.05610581 -0.02720097
+v -0.00003695 0.05883373 -0.05488956
+v 0.00914559 0.05810879 -0.05488957
+v 0.00985432 0.05852121 -0.05259642
+v 0.00985432 0.05382996 -0.03885106
+v 0.00302648 0.05650081 -0.02720097
+v 0.00985432 0.05424471 -0.03756896
+v -0.00003695 0.06199130 -0.02720095
+v 0.00135340 0.05882908 -0.05488956
+v -0.00003695 0.05936233 -0.05259641
+v 0.00135340 0.05935884 -0.05259641
+v 0.00654787 0.05846429 -0.05488957
+v 0.00914559 0.05865016 -0.05259641
+v 0.00914559 0.05885811 -0.04999695
+v 0.00985432 0.05867224 -0.05070442
+v 0.00355415 0.05665532 -0.02720097
+v 0.00985432 0.05574337 -0.03505625
+v 0.00068534 0.06198782 -0.02720095
+v 0.00395112 0.05870594 -0.05488956
+v 0.00395112 0.05924498 -0.05259641
+v 0.00135340 0.06198433 -0.02720095
+v 0.00654787 0.05900566 -0.05259641
+v 0.00985432 0.05872799 -0.04999695
+v 0.00477991 0.05848045 -0.02720097
+v 0.00985432 0.05746394 -0.03498034
+v 0.00190432 0.06176476 -0.02720095
+v 0.00985432 0.05894174 -0.04220403
+v 0.00985432 0.05891269 -0.04480348
+v 0.00387851 0.06085162 -0.02720096
+v 0.00985432 0.05786475 -0.03592633
+f 1 2 7
+f 1 7 14
+f 1 14 24
+f 1 24 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 28
+f 1 28 33
+f 1 33 32
+f 1 32 35
+f 1 35 30
+f 1 30 22
+f 1 22 12
+f 1 12 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 15
+f 2 15 7
+f 3 8 9
+f 4 10 5
+f 5 11 21
+f 5 21 29
+f 5 29 34
+f 5 34 31
+f 5 31 26
+f 5 26 23
+f 5 23 13
+f 5 13 6
+f 5 10 12
+f 5 12 11
+f 7 15 16
+f 7 16 14
+f 8 17 27
+f 8 27 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 11 12 21
+f 12 22 21
+f 13 23 16
+f 13 16 15
+f 14 16 25
+f 14 25 24
+f 16 23 26
+f 16 26 25
+f 17 24 27
+f 18 27 26
+f 18 26 19
+f 19 28 20
+f 19 26 28
+f 21 22 29
+f 22 30 29
+f 24 25 27
+f 25 26 27
+f 26 31 32
+f 26 32 33
+f 26 33 28
+f 29 30 34
+f 30 35 34
+f 31 34 32
+f 32 34 35
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_66.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf46f1394ba824e84ba30914090241da807a33d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_66.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02465909 -0.05437588 -0.04296658
+v -0.02465909 -0.05437251 -0.04220466
+v -0.02721241 -0.05426274 -0.02979257
+v -0.02971636 -0.05399582 -0.02979257
+v -0.02465909 -0.05434210 -0.04480232
+v -0.02465909 -0.05303619 -0.03824745
+v -0.02534884 -0.05295175 -0.02979256
+v -0.03007564 -0.05379308 -0.02979257
+v -0.02864128 -0.05204276 -0.05179528
+v -0.02742496 -0.05256311 -0.05263577
+v -0.02465909 -0.05391971 -0.05252863
+v -0.02465909 -0.05412583 -0.05017383
+v -0.02465909 -0.05413597 -0.04999764
+v -0.02465909 -0.05138395 -0.03614027
+v -0.02465909 -0.05067608 -0.03555217
+v -0.02532142 -0.05246520 -0.02979256
+v -0.03212570 -0.05263076 -0.02979256
+v -0.02963271 -0.05134673 -0.05263577
+v -0.02842599 -0.05192450 -0.05352864
+v -0.02465909 -0.05385213 -0.05281197
+v -0.02543112 -0.05056460 -0.02979256
+v -0.02465909 -0.04859133 -0.03939984
+v -0.03313770 -0.05190769 -0.02979256
+v -0.03327620 -0.04907783 -0.05259528
+v -0.03197623 -0.04992761 -0.05259528
+v -0.03170608 -0.04975359 -0.05411673
+v -0.03103827 -0.05016074 -0.05411673
+v -0.02893199 -0.05143287 -0.05411674
+v -0.02824635 -0.05182820 -0.05411674
+v -0.02778835 -0.05206979 -0.05411674
+v -0.02465909 -0.05353620 -0.05411675
+v -0.02551751 -0.05036694 -0.02979256
+v -0.02465909 -0.04781081 -0.04216417
+v -0.02591929 -0.04937187 -0.03049732
+v -0.02561487 -0.05017266 -0.02979255
+v -0.03342430 -0.05167793 -0.02979256
+v -0.03643288 -0.04686976 -0.05197859
+v -0.03525358 -0.04763338 -0.05274527
+v -0.03627929 -0.04675149 -0.05370957
+v -0.03206947 -0.04951538 -0.05411673
+v -0.02465909 -0.04549794 -0.05411672
+v -0.02465909 -0.04780235 -0.04220464
+v -0.03866669 -0.03742086 -0.04220460
+v -0.02601528 -0.04946310 -0.02979255
+v -0.03364233 -0.05139073 -0.02979256
+v -0.03866669 -0.04556556 -0.04220463
+v -0.03866669 -0.04545744 -0.04480229
+v -0.03866669 -0.04520231 -0.04999761
+v -0.03866669 -0.04506377 -0.05152144
+v -0.03866669 -0.04495227 -0.05264289
+v -0.03742431 -0.04595916 -0.05274527
+v -0.03866669 -0.04471236 -0.05385242
+v -0.03866669 -0.04463127 -0.05411671
+v -0.03668382 -0.04625818 -0.05411672
+v -0.03617508 -0.04667040 -0.05411672
+v -0.03581992 -0.04693395 -0.05411672
+v -0.03559640 -0.03754584 -0.05411669
+v -0.03866669 -0.03711677 -0.04382844
+v -0.03866669 -0.03721813 -0.04326652
+v -0.03866669 -0.03729247 -0.04287366
+v -0.03866669 -0.04046863 -0.02979252
+v -0.03866669 -0.04471583 -0.02979253
+v -0.03866669 -0.03711673 -0.05411669
+v -0.03628752 -0.03711673 -0.05411669
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 20
+f 1 20 31
+f 1 31 41
+f 1 41 42
+f 1 42 33
+f 1 33 22
+f 1 22 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 16
+f 3 16 21
+f 3 21 32
+f 3 32 35
+f 3 35 44
+f 3 44 61
+f 3 61 62
+f 3 62 45
+f 3 45 36
+f 3 36 23
+f 3 23 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 9
+f 9 18 19
+f 9 19 10
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 15 21 16
+f 15 22 21
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 22 32
+f 22 33 34
+f 22 34 35
+f 22 35 32
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 26
+f 24 26 25
+f 26 40 56
+f 26 56 55
+f 26 55 54
+f 26 54 53
+f 26 53 63
+f 26 63 64
+f 26 64 57
+f 26 57 41
+f 26 41 31
+f 26 31 30
+f 26 30 29
+f 26 29 28
+f 26 28 27
+f 33 42 43
+f 33 43 34
+f 34 44 35
+f 34 43 44
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 37 51 39
+f 37 39 38
+f 39 51 50
+f 39 50 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 43
+f 41 43 42
+f 43 60 59
+f 43 59 58
+f 43 58 63
+f 43 63 53
+f 43 53 52
+f 43 52 50
+f 43 50 49
+f 43 49 48
+f 43 48 47
+f 43 47 46
+f 43 46 62
+f 43 62 61
+f 43 61 44
+f 45 62 46
+f 57 64 58
+f 58 64 63
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_67.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf2eb0fc72669ff678cce802e35b319e63c4a2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_67.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00944185 0.05045525 -0.05462016
+v -0.00944185 0.05813726 -0.05462014
+v -0.00003695 0.05137433 -0.05462016
+v -0.00003695 0.05524401 -0.03316367
+v -0.00944185 0.05300647 -0.04220838
+v -0.00944185 0.05860881 -0.05259526
+v -0.00903770 0.05821045 -0.05462014
+v -0.00003695 0.05889636 -0.05462013
+v -0.00003695 0.06112445 -0.03316365
+v -0.00124478 0.05523355 -0.03316367
+v -0.00944185 0.05412733 -0.03861023
+v -0.00903770 0.05868096 -0.05259526
+v -0.00944185 0.05864018 -0.05219197
+v -0.00643975 0.05902705 -0.05259526
+v -0.00643975 0.05855341 -0.05462013
+v -0.00124478 0.05890055 -0.05462013
+v -0.00003695 0.05936269 -0.05259526
+v -0.00124478 0.06113700 -0.03316365
+v -0.00395596 0.05620596 -0.03316366
+v -0.00944185 0.05493871 -0.03761880
+v -0.00903770 0.05888170 -0.04999906
+v -0.00643975 0.05923198 -0.04999906
+v -0.00944185 0.05880956 -0.04999906
+v -0.00384273 0.05925917 -0.05259526
+v -0.00441719 0.05873534 -0.05462013
+v -0.00181924 0.05887650 -0.05462013
+v -0.00124478 0.05936478 -0.05259526
+v -0.00944185 0.05900820 -0.04439916
+v -0.00944185 0.05896741 -0.04180295
+v -0.00362178 0.06043645 -0.03316365
+v -0.00519786 0.05710517 -0.03316366
+v -0.00944185 0.05588080 -0.03697394
+v -0.00384273 0.05878657 -0.05462013
+v -0.00944185 0.05820934 -0.03901982
+v -0.00944185 0.05785280 -0.03788345
+v -0.00429475 0.05967211 -0.03316365
+v -0.00519786 0.05747113 -0.03316366
+v -0.00492168 0.05863384 -0.03316365
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 33
+f 1 33 26
+f 1 26 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 32
+f 1 32 35
+f 1 35 34
+f 1 34 29
+f 1 29 28
+f 1 28 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 17
+f 3 17 9
+f 3 9 4
+f 4 9 18
+f 4 18 30
+f 4 30 36
+f 4 36 38
+f 4 38 37
+f 4 37 31
+f 4 31 19
+f 4 19 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 6 13 12
+f 7 12 14
+f 7 14 15
+f 8 16 17
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 12 13 21
+f 12 21 22
+f 12 22 14
+f 13 23 21
+f 14 22 18
+f 14 18 24
+f 14 24 25
+f 14 25 15
+f 16 26 24
+f 16 24 27
+f 16 27 17
+f 17 27 18
+f 18 27 24
+f 18 22 21
+f 18 21 23
+f 18 23 28
+f 18 28 29
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 24 26 33
+f 24 33 25
+f 29 34 30
+f 30 35 36
+f 30 34 35
+f 31 37 32
+f 32 37 38
+f 32 38 35
+f 35 38 36
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_68.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d659cbf196d193ca4c61719a7055b57b081b17d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_68.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05112509 -0.00885371 -0.05411658
+v -0.05113681 -0.00891296 -0.05411658
+v -0.05229140 -0.00001180 -0.05411655
+v -0.05408563 -0.00001184 -0.04220446
+v -0.05610374 -0.00001189 -0.02979237
+v -0.05340653 -0.00891300 -0.04220449
+v -0.05852058 -0.00891296 -0.05411658
+v -0.05922420 -0.00001180 -0.05411655
+v -0.06201310 -0.00001189 -0.02979237
+v -0.05610481 -0.00072200 -0.02979237
+v -0.05610588 -0.00101214 -0.02979237
+v -0.05610694 -0.00129618 -0.02979237
+v -0.05411228 -0.00891301 -0.03974493
+v -0.05864851 -0.00801291 -0.05411658
+v -0.05887452 -0.00891297 -0.05259513
+v -0.05921887 -0.00649338 -0.05259512
+v -0.05922420 -0.00013030 -0.05411655
+v -0.05925085 -0.00001180 -0.05400702
+v -0.06201630 -0.00130141 -0.02979237
+v -0.05971780 -0.00001181 -0.05148080
+v -0.05646728 -0.00298824 -0.02979238
+v -0.05574447 -0.00891302 -0.03809490
+v -0.05661120 -0.00352147 -0.02979238
+v -0.05838305 -0.00482754 -0.02979239
+v -0.05885320 -0.00649337 -0.05411657
+v -0.05910906 -0.00891298 -0.04999747
+v -0.05949925 -0.00365383 -0.05234749
+v -0.05908774 -0.00380368 -0.05411656
+v -0.05922207 -0.00072278 -0.05411655
+v -0.05954723 -0.00129610 -0.05276891
+v -0.05954829 -0.00001181 -0.05277844
+v -0.05941183 -0.00891300 -0.04220449
+v -0.06163996 -0.00214221 -0.02979238
+v -0.05971673 -0.00129610 -0.05146889
+v -0.05969541 -0.00262744 -0.05131414
+v -0.05924019 -0.00891299 -0.04740457
+v -0.05925192 -0.00891299 -0.04716885
+v -0.05935746 -0.00891300 -0.04480215
+v -0.05963251 -0.00001181 -0.05213795
+v -0.05663039 -0.00891302 -0.03806157
+v -0.05936812 -0.00516822 -0.02979239
+v -0.05963038 -0.00520743 -0.02979239
+v -0.05915171 -0.00273983 -0.05411656
+v -0.05921993 -0.00129609 -0.05411655
+v -0.05832335 -0.00891302 -0.03941159
+v -0.05971993 -0.00520743 -0.02979239
+v -0.06040010 -0.00444504 -0.02979239
+v -0.06080948 -0.00395102 -0.02979238
+f 1 2 7
+f 1 7 14
+f 1 14 25
+f 1 25 28
+f 1 28 43
+f 1 43 44
+f 1 44 29
+f 1 29 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 22
+f 2 22 40
+f 2 40 45
+f 2 45 32
+f 2 32 38
+f 2 38 37
+f 2 37 36
+f 2 36 26
+f 2 26 15
+f 2 15 7
+f 3 8 18
+f 3 18 31
+f 3 31 39
+f 3 39 20
+f 3 20 9
+f 3 9 5
+f 3 5 4
+f 5 9 19
+f 5 19 33
+f 5 33 48
+f 5 48 47
+f 5 47 46
+f 5 46 42
+f 5 42 41
+f 5 41 24
+f 5 24 23
+f 5 23 21
+f 5 21 12
+f 5 12 11
+f 5 11 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 15 16
+f 7 16 14
+f 8 17 18
+f 9 20 19
+f 12 21 13
+f 13 21 23
+f 13 23 24
+f 13 24 22
+f 14 16 25
+f 15 26 16
+f 16 27 28
+f 16 28 25
+f 16 26 19
+f 16 19 27
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 19 32 33
+f 19 20 34
+f 19 34 35
+f 19 35 27
+f 19 26 36
+f 19 36 37
+f 19 37 38
+f 19 38 32
+f 20 39 34
+f 22 24 41
+f 22 41 42
+f 22 42 40
+f 27 35 30
+f 27 30 28
+f 28 30 43
+f 29 44 30
+f 30 44 43
+f 30 35 34
+f 30 34 39
+f 30 39 31
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 40 42 46
+f 40 46 45
+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_69.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7f805c611d03922d54228688a2a0b36f0c070c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_69.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00946623 -0.05599054 -0.03684866
+v -0.00946623 -0.05735646 -0.03733632
+v -0.00946623 -0.05586726 -0.03686950
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_7.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4c7dc09d2176b33115ba22f32f391924fab61b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_70.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098e0d5c59881d76d25bc75b364fc915b65abfa0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_70.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_71.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33aeea6cefc6cea2bd2728a8cf9a60b0ccb05785
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_71.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.05067569 0.00975201 -0.05461852
+v -0.05174475 -0.00001180 -0.05461856
+v -0.05827811 0.00975201 -0.05461852
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_72.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283be8562b42e197322d72f6beef36ad64d3d9ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_72.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.03582782 0.04504616 -0.01623285
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_73.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a9841793e50e0ad82e196f985f88f6f61d9814
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_73.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_74.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b7337a846f3dffc31d5a3024150a89102713db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_74.obj
@@ -0,0 +1,196 @@
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_75.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d419479b6f938a3db862a88d9661e8b8a1c4a8d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_75.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_76.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6cf0849f7308f7c9435b7936abfd334ec3c3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_76.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01292571 -0.05980505 -0.03293212
+v 0.01319115 -0.05980505 -0.03293212
+v 0.01164572 -0.05927812 -0.03293212
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_77.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d93ccc8eb8726c605884afb549934a9f8c575e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_77.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.05915422 0.00975311 -0.02272741
+v -0.05825351 0.00975311 -0.02262698
+v -0.06056805 0.00975311 -0.02242613
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_78.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce2be9fae25d8bf7a983565049735d24300f14f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_78.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01025500 0.05978676 -0.00884147
+v 0.01025500 0.06033135 -0.00884147
+v 0.01036907 0.05937304 -0.00884147
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+v 0.01319975 0.05736142 -0.00884148
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+v 0.01362900 0.05721893 -0.00884148
+v 0.01470965 0.05692025 -0.00884148
+v -0.00607771 0.06576245 0.00959656
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+v -0.00124183 0.06721998 0.00959657
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+v -0.00369129 0.06673765 0.00959657
+v 0.00135471 0.06489602 -0.00658002
+v 0.01434043 0.06572657 0.00959656
+v 0.01564920 0.06498041 0.00583351
+v 0.01466762 0.06295828 -0.00884146
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+v 0.00275654 0.06502794 -0.00489432
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_79.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346130c0519b47b753ff4f1cedda01e60d2c5b75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_79.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05218789 -0.03711697 0.00959618
+v -0.05369602 -0.03711696 0.00821342
+v -0.05553079 -0.03711697 0.00959618
+v -0.04598468 -0.04093336 0.00959617
+v -0.04571984 -0.04075471 0.00645522
+v -0.05437431 -0.03711696 0.00821342
+v -0.04734862 -0.04019536 0.00645522
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+v -0.04468548 -0.04217203 0.00959617
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+v -0.04947031 -0.04058260 0.00645522
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_8.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9140681edbd6becd6d31ae59acf62cb480a3ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_8.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
+v 0.03768844 0.04904760 0.01494358
+v 0.03769109 0.05032341 0.02533190
+v 0.03768844 0.05032613 0.02532743
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_80.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32636f765b595b63de0c05fca3b33166c2608754
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_80.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_81.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7663c1314b0ac1ed9e318e23e8d98ffd028bc009
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_81.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_82.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840e974fc2a64b07f9d92882e710781307dfccec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_82.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_83.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b06af051c6cd9eb61179caa6cc16b0f58dc4d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_83.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_84.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4279877a2d49fc5ea2631bc86d7d9c7b12bb60e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_84.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+v 0.02290878 0.05408157 -0.01170029
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_85.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f0f3a542b1685a74b170022ebdcc71ad3e6a1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_85.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03828498 0.05351623 0.00959652
+v 0.03826427 0.05367348 0.00959652
+v 0.03762219 0.05103850 0.00959651
+v 0.03642895 0.05197275 -0.00462308
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_86.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2792fce98134c985e7bf9e429eba98d2aef8e35a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_86.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.05425267 0.02573760 -0.00745712
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_87.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813bfb75a64de4746cf33c000f9187a2b446d446
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_87.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_88.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5946aa211c13dd847cdc7d9327acc33ce1ec69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_88.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_89.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f076509828fec3b4ae892752c18dc42203322e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_89.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_9.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be53cf8918f0aa21c074ebf12da05e2e3b96621
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_9.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_90.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37bfb0fd0bc237c461c8c59157122e6154c7bdad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_90.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.05909788 -0.02056478 0.00959517
+v -0.05915115 -0.02168774 0.00959517
+v -0.05913246 -0.02056477 0.00834563
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+v -0.06008060 -0.02081533 -0.00017657
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_91.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7dd8ad248d3ddec58359c18b42fae785bc0915b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_91.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_92.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a206bcd6cbc8d178ce8dfc5c6f9d5a2f47866c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_92.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00985432 0.06044224 -0.00946843
+v 0.00388916 0.06342535 -0.00843603
+v 0.00468212 0.06107809 -0.00843604
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+v 0.00985432 0.06267065 -0.01165628
+v 0.00388819 0.06342785 -0.00843786
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+v 0.00344862 0.05930767 -0.00843604
+v 0.00135340 0.05881145 -0.00843604
+v 0.00985432 0.05873749 -0.01022343
+v 0.00985432 0.06299981 -0.01363289
+v -0.00003695 0.06459732 -0.00843602
+v 0.00985432 0.06290755 -0.01623408
+v 0.00914559 0.06301561 -0.01623040
+v 0.00654787 0.06330735 -0.01623040
+v 0.00395112 0.06352845 -0.01623040
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+v -0.00003695 0.05880813 -0.00843604
+v -0.00003695 0.05880730 -0.00843787
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_93.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9508d8648da66144a013f40d30cb46623024b2e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_93.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.03866799 -0.05062092 -0.01363383
+v -0.03866799 -0.05061960 -0.01477631
+v -0.03866799 -0.04995730 -0.01189775
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+v -0.03866799 -0.05057332 -0.01623177
+v -0.03866799 -0.04804307 -0.01107288
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+v -0.04108364 -0.04707539 -0.00844409
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+v -0.04281022 -0.04733582 -0.00844409
+v -0.04576355 -0.04592262 -0.00844409
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+v -0.04245394 -0.04757507 -0.01623175
+v -0.04088136 -0.04887458 -0.01623176
+v -0.03958283 -0.04989118 -0.01623176
+v -0.03866799 -0.05029042 -0.01733107
+v -0.03866799 -0.04549032 -0.01097728
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+v -0.04375377 -0.04645931 -0.01623175
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+v -0.03866799 -0.04998371 -0.01833170
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+v -0.04165133 -0.04172401 -0.00844407
+v -0.04822357 -0.04288471 -0.00844408
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+v -0.05121866 -0.03807663 -0.01623172
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_94.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71d6a5a1dd0ed73ee6aa5f07d2779f898e1d4e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_94.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.02465909 -0.05867597 -0.01623186
+v -0.02465909 -0.05866706 -0.01626704
+v -0.02465909 -0.05865638 -0.01363478
+v -0.02990560 -0.05701308 -0.00865374
+v -0.03241641 -0.05601319 -0.00865374
+v -0.02850827 -0.05716634 -0.01470671
+v -0.02699026 -0.05766004 -0.01623185
+v -0.02874412 -0.05467101 -0.02858404
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+v -0.02465909 -0.05781334 -0.01175990
+v -0.02740987 -0.05610052 -0.00865374
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_95.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2435b0e1c9a77d6b999522708e6887a6ad3c9647
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_95.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02188104 0.06288697 0.00959631
+v -0.02188104 0.05991151 0.00959630
+v -0.02188104 0.06107998 0.00804201
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_96.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0419c98b91a501cbb361e9863433213e24f720
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_96.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.05517638 -0.00001187 -0.03621970
+v -0.05569675 0.00311148 -0.03621969
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+
diff --git a/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_97.obj b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd6a6dfa9a674688014627b46e51ff3dd1c901f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mjcf/mesh/basket_005_collision_97.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00946623 -0.06065036 -0.01024995
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