diff --git a/.gitattributes b/.gitattributes
index 7d5dadbedc6110e0dbcdebaf08d608eee956458f..ad205b8760e1bb1f4203cd7c9a6e2c0b0f48c436 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2715,3 +2715,4 @@ dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_0
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.urdf b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..281f95c3c8a7cfdb57afcba4cc64bdb3a69d732b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.532411</scale>
+         <version>v0.1.5</version>
+         <category>basket</category>
+         <description>woven wicker basket with handles on both sides</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>1.5</max_mass>
+         <generate_time>20251006031947</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.646182894706726</ImageAestheticChecker>
+         <overall>YES</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.usd b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dd0e5db49e4f6d93c9154277aeb832afe4ee9c66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/2079102af55e5737aceb7b11ed8fe67d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84296815908ac89182d88037af1dbdc602ae5e164fecd696ee8cd0aa796e52e4
+size 424318
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.glb b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..717e45eb84a5eedc44e9caeae41808964354b219
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be9a12ab34bdd3db17a982de2e0947ca212bdaece60bde93c412464733589bc
+size 3070036
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad87521b63b1b2596b5abada9a4b7f8c5901ff46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket.obj
@@ -0,0 +1,26706 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3490aae918a1dee50ad43f9bd656d0288f114d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dba483646df672f5103beda8790dce71b0acf6e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b3a46f73fec6f745a958554c2cced5e08bfb1055e45218108c5c8d5c5b1f77
+size 31441002
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/material.mtl b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# 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/2079102af55e5737aceb7b11ed8fe67d/mesh/material_0.png b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..54ec5fb113c6cee7a9ec8ecd98e0170df7f2007f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f78dffec9a75c2e2e959f917af8e9322823357c45116646d5166f5664ec5b8e1
+size 2778063
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/2079102af55e5737aceb7b11ed8fe67d.xml b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/2079102af55e5737aceb7b11ed8fe67d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..52823ad238fcbfd8f6b32039d3a89a2b03955b26
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/2079102af55e5737aceb7b11ed8fe67d.xml
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3430e242a9faf55abae6678e6cb9c00bee1a4e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket.obj
@@ -0,0 +1,26706 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.093866 0.203832 -0.009999
+v 0.094411 0.206674 0.004754
+v 0.094446 0.212363 0.038189
+v -0.162064 -0.084584 -0.087557
+v -0.162447 -0.095830 -0.087060
+v -0.161596 -0.100924 -0.088059
+v -0.062765 0.245055 0.128346
+v -0.062780 0.246605 0.124667
+v -0.062266 0.249151 0.126202
+v 0.186420 0.002631 -0.026578
+v 0.189281 0.010628 -0.011042
+v 0.191701 0.001557 0.004517
+v 0.186182 0.008795 -0.027357
+v 0.192870 0.006891 0.008697
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820ef6ce6e585588f37b07112865da25ff47f47b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,12233 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03168f458d1fc8e46f07130df6762417c3a52195
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336d74aad5e856daece5fa98f3dd42601daca3ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb60ee9910712869b0b8f8c20e569a57193b22c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e09eb5f3d1211addb810d3e7c418a7bd6dd1cfae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15517f38a1bfdfa7e168e0bef006cfe6c16bf13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f19fb59bf72564c28c5733b60265dd5b2be7b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4943e7bc415c02776b70a189122ef8dd7ef8daa9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd9ce217c385ecbbc32c5877373fc591d1f4691
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,463 @@
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57efa50f5d85f9d007187c110830bad7f6a43c0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.06676765 0.19051576 -0.10722918
+v 0.08243683 0.18811452 -0.10722919
+v 0.06676765 0.17058244 -0.10722925
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+v 0.11130960 0.16190106 -0.10722929
+v 0.16401933 0.16190043 0.06603932
+v 0.06676765 0.24051773 0.06603961
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+v 0.10284673 0.20102092 -0.04084569
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+v 0.14756003 0.16581809 -0.00658558
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..256c91a5c3ec5d1f7f9d7b1a16ab2bc0859f699d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.07317869 0.16718951 -0.10676384
+v -0.07317869 0.18795505 -0.10676376
+v 0.00206124 0.18255813 -0.10676378
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+v -0.05136169 0.20096395 -0.10676371
+v -0.07317869 0.19485145 -0.09046998
+v 0.00206861 0.18985804 -0.10676375
+v 0.00206861 0.18371515 -0.10330249
+v 0.00206861 0.22253586 0.02417611
+v -0.07317869 0.22483469 0.02417612
+v -0.05117018 0.20960349 -0.08408575
+v -0.04532924 0.21045604 -0.08686762
+v -0.04902678 0.20215903 -0.10559713
+v -0.07317869 0.20257756 -0.07136871
+v -0.05359348 0.21042556 -0.07827846
+v -0.04902678 0.20166425 -0.10676371
+v 0.00206861 0.20639130 -0.10676369
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+v -0.05409434 0.23714329 0.02417616
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5939bc825380d73df4f57237e3ac9aadf5a16fe4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.13596495 -0.00206605 -0.11504227
+v 0.17330559 -0.00206644 -0.00772306
+v 0.15834368 -0.00206605 -0.11504227
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc03a73cb1400b7146d92cf9339858a61d6d986
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.18152976 0.08615383 0.03050900
+v -0.18131610 0.09150646 0.03050902
+v -0.18029639 0.08615386 0.02240568
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+v -0.18115101 0.09205507 0.03050902
+v -0.17698476 0.09768948 0.01369769
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+v -0.18005361 0.09150649 0.02240570
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ff7d634f54fd832d6ac682ae9cad81ef551744
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ddb12906be604db4be16bf5b2b340e3fcab761
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7698aab6f17048682a57305b19597ddda18f8fba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb22fd3fbb784296fdb6789556935699f9db2d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563f012f51a2030fe5905ffaf407549789fe1087
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9260964849a563f0da80a234cdffff568705cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f16b1c5942a47b8cf739890afeca16168ca763
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8de6ecc7de07529f45882361bbdd7d0be64867
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd95573ce92694e23863be7429dbab7fda9808cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88b5442e1892e06e3f275f36eea5eaa883682df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd723272f2ce61660df209b8477cd6d1e0611874
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42814cd14504baa23bc0fb964bc332bb635b2cbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a8ce5c734ed430b2ac99cde062686ffcc38bf1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38474fcd1fc26dbf549f130a88e493d0273ef6af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.20319856 -0.00206671 0.06564449
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+v 0.18168682 0.00367562 -0.05555031
+v 0.17635568 0.01232345 -0.07340290
+v 0.17808882 -0.00206624 -0.06140532
+f 1 2 6
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+f 31 49 32
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+f 38 60 39
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+f 59 62 65
+f 61 65 62
+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cdfc72b2ac8c156141a1f1139f68523f49e5d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.08477629 0.16189824 -0.10722929
+v 0.11130965 0.16189824 -0.10722929
+v 0.09603341 0.14920550 -0.10722933
+v 0.15530412 0.13325972 0.06564499
+v 0.13958731 0.16189761 0.06564509
+v 0.13167496 0.14959519 -0.09729615
+v 0.12476964 0.15075879 -0.10722933
+v 0.12717931 0.16189812 -0.07289470
+v 0.13236729 0.15849993 -0.07340237
+v 0.13112649 0.15777938 -0.07849587
+v 0.13674606 0.15537090 -0.07340238
+v 0.10053805 0.14485402 -0.10722935
+v 0.17662253 0.13325972 0.06564499
+v 0.10149114 0.14396522 -0.10722935
+v 0.10511463 0.14058946 -0.10722936
+v 0.11544565 0.13326033 -0.09952991
+v 0.16396275 0.16189761 0.06564509
+v 0.13015543 0.14817650 -0.10310039
+v 0.14021671 0.14978859 -0.07961275
+v 0.12912143 0.14695405 -0.10722934
+v 0.12922033 0.16189810 -0.06793658
+v 0.13896691 0.16189801 -0.04299366
+v 0.14018974 0.15819986 -0.05390832
+v 0.16510464 0.13325994 0.00633364
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+v 0.16157107 0.16189206 0.04853703
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+v 0.14393910 0.14429875 -0.07340242
+v 0.14127769 0.14437729 -0.08235412
+v 0.13211554 0.14257454 -0.10722936
+v 0.13156707 0.14342970 -0.10722935
+v 0.14858761 0.15811844 -0.02717167
+v 0.14127769 0.16189798 -0.03647872
+v 0.14125970 0.15915871 -0.04725800
+v 0.14789528 0.16189791 -0.01695082
+v 0.15798354 0.13326007 -0.02994696
+v 0.15670677 0.16189778 0.01846676
+v 0.16024035 0.16189770 0.03983915
+v 0.16156207 0.16189767 0.04853703
+v 0.13462412 0.13326035 -0.10722939
+v 0.15793858 0.13326007 -0.03015002
+v 0.15697650 0.13326009 -0.03424513
+v 0.14678036 0.13463971 -0.07255637
+v 0.14384020 0.13550049 -0.08211724
+v 0.13430043 0.13550058 -0.10722938
+v 0.14947776 0.16189789 -0.01089277
+v 0.14926197 0.15912219 -0.02113055
+v 0.14588123 0.16189793 -0.02294118
+v 0.14421784 0.13326026 -0.08211725
+v 0.15632913 0.13326009 -0.03674957
+v 0.14694221 0.13326023 -0.07303018
+f 1 2 7
+f 1 7 20
+f 1 20 34
+f 1 34 33
+f 1 33 48
+f 1 48 43
+f 1 43 30
+f 1 30 15
+f 1 15 14
+f 1 14 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
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+f 1 17 28
+f 1 28 42
+f 1 42 41
+f 1 41 26
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+f 40 50 49
+f 43 48 52
+f 45 53 46
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+f 46 54 47
+f 47 52 48
+f 47 54 52
+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c934373a33af18873fade0357ac698ee120871c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00355689 0.25480419 0.06747343
+v 0.00206861 0.24607456 0.02927926
+v 0.00206861 0.25477447 0.06747343
+v 0.01253724 0.25339945 0.06747342
+v 0.05308180 0.23727268 0.02529508
+v 0.00206861 0.24512819 0.02529511
+v 0.00206861 0.23002390 0.06747333
+v 0.04639404 0.24802664 0.06747340
+v 0.04736934 0.24782718 0.06747340
+v 0.05698933 0.24585375 0.06747339
+v 0.06489939 0.24216152 0.06747338
+v 0.06676765 0.24128729 0.06747338
+v 0.05695766 0.23535868 0.02529507
+v 0.00206861 0.22270753 0.02529503
+v 0.00206861 0.22642087 0.04864255
+v 0.06676765 0.21645186 0.05686266
+v 0.06676765 0.21853133 0.06747329
+v 0.06676765 0.22987128 0.02529505
+v 0.00206861 0.22460452 0.03836634
+v 0.06676765 0.21145264 0.02529499
+v 0.00206861 0.22612804 0.04707366
+v 0.00206861 0.22482943 0.03984027
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 12
+f 1 12 11
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+f 1 9 8
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+f 1 4 5
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+f 12 20 18
+f 12 18 13
+f 14 20 19
+f 15 21 16
+f 16 21 22
+f 16 22 20
+f 19 20 22
+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb43f021231bfdccddac138b6cd1ab50a4a61237
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.11361309 0.13325755 -0.10722939
+v 0.11689113 0.11783546 -0.10722945
+v 0.11544470 0.13325753 -0.09952991
+v 0.13463339 0.13325755 -0.10722939
+v 0.11724488 0.11708063 -0.10722945
+v 0.15802770 0.12487692 0.06564496
+v 0.15795695 0.12504416 0.06564496
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+v 0.12009841 0.11169736 -0.10722947
+v 0.17702772 0.08708557 0.06564482
+v 0.16137648 0.11811507 0.06564493
+v 0.17661894 0.13325692 0.06564499
+v 0.15173890 0.09254179 -0.10722954
+v 0.15798053 0.09810128 -0.08903844
+v 0.16224905 0.10030696 -0.07340258
+v 0.15919112 0.10074542 -0.08223582
+v 0.14695155 0.13325743 -0.07303018
+v 0.13325771 0.08708620 -0.10722956
+v 0.19392098 0.08708557 0.06564482
+v 0.18877989 0.10910228 0.06564490
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+v 0.18466073 0.10679723 0.03112416
+v 0.18387464 0.10562207 0.02240937
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+v 0.19245884 0.09798770 0.06564486
+v 0.17642241 0.08708590 -0.02581818
+v 0.17552626 0.08708592 -0.03025172
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+f 59 60 64
+f 60 63 64
+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118e88ea35521c4405290b5eed20b1a38163a759
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00355584 -0.25261703 0.05660840
+v 0.03924103 -0.24703873 0.05660842
+v -0.00206420 -0.25232451 0.05660840
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+v 0.00938207 -0.23880033 -0.00204507
+v 0.01232147 -0.23616762 -0.01244056
+v 0.03924103 -0.22751473 0.05660849
+v 0.03924103 -0.23009269 -0.02073787
+v -0.00206420 -0.22843310 0.05660849
+v -0.00206420 -0.23008585 -0.03466212
+v -0.00179735 -0.22999741 -0.03545687
+v 0.00355584 -0.23244643 -0.02984586
+v 0.01232147 -0.23413355 -0.02115116
+v 0.03924103 -0.22825591 -0.02905108
+v 0.00355584 -0.22816779 0.05660849
+v 0.03924103 -0.18312592 -0.10577735
+v -0.00206420 -0.18470417 -0.10577736
+v -0.00206420 -0.22982734 -0.03571120
+v 0.00355584 -0.22920146 -0.04141760
+v 0.00355584 -0.23048720 -0.03706231
+v -0.00206420 -0.22209247 -0.06146151
+v 0.00063665 -0.22064345 -0.06840773
+v 0.00994408 -0.23041237 -0.03676029
+v 0.03924103 -0.22388166 -0.04664712
+v 0.03924103 -0.22593612 -0.03855644
+v 0.03924103 -0.22607899 -0.03798421
+v 0.03924103 -0.22822189 -0.02919414
+v 0.03924103 -0.20479281 -0.10577743
+v -0.00206420 -0.20550710 -0.10577743
+v 0.00355584 -0.22744632 -0.04726706
+v 0.00647906 -0.22103120 -0.06971114
+v 0.00872303 -0.22103120 -0.06971114
+v -0.00206420 -0.21929649 -0.07071254
+v 0.00355584 -0.21968424 -0.07292198
+v -0.00206420 -0.21571818 -0.08210942
+v 0.00355584 -0.21690187 -0.08210943
+v 0.03924103 -0.21662298 -0.07277891
+v 0.03924103 -0.21905841 -0.06433853
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+v 0.03860625 -0.20482682 -0.10577743
+v 0.03924103 -0.21124871 -0.08916691
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+v 0.01232147 -0.21355486 -0.08938945
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+v 0.03924103 -0.21303106 -0.08444601
+v -0.00206420 -0.21430997 -0.08606734
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40efcdc82180c110162daa1c42bcf1a86974f70b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0f31c4dee8f9356da7c63d3ee48702069aae34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7993ad21c295f86c6c7e347556a82e81ff5ed5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6afeb316f3dc710a0b00c967ad058daf2695c9f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1934689a156529f098735392caf7e92653a15a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,556 @@
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b20160d57eba62f5f42fe50a24dfd669b19723
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3538a65facd73efb931f374ef775d9a892c6d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6e0d4033005fcb8109537932cb793f4179b904
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b58221112a6727c2310ed022d357342126e377
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.15806523 -0.09066725 -0.00772338
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e34ad2a9347bc6428838f3c3d57239ce2edf2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c627e0aa89da18e8e1141f018a46fcabaa05b7ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bafd82e471e8fbcbfd6ce0787bdde329d007683
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ad82af85ba9368a3bbf429dab9c7c66190c5cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ea5922205fd52391befb60da6c60f2fae3b288
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b116088d67821cbe5b5d80a4b2c1ebf9961242e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0887ec97a8245df1c08b285a0d17aca72e7a4642
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811027139c76df68e6b57813e6f774bebbb33690
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5039d5dc343b787d8aebeaf84a99fce5ac19b3bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c937ce235a6b055eeab5a02619c29e259a0b93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01aad81329c44ce61906c7dda15ca9de1e218521
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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