diff --git a/.gitattributes b/.gitattributes
index 23abb2106ca612a693baaa01d4a173fc659b32e6..a90551f0af1ef46b55db19c3de3a3972c288e4f7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2807,5 +2807,9 @@ dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_b
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dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/a6cd240e38a25dc38ed6ff4ecb703d79.urdf b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/a6cd240e38a25dc38ed6ff4ecb703d79.urdf
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/a6cd240e38a25dc38ed6ff4ecb703d79.usd b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/a6cd240e38a25dc38ed6ff4ecb703d79.usd
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket.glb b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket.glb
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b0f58d7032d753627abd1d6d92a3c488ba66e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..13926e1e3235fc8dbb4a596751f0f2e7c7873ab6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e3e66362a3481efbacd4ce041d196f496d9329c321e1077e952f3b57976f0b
+size 3054601
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material.mtl b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material_0.png b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3930c586c9280c98a06abca9bfdfc1490b4b8f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e4cdc399fe0ce087bbc0bb49a62965157ed716c83970050800d2490b34eef1
+size 3041934
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/a6cd240e38a25dc38ed6ff4ecb703d79.xml b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/a6cd240e38a25dc38ed6ff4ecb703d79.xml
new file mode 100644
index 0000000000000000000000000000000000000000..726998a51ec3fb6345f0a37fa79b967d8f0638a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/a6cd240e38a25dc38ed6ff4ecb703d79.xml
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388f70e2b643b278ef95067709b422b9de8747d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd6a542f089322ede99f60b2eb2c4b8a274c559
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,14303 @@
+# https://github.com/mikedh/trimesh
+
+o basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cce8257d0eead1173b4501e3af24fda231f0ebb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b13eec436224899ef43aa8796940c5e3f3b0295
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05530449 -0.08992579 -0.15907538
+v -0.05574864 -0.09033882 -0.15907538
+v -0.05530449 -0.08968335 -0.15973789
+v -0.05530449 -0.05542872 -0.15907525
+v -0.05761615 -0.09033882 -0.15907538
+v -0.05596062 -0.08999762 -0.16053546
+v -0.05530449 -0.07952813 -0.17227088
+v -0.05530449 0.00139003 -0.16826448
+v -0.08137390 0.00138999 -0.15907504
+v -0.05933224 -0.09019516 -0.15907538
+v -0.05876189 -0.08999762 -0.16053546
+v -0.05530449 -0.07915999 -0.17239866
+v -0.05923634 -0.07792988 -0.17192048
+v -0.06439975 -0.06674212 -0.17748885
+v -0.06282499 -0.06674212 -0.17748885
+v -0.05530449 0.00139006 -0.17772038
+v -0.09879221 0.00138999 -0.15907504
+v -0.08301933 -0.06713725 -0.15907530
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+v -0.06649945 -0.07257844 -0.17283300
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+v -0.07657390 -0.05358797 -0.17726248
+v -0.08272658 -0.03845846 -0.17762928
+v -0.07963258 -0.03845846 -0.17762928
+v -0.05530449 -0.00887286 -0.17764011
+v -0.08832407 -0.01609193 -0.17742295
+v -0.08853606 0.00139005 -0.17526560
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+v -0.10571715 -0.01249142 -0.16210843
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+v -0.08727927 -0.03097002 -0.17709082
+v -0.10504587 -0.01149476 -0.16532975
+v -0.09387613 0.00139005 -0.17321601
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+f 1 7 12
+f 1 12 22
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+f 1 8 4
+f 1 4 9
+f 1 9 17
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd77acede84015516abc3ac96b7b5a43653ce74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.08571335 -0.00044849 -0.15445606
+v 0.05599126 -0.05812579 -0.15445627
+v 0.10296478 -0.00044859 -0.12787085
+v 0.10044980 -0.00044849 -0.15445606
+v 0.08589878 -0.05812579 -0.15445627
+v 0.08127445 -0.05812589 -0.12787106
+v 0.11349413 -0.00044859 -0.12787085
+v 0.10470905 -0.00044851 -0.15050055
+v 0.10251858 -0.00228938 -0.15445607
+v 0.08713310 -0.05812581 -0.15053457
+v 0.09065641 -0.05214574 -0.15445625
+v 0.09500259 -0.05250154 -0.14426820
+v 0.09375089 -0.05812589 -0.12787106
+v 0.11516306 -0.00893022 -0.12787088
+v 0.11242787 -0.00044857 -0.13226875
+v 0.11031853 -0.00044855 -0.13866262
+v 0.10808168 -0.00550814 -0.14834325
+v 0.10390356 -0.00383097 -0.15445607
+v 0.09254553 -0.05812587 -0.13261247
+v 0.09223841 -0.05010721 -0.15445624
+v 0.09630064 -0.04839622 -0.14840065
+v 0.10798898 -0.03600701 -0.13642738
+v 0.10846415 -0.03676370 -0.13237820
+v 0.10896251 -0.03744136 -0.12787099
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+v 0.11249741 -0.00911653 -0.13794703
+v 0.10827293 -0.00886803 -0.14875962
+v 0.10695748 -0.00886802 -0.15173145
+v 0.10549136 -0.00886801 -0.15445609
+v 0.10200283 -0.03362395 -0.15445618
+v 0.10181160 -0.03549872 -0.15320187
+v 0.10266925 -0.03637400 -0.15021441
+v 0.10243165 -0.03207106 -0.15445618
+v 0.11371435 -0.01194562 -0.13571425
+v 0.11420111 -0.01244256 -0.13237811
+v 0.11481536 -0.01313150 -0.12787090
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+f 1 8 4
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+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d840a5bfc2d0f1fb2d6bbb4b0d2a812aed69fc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.05249872 0.11938153 -0.05796180
+v -0.04178687 0.12577502 -0.05796178
+v -0.05249872 0.10979129 -0.05796184
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+v -0.05249872 0.12212014 -0.04537589
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+v -0.05249872 0.12415679 -0.03552036
+v -0.04000392 0.13023062 -0.04052290
+v -0.01650128 0.12084148 -0.05796180
+v -0.01650128 0.12174747 0.02815718
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+v -0.01925677 0.13226405 -0.04912543
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+v -0.01650128 0.13335158 -0.04317846
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+v -0.04287216 0.13856171 0.02221959
+v -0.03696655 0.14017986 0.02221959
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+v -0.01650128 0.12312172 0.03289793
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+v -0.01925677 0.14282950 0.02755881
+v -0.01650128 0.14318874 0.02507156
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+v -0.04287920 0.13734561 0.02836295
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+v -0.02516237 0.14128716 0.02938217
+v -0.05249872 0.11607241 0.03244907
+v -0.01650128 0.12445644 0.03428182
+v -0.01925677 0.14175513 0.03053229
+v -0.01650128 0.14281632 0.02806373
+v -0.01650128 0.14188035 0.03082216
+v -0.05249872 0.13258012 0.03039201
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+v -0.03696655 0.13698307 0.03210318
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+v -0.01650128 0.12755101 0.03675974
+v -0.05249872 0.11782896 0.03344024
+v -0.03106447 0.13770151 0.03277641
+v -0.02516237 0.13832768 0.03331875
+v -0.01650128 0.14084552 0.03192552
+v -0.04877776 0.13199351 0.03262679
+v -0.04287920 0.13349961 0.03306627
+v -0.05249872 0.12898790 0.03335611
+v -0.03696655 0.13314037 0.03477744
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+v -0.05249872 0.12130911 0.03480546
+v -0.03155777 0.13280092 0.03600235
+v -0.02516237 0.13409280 0.03629223
+v -0.01925677 0.13462011 0.03664755
+v -0.01925677 0.13879565 0.03367407
+v -0.01650128 0.13916477 0.03350577
+v -0.05249872 0.12722474 0.03423508
+v -0.04877776 0.12722474 0.03498313
+v -0.01650128 0.13186826 0.03756389
+v -0.02516237 0.12931745 0.03735818
+v -0.02991575 0.12965689 0.03723662
+v -0.05249872 0.12350070 0.03491765
+v -0.02991575 0.13060274 0.03723662
+v -0.01650128 0.13482773 0.03671300
+v -0.02516237 0.13113664 0.03735818
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+f 76 78 77
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e696ac7a230747b826af945f6f8353e4ea3c67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02835292 -0.00044276 -0.17900358
+v 0.02835292 -0.00044280 -0.16986554
+v 0.03139622 -0.00044276 -0.17895072
+v 0.03389581 -0.00886754 -0.17881620
+v 0.02835292 -0.00886754 -0.17889549
+v 0.02835292 -0.03814215 -0.16753010
+v 0.07166902 -0.03814220 -0.15445858
+v 0.08571505 -0.00044285 -0.15445844
+v 0.03389581 -0.00044276 -0.17889785
+v 0.03389581 -0.01478299 -0.17867683
+v 0.02835292 -0.01478299 -0.17878978
+v 0.05751729 -0.00294842 -0.17836442
+v 0.07935658 -0.02661385 -0.17745866
+v 0.02835292 -0.03814212 -0.17657684
+v 0.08766337 -0.03814220 -0.15445858
+v 0.10044827 -0.00044285 -0.15445844
+v 0.03730159 -0.00044276 -0.17879453
+v 0.02835292 -0.02069842 -0.17845580
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+v 0.02835292 -0.03282450 -0.17746108
+v 0.02835292 -0.02693490 -0.17794883
+v 0.02835292 -0.02661385 -0.17797525
+v 0.03209096 -0.03587263 -0.17707662
+v 0.06926006 -0.03814213 -0.17449837
+v 0.07360225 -0.03814214 -0.17208110
+v 0.10200390 -0.03362167 -0.15445856
+v 0.10251741 -0.00229165 -0.15445845
+v 0.09927021 -0.00044285 -0.15642879
+v 0.06244849 -0.00044277 -0.17757628
+v 0.08448413 -0.00561647 -0.17724231
+v 0.10236639 -0.00539880 -0.16001146
+v 0.09103893 -0.02661387 -0.17189124
+v 0.09399163 -0.02661388 -0.16865220
+v 0.09620425 -0.02982439 -0.16550927
+v 0.10180756 -0.02958455 -0.15915133
+v 0.10217003 -0.03194631 -0.15557590
+v 0.10243435 -0.03206809 -0.15445856
+v 0.10390692 -0.00383049 -0.15445845
+v 0.10346891 -0.00424010 -0.15616210
+v 0.08736130 -0.00044280 -0.16840220
+v 0.08145593 -0.00044278 -0.17425794
+v 0.10549274 -0.00886763 -0.15445847
+v 0.10457145 -0.00886763 -0.15616211
+v 0.10235883 -0.00886761 -0.15999946
+f 1 2 8
+f 1 8 16
+f 1 16 33
+f 1 33 45
+f 1 45 46
+f 1 46 34
+f 1 34 19
+f 1 19 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 13
+f 4 13 10
+f 6 14 29
+f 6 29 30
+f 6 30 15
+f 6 15 7
+f 7 15 31
+f 7 31 42
+f 7 42 47
+f 7 47 43
+f 7 43 32
+f 7 32 16
+f 7 16 8
+f 9 17 12
+f 10 13 11
+f 11 13 18
+f 12 17 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 18
+f 14 24 28
+f 14 28 23
+f 14 23 29
+f 15 30 31
+f 16 32 33
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 31
+f 22 31 30
+f 22 30 29
+f 22 29 23
+f 23 28 24
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 32 43 44
+f 32 44 36
+f 32 36 33
+f 33 36 45
+f 34 46 35
+f 35 46 36
+f 36 44 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 36 46 45
+f 37 49 38
+f 38 49 40
+f 38 40 39
+f 40 49 48
+f 40 48 47
+f 40 47 42
+f 40 42 41
+f 43 47 44
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24861200fc94f513d18f4f6000190f8488d1824e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05464227 0.08267603 -0.13822874
+v -0.05464227 0.09539680 -0.13822869
+v -0.01650502 0.09850642 -0.13822868
+v -0.01650502 0.12083804 -0.05796180
+v -0.05464227 0.10870091 -0.05796184
+v -0.03686355 0.11036127 -0.13822863
+v -0.05464227 0.10800268 -0.11843694
+v -0.01650502 0.11278200 -0.13822863
+v -0.01650502 0.13081755 -0.05796176
+v -0.05464227 0.11844124 -0.05796180
+v -0.03681501 0.11039956 -0.13822863
+v -0.05464227 0.10964359 -0.11453202
+v -0.04703721 0.11299721 -0.11804407
+v -0.03481015 0.11276286 -0.13624082
+v -0.01650502 0.12023548 -0.11942688
+v -0.01673275 0.11278200 -0.13822863
+v -0.01847254 0.13081277 -0.05796176
+v -0.01650502 0.13154478 -0.07363642
+v -0.04178798 0.12577039 -0.05796178
+v -0.04700735 0.12473710 -0.07503498
+v -0.05464227 0.12012051 -0.07760422
+v -0.04700735 0.12473710 -0.07654351
+v -0.03935003 0.11812569 -0.11453199
+v -0.03555684 0.11891507 -0.11851547
+v -0.03106550 0.11936956 -0.11876689
+v -0.01925657 0.12016371 -0.11934832
+v -0.01650502 0.12191944 -0.11453197
+v -0.01925657 0.13140604 -0.07380141
+v -0.02516290 0.13097550 -0.07439069
+v -0.02937424 0.13052580 -0.07515281
+v -0.01650502 0.13154479 -0.07744705
+v -0.02937424 0.13052580 -0.07640208
+v -0.02516290 0.13097551 -0.07692849
+v -0.01925657 0.12175679 -0.11453197
+v -0.01925657 0.13140605 -0.07735276
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 15
+f 3 15 27
+f 3 27 31
+f 3 31 18
+f 3 18 9
+f 3 9 4
+f 4 9 17
+f 4 17 19
+f 4 19 10
+f 4 10 5
+f 6 7 11
+f 7 12 13
+f 7 13 14
+f 7 14 11
+f 8 16 15
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 11 14 16
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 15 26 27
+f 15 16 26
+f 17 18 28
+f 17 28 29
+f 17 29 30
+f 17 30 19
+f 18 31 35
+f 18 35 28
+f 19 30 20
+f 20 30 32
+f 20 32 22
+f 20 22 21
+f 22 32 24
+f 22 24 23
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 26
+f 26 34 27
+f 27 34 31
+f 28 35 33
+f 28 33 29
+f 29 33 32
+f 29 32 30
+f 31 34 35
+f 33 35 34
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b238e41d13cc5a4b370827b714727d7583088fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07782397 -0.02387019 -0.15907306
+v -0.09640063 -0.02387026 -0.13784297
+v -0.09318945 -0.02387019 -0.15907306
+v -0.08138040 0.00138958 -0.15907296
+v -0.07829544 0.02664933 -0.15748087
+v -0.10646485 -0.02387026 -0.13784297
+v -0.09552452 0.02664926 -0.13822934
+v -0.10054363 0.00138951 -0.13784287
+v -0.09566558 -0.02387019 -0.15674950
+v -0.10618644 -0.01256561 -0.15907302
+v -0.09878769 0.00138958 -0.15907296
+v -0.09431057 0.02664933 -0.15748087
+v -0.11114614 -0.01205134 -0.14842991
+v -0.10495764 -0.02387025 -0.14143847
+v -0.11560469 -0.00876780 -0.13784291
+v -0.10507643 0.02664926 -0.13822934
+v -0.11054845 0.00138951 -0.13784287
+v -0.10071813 -0.02387022 -0.14940054
+v -0.11021805 -0.01055790 -0.15239120
+v -0.11088999 -0.00661167 -0.15335344
+v -0.10686578 -0.00901994 -0.15907300
+v -0.10353209 -0.02387024 -0.14425044
+v -0.10489452 -0.02387025 -0.14158395
+v -0.10496506 -0.00587977 -0.15907299
+v -0.10673585 0.01264470 -0.15748092
+v -0.09990510 0.02664929 -0.14835912
+v -0.11357774 -0.00886669 -0.14427324
+v -0.11165845 -0.00869854 -0.15032949
+v -0.11574948 -0.00827330 -0.13784291
+v -0.11554157 -0.00862440 -0.13818376
+v -0.10202857 0.02664928 -0.14428767
+v -0.11107931 0.01208587 -0.14885380
+v -0.11209280 0.01315398 -0.13822939
+v -0.11459865 -0.00435180 -0.13784290
+v -0.11088999 -0.00581057 -0.15335344
+v -0.10819109 0.00888639 -0.15748094
+v -0.10800920 0.00988532 -0.15748093
+v -0.11574948 -0.00816449 -0.13784291
+v -0.11348492 0.00888632 -0.13822941
+v -0.11212992 0.01306002 -0.13822939
+v -0.11044822 0.00888637 -0.15247842
+v -0.10879622 0.00888638 -0.15615912
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 22
+f 1 22 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 24
+f 1 24 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 17
+f 2 17 34
+f 2 34 38
+f 2 38 29
+f 2 29 15
+f 2 15 6
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 26
+f 5 26 31
+f 5 31 16
+f 5 16 7
+f 6 13 14
+f 6 15 13
+f 7 16 17
+f 7 17 8
+f 9 18 10
+f 10 14 13
+f 10 13 19
+f 10 19 20
+f 10 20 21
+f 10 18 22
+f 10 22 23
+f 10 23 14
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 13 27 28
+f 13 28 19
+f 13 15 27
+f 15 29 30
+f 15 30 27
+f 16 31 25
+f 16 25 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 19 28 20
+f 20 28 29
+f 20 29 38
+f 20 38 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 25
+f 21 25 24
+f 25 37 32
+f 25 31 26
+f 27 30 29
+f 27 29 28
+f 32 39 40
+f 32 40 33
+f 32 37 41
+f 32 41 38
+f 32 38 39
+f 33 40 34
+f 34 40 39
+f 34 39 38
+f 35 38 41
+f 35 41 42
+f 35 42 36
+f 36 42 37
+f 37 42 41
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691e8a4a98d1fb9624e8a9c2a0e1294f468ea904
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.06893320 -0.04084566 -0.15907313
+v -0.05125203 -0.05936099 -0.15907320
+v -0.06893320 -0.06966681 -0.15907324
+v -0.06893320 -0.07234674 -0.13784108
+v -0.05125203 -0.08489613 -0.13784112
+v -0.05125203 -0.08767222 -0.15907330
+v -0.05932763 -0.09019345 -0.15907331
+v -0.06893320 -0.08486775 -0.15402038
+v -0.06893320 -0.08677146 -0.13784113
+v -0.05125203 -0.09871465 -0.13784117
+v -0.05574847 -0.09033508 -0.15907331
+v -0.05761419 -0.09033508 -0.15907331
+v -0.06413906 -0.09517357 -0.14846035
+v -0.06500271 -0.09591013 -0.14427212
+v -0.06598229 -0.09679966 -0.13832546
+v -0.06606710 -0.09681099 -0.13784117
+v -0.06893320 -0.08547398 -0.15169243
+v -0.06893320 -0.08584792 -0.15021460
+v -0.06761784 -0.09170057 -0.13784115
+v -0.06198258 -0.09517357 -0.14846035
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 4 9 19
+f 4 19 16
+f 4 16 10
+f 4 10 5
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 20
+f 10 20 11
+f 11 20 13
+f 11 13 12
+f 16 19 18
+f 16 18 17
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbea92ad0541071960c874e5dc10f4dec103c964
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.05599678 -0.05813704 -0.15445627
+v 0.02835176 -0.07647038 -0.15445634
+v 0.08126654 -0.05813714 -0.12787106
+v 0.08589539 -0.05813704 -0.15445627
+v 0.02835176 -0.09965338 -0.15445643
+v 0.02835176 -0.09790425 -0.12787121
+v 0.09375098 -0.05813714 -0.12787106
+v 0.08713102 -0.05813706 -0.15053457
+v 0.09031936 -0.06548726 -0.13586539
+v 0.08497346 -0.05980217 -0.15445628
+v 0.02936334 -0.10210343 -0.15445644
+v 0.02835176 -0.10308459 -0.15166416
+v 0.02835176 -0.11540784 -0.12787127
+v 0.09289948 -0.06311012 -0.12787108
+v 0.09254734 -0.05813712 -0.13261247
+v 0.08453170 -0.06547601 -0.14836950
+v 0.09107482 -0.06619370 -0.13237830
+v 0.07856478 -0.08908517 -0.13028612
+v 0.07864162 -0.08393835 -0.13710155
+v 0.07294359 -0.08325432 -0.14825766
+v 0.07264268 -0.07782155 -0.15420652
+v 0.07226495 -0.07796173 -0.15445635
+v 0.02835176 -0.10442456 -0.14975926
+v 0.02987551 -0.10212026 -0.15445644
+v 0.03003557 -0.10708767 -0.14829416
+v 0.02835176 -0.11344552 -0.13432499
+v 0.02936334 -0.11286805 -0.13645628
+v 0.03138006 -0.11286805 -0.13645628
+v 0.03184101 -0.11354644 -0.13237848
+v 0.03203308 -0.11419122 -0.12787127
+v 0.09186230 -0.06659178 -0.12787109
+v 0.07908978 -0.08949446 -0.12787118
+v 0.06063843 -0.09480940 -0.14172069
+v 0.06060641 -0.08890007 -0.15337902
+v 0.07070920 -0.07919515 -0.15445635
+v 0.02835176 -0.10772683 -0.14449221
+v 0.03210990 -0.10212026 -0.15445644
+v 0.03161693 -0.10708767 -0.14829416
+v 0.02835176 -0.11175793 -0.13759348
+v 0.04922957 -0.09515694 -0.15445641
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 22
+f 1 22 35
+f 1 35 40
+f 1 40 37
+f 1 37 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 23
+f 2 23 36
+f 2 36 39
+f 2 39 26
+f 2 26 13
+f 2 13 6
+f 2 6 3
+f 3 6 13
+f 3 13 30
+f 3 30 32
+f 3 32 31
+f 3 31 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 7 14 15
+f 8 15 9
+f 9 16 10
+f 9 15 14
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 16 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 11 23 12
+f 11 24 25
+f 11 25 23
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 14 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 28
+f 18 28 33
+f 18 33 34
+f 18 34 20
+f 18 20 19
+f 20 34 22
+f 20 22 21
+f 22 34 35
+f 23 25 36
+f 24 37 38
+f 24 38 25
+f 25 38 28
+f 25 28 27
+f 25 27 39
+f 25 39 36
+f 26 39 27
+f 28 38 40
+f 28 40 33
+f 28 32 29
+f 29 32 30
+f 33 40 34
+f 34 40 35
+f 37 40 38
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e448712ea998a6a83a246b5e2e1e668cf8a23100
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.10860534 -0.07299778 -0.06567715
+v -0.10564804 -0.07789107 -0.06506743
+v -0.10564804 -0.07789108 -0.06310372
+v -0.10842081 -0.07299779 -0.06197391
+v -0.09889066 -0.07299759 -0.11681419
+v -0.10016732 -0.08411486 -0.06526472
+v -0.08741057 -0.08910172 -0.11784541
+v -0.10016732 -0.08411487 -0.06260161
+v -0.09735964 -0.08631155 -0.04623741
+v -0.09867123 -0.08475337 -0.04623740
+v -0.09959382 -0.08363274 -0.04623740
+v -0.10486010 -0.07689105 -0.04623737
+v -0.10492992 -0.07679283 -0.04623737
+v -0.10691973 -0.07383275 -0.04623736
+v -0.10747330 -0.07299785 -0.04623736
+v -0.09768380 -0.07299758 -0.11933381
+v -0.08211438 -0.08398064 -0.13784111
+v -0.09429264 -0.07864540 -0.11878686
+v -0.09434251 -0.09005288 -0.06521093
+v -0.08159574 -0.09491922 -0.11774678
+v -0.08836309 -0.09582573 -0.06697740
+v -0.09434251 -0.09005289 -0.06223401
+v -0.09417295 -0.08987437 -0.04623742
+v -0.09705544 -0.07299785 -0.04623736
+v -0.09184901 -0.07299755 -0.12885644
+v -0.08585464 -0.07299751 -0.13784107
+v -0.06607121 -0.09681217 -0.13784116
+v -0.08851769 -0.09598201 -0.06221609
+v -0.07105820 -0.10154481 -0.11878694
+v -0.06369239 -0.10656759 -0.11758543
+v -0.07460396 -0.10004915 -0.11453673
+v -0.07583575 -0.10688477 -0.06447574
+v -0.08234379 -0.10135749 -0.06487922
+v -0.09273171 -0.09131648 -0.04623743
+v -0.05766312 -0.10701430 -0.04623748
+v -0.05766312 -0.08107413 -0.13784110
+v -0.06824054 -0.07299751 -0.13784107
+v -0.06547775 -0.09687020 -0.13784116
+v -0.05766312 -0.10829094 -0.11851798
+v -0.08234379 -0.10135750 -0.06261960
+v -0.08215927 -0.10136649 -0.04623746
+v -0.08510659 -0.09864303 -0.04623745
+v -0.08825338 -0.09568740 -0.04623744
+v -0.09120569 -0.09283447 -0.04623743
+v -0.05766312 -0.10921069 -0.11620457
+v -0.05799226 -0.11853761 -0.06432335
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9409df5161ee3e836437f923f5e13134a16269c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd240a9cb0fbb5d9c793000a8927ba43c0b2c74a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4919c6ec326d0182d73f334d75e8941a0afcd61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01673451 0.11278267 -0.13822865
+v -0.01650128 0.11278267 -0.13822865
+v -0.01650128 0.11259844 -0.13985136
+v -0.03681943 0.11040187 -0.13822865
+v -0.01650128 0.09850262 -0.13822870
+v -0.01650128 0.11259371 -0.13988342
+v -0.01650128 0.11226306 -0.14115181
+v -0.03537890 0.10718028 -0.14846069
+v -0.03719669 0.10807306 -0.14426535
+v -0.06356500 0.09470471 -0.14729600
+v -0.06405889 0.09512513 -0.14427105
+v -0.06497807 0.09587146 -0.13832483
+v -0.06499179 0.09588090 -0.13822871
+v -0.01650128 0.07908316 -0.15748097
+v -0.07418366 0.06452432 -0.13822882
+v -0.01650128 0.10713779 -0.15467455
+v -0.01694030 0.10713779 -0.15467455
+v -0.03592767 0.10157788 -0.15748089
+v -0.05949725 0.09049113 -0.15748093
+v -0.07574765 0.07760460 -0.15748097
+v -0.07582996 0.08305582 -0.14812342
+v -0.07959589 0.08357542 -0.13822875
+v -0.05158127 0.06452439 -0.15748102
+v -0.01650128 0.10365164 -0.15748088
+v -0.08657211 0.06452432 -0.13822882
+v -0.01809271 0.10356188 -0.15748088
+v -0.07574765 0.07643311 -0.15748098
+v -0.07604260 0.07809587 -0.15615979
+v -0.08108441 0.08069862 -0.13822876
+v -0.07365547 0.06452439 -0.15748102
+v -0.08582440 0.06452432 -0.13943124
+v -0.08102954 0.06452435 -0.14663833
+f 1 2 3
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+f 1 4 13
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+f 1 22 29
+f 1 29 25
+f 1 25 15
+f 1 15 5
+f 1 5 2
+f 2 5 14
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+f 20 28 21
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+f 22 28 29
+f 25 29 28
+f 25 27 31
+f 27 32 31
+f 27 30 32
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2259c5d69cbe95952b66dfd16774974b280353
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.11770140 0.04136505 -0.03740162
+v -0.08457307 0.09156242 -0.03740143
+v -0.12643427 0.04136505 -0.03740162
+v -0.08995375 0.04136542 -0.13822889
+v -0.08457307 0.10609825 -0.03740138
+v -0.08457307 0.05137702 -0.13822885
+v -0.12172566 0.05622403 -0.03740156
+v -0.12268868 0.04773964 -0.07006978
+v -0.12425001 0.04136516 -0.06688195
+v -0.10253466 0.04136542 -0.13822889
+v -0.08457307 0.10607924 -0.03761850
+v -0.08745807 0.10443177 -0.03740139
+v -0.08457307 0.06684430 -0.13822879
+v -0.12166418 0.05635710 -0.03740156
+v -0.11764813 0.06110956 -0.06698057
+v -0.11979959 0.05622414 -0.06698058
+v -0.12405333 0.04136516 -0.06864860
+v -0.11742685 0.06081808 -0.07061257
+v -0.11096835 0.04786654 -0.11771995
+v -0.11688591 0.04172012 -0.10096150
+v -0.09963735 0.05993756 -0.13822882
+v -0.11065691 0.04136536 -0.12359237
+v -0.08457307 0.10175792 -0.07292188
+v -0.08959314 0.10318348 -0.03740139
+v -0.08457307 0.08596764 -0.12033523
+v -0.11884066 0.06237674 -0.03740154
+v -0.10649744 0.08454802 -0.04913633
+v -0.10624336 0.08421855 -0.05508767
+v -0.11688591 0.04136528 -0.10096150
+v -0.10569832 0.08366729 -0.06102915
+v -0.11123884 0.07159639 -0.07053358
+v -0.09918248 0.07136844 -0.11771987
+v -0.10521066 0.05976006 -0.11814430
+v -0.11225103 0.04136535 -0.12020711
+v -0.11076757 0.04136536 -0.12337523
+v -0.09377720 0.07787598 -0.11801593
+v -0.08829815 0.08410472 -0.11840082
+v -0.08654010 0.09981896 -0.07292188
+v -0.10478037 0.08270419 -0.06959593
+v -0.10522705 0.08319207 -0.06563823
+v -0.08457307 0.08852123 -0.11610119
+v -0.08907269 0.08463697 -0.11453195
+v -0.10654662 0.08471275 -0.04319488
+v -0.10660809 0.08480143 -0.03740146
+v -0.09202324 0.08160181 -0.11453196
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+f 38 42 39
+f 39 42 45
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7032b333aeb193f09fbb865c3c920a5d622c8d6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.13652687 0.00138955 -0.03740176
+v -0.13639467 0.00195302 -0.03740176
+v -0.13616216 0.00160087 -0.04319518
+v -0.13622599 0.00138957 -0.04291883
+v -0.12433175 0.00138955 -0.03740176
+v -0.12848493 0.03515508 -0.03740164
+v -0.12915509 0.02558391 -0.06554962
+v -0.13582481 0.00138959 -0.04863330
+v -0.11769851 0.04136505 -0.03740162
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+v -0.13577009 0.00138959 -0.04918599
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+v -0.11076895 0.04136536 -0.12337523
+v -0.11836412 0.00138985 -0.12017765
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+f 22 23 34
+f 23 30 35
+f 23 35 34
+f 25 29 36
+f 25 36 33
+f 26 31 30
+f 26 30 27
+f 30 31 32
+f 30 32 37
+f 30 37 35
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b5acf54af79b0db19024e8622df1df40a458e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01650128 -0.11264010 -0.08918446
+v 0.02834536 -0.10941773 -0.08918445
+v -0.01650128 -0.12278284 -0.08918450
+v -0.01650128 -0.12404511 -0.01348484
+v 0.02834536 -0.11005838 -0.08513865
+v 0.02834536 -0.12221644 -0.08918450
+v -0.00053102 -0.12521060 -0.08918451
+v -0.01650128 -0.13083334 -0.06488001
+v -0.01650128 -0.13267016 -0.01348487
+v 0.02834536 -0.12249169 -0.01348483
+v 0.02798540 -0.12241715 -0.08918450
+v 0.02834536 -0.12550763 -0.06691031
+v 0.02643579 -0.13129259 -0.03724846
+v 0.00284038 -0.12521060 -0.08918451
+v 0.00115028 -0.13031915 -0.07058565
+v 0.00101418 -0.13634055 -0.04753343
+v 0.00049619 -0.13675024 -0.04319122
+v 0.00000892 -0.13715168 -0.03724848
+v -0.00026325 -0.13734692 -0.03129831
+v -0.00055737 -0.13748716 -0.02535557
+v -0.01650128 -0.13252992 -0.01940539
+v -0.00107537 -0.13738547 -0.01348488
+v -0.00093051 -0.13750643 -0.01940541
+v 0.02834536 -0.13179308 -0.01348486
+v 0.02004417 -0.13041266 -0.06438355
+v 0.02834536 -0.12971990 -0.03724846
+v 0.02834536 -0.13070973 -0.02873447
+v 0.02686599 -0.13157856 -0.03129829
+v 0.00315205 -0.13715168 -0.03724848
+v 0.00167706 -0.13031915 -0.07058565
+v 0.00189655 -0.13634055 -0.04753343
+v 0.00253747 -0.13675024 -0.04319122
+v 0.00337154 -0.13734692 -0.03129831
+v 0.00335837 -0.13748716 -0.02535557
+v 0.00320912 -0.13738547 -0.01348488
+v 0.00330569 -0.13750643 -0.01940541
+v 0.02798540 -0.13194705 -0.01348486
+v 0.02733570 -0.13169130 -0.02535554
+v 0.02834536 -0.13147687 -0.01967214
+v 0.02834536 -0.13116066 -0.02405140
+v 0.02795906 -0.13195530 -0.01348486
+f 1 2 6
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+f 24 37 38
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+f 25 29 32
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+f 27 40 28
+f 28 40 39
+f 28 39 38
+f 28 38 33
+f 28 33 29
+f 33 38 41
+f 33 41 34
+f 34 41 36
+f 35 36 41
+f 37 41 38
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41219eac1bbdce24698a836d4f9a7b16f8434c26
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b290bf212e6f54bd63fc11b082871bc677fff62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e972ccd3c25ab29ef5deda4a8453be81de5b7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8403cb86747066581136f6676b6379da170ab2db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb471e65bb952104c949a96d59d2d7c7d883671
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01650128 -0.12404909 -0.01348484
+v 0.02834536 -0.12249207 -0.01348483
+v -0.01650128 -0.13267091 -0.01348487
+v -0.01650128 -0.11755177 0.02592264
+v 0.02834536 -0.13179266 -0.01348486
+v 0.02834536 -0.11835228 0.02291288
+v -0.00107537 -0.13738596 -0.01348488
+v -0.01650128 -0.14101824 0.02221732
+v -0.01650128 -0.11738079 0.02816097
+v 0.02798540 -0.13194809 -0.01348486
+v 0.02834536 -0.14129545 0.02228745
+v 0.02834536 -0.11838339 0.02738369
+v 0.00320912 -0.13738596 -0.01348488
+v 0.00436804 -0.14384728 0.02221731
+v -0.00153630 -0.14348717 0.02221731
+v -0.00744064 -0.14228249 0.01870495
+v -0.01048280 -0.14201564 0.01920756
+v -0.01427125 -0.14158560 0.02221732
+v -0.01154076 -0.14219701 0.02578228
+v -0.01650128 -0.14023846 0.02804983
+v -0.01650128 -0.11787823 0.03181943
+v -0.00130804 -0.11922027 0.04621954
+v 0.02795906 -0.13195587 -0.01348486
+v 0.02475448 -0.14194310 0.02037641
+v 0.02834536 -0.14016850 0.02769920
+v 0.02521980 -0.14203380 0.02528553
+v 0.02521980 -0.14203380 0.02433877
+v 0.02750690 -0.14148455 0.02229914
+v 0.02834536 -0.11874869 0.02838303
+v 0.00393783 -0.11940678 0.04621954
+v 0.02082118 -0.14231099 0.01859975
+v 0.01617672 -0.14260375 0.01805041
+v 0.01026799 -0.14372293 0.02221731
+v 0.01026799 -0.14288356 0.02719074
+v 0.00436804 -0.14293021 0.02731346
+v -0.00153630 -0.14276698 0.02707386
+v -0.00744064 -0.14245870 0.02646021
+v -0.00744064 -0.14274364 0.02221732
+v -0.01132127 -0.14216072 0.02221732
+v -0.00744064 -0.14122293 0.02942907
+v -0.01344156 -0.14097162 0.02792127
+v -0.01650128 -0.13754676 0.03268430
+v -0.01650128 -0.12126946 0.03480580
+v -0.00533351 -0.12255707 0.04621953
+v -0.00186554 -0.11947672 0.04621954
+v 0.02250688 -0.14246643 0.02229914
+v 0.02834536 -0.13990168 0.02816089
+v 0.02208106 -0.14085506 0.02900244
+v 0.02750690 -0.14038872 0.02762906
+v 0.02208106 -0.14234988 0.02602774
+v 0.01617672 -0.14333951 0.02221731
+v 0.02834536 -0.11889895 0.02877459
+v 0.00433292 -0.11963217 0.04621954
+v 0.02834536 -0.12176945 0.03255578
+v 0.01617672 -0.14273330 0.02688684
+v 0.01026799 -0.14137837 0.03016543
+v 0.00436804 -0.14146645 0.03028816
+v -0.00153630 -0.14140428 0.03004855
+v -0.00092173 -0.13138356 0.04621950
+v -0.00387609 -0.12944053 0.04621950
+v -0.01650128 -0.13333429 0.03565901
+v -0.01650128 -0.12454409 0.03702660
+v -0.01650128 -0.12758039 0.03723113
+v -0.00533351 -0.12648196 0.04621952
+v -0.01650128 -0.12461664 0.03706751
+v 0.02834536 -0.13726696 0.03221093
+v 0.00482020 -0.13141463 0.04621950
+v 0.01617672 -0.14121516 0.02986153
+v 0.00447778 -0.11972543 0.04621954
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+v -0.01650128 -0.13037833 0.03716683
+v 0.02834536 -0.13705193 0.03233366
+v 0.00505285 -0.13131360 0.04621950
+v 0.00802917 -0.12273842 0.04621953
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+v 0.00810818 -0.12284981 0.04621953
+v 0.02834536 -0.13312187 0.03447264
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+v 0.02834536 -0.12720733 0.03501033
+v 0.00818281 -0.12765036 0.04621951
+v 0.02834536 -0.13276177 0.03454277
+v 0.00816525 -0.12773845 0.04621951
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+f 75 76 79
+f 76 80 79
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+f 78 81 82
+f 79 80 81
+f 80 82 81
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8431cb55920de289d664be53069c534c62fdbb4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01650128 -0.09373327 -0.14246607
+v 0.02834536 -0.08897290 -0.14246606
+v -0.01650128 -0.11233490 -0.14246614
+v -0.01650128 -0.11263660 -0.08918446
+v 0.02834536 -0.10850744 -0.14246613
+v 0.02834536 -0.10941572 -0.08918445
+v -0.00534669 -0.11327846 -0.14246615
+v -0.01650128 -0.11255837 -0.14181421
+v -0.01650128 -0.12278165 -0.08918450
+v 0.01432420 -0.11305142 -0.14246615
+v 0.02834536 -0.11176026 -0.13758964
+v 0.02834536 -0.12221409 -0.08918450
+v 0.01344623 -0.11843262 -0.12969339
+v 0.01305993 -0.11843262 -0.12969339
+v -0.00512720 -0.11887248 -0.12503072
+v -0.01650128 -0.11685057 -0.12654320
+v -0.00053102 -0.12520794 -0.08918451
+v -0.01650128 -0.12236660 -0.09360204
+v 0.02834536 -0.11344519 -0.13431952
+v 0.02798540 -0.12241273 -0.08918450
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+v 0.02834536 -0.12208994 -0.09030585
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+v 0.02798540 -0.11992250 -0.10859664
+v 0.02798540 -0.12079870 -0.10265096
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+v -0.00153630 -0.11898600 -0.12500464
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+v -0.00153630 -0.11986926 -0.12048279
+v -0.01650128 -0.11747842 -0.12426923
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+v 0.02834536 -0.11984448 -0.10859664
+v -0.01650128 -0.12063552 -0.10582718
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+f 26 40 27
+f 27 40 39
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+f 27 29 28
+f 31 37 36
+f 31 36 41
+f 31 41 34
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d9aaa5f153a6d89350ad61a3545b1609082b6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02835327 -0.09790798 -0.12786185
+v 0.06894100 -0.07295397 -0.12786176
+v 0.02835327 -0.11540441 -0.12786191
+v 0.02835327 -0.12065705 -0.03227651
+v 0.09765382 -0.07295432 -0.03227634
+v 0.08165228 -0.07295397 -0.12786176
+v 0.03203014 -0.11418672 -0.12786191
+v 0.03105963 -0.11843461 -0.11822291
+v 0.02835327 -0.11594310 -0.12643010
+v 0.02835327 -0.13027503 -0.03227655
+v 0.10862924 -0.07295432 -0.03227634
+v 0.08035828 -0.08580414 -0.12786181
+v 0.09330626 -0.07295401 -0.11812915
+v 0.07908792 -0.08950206 -0.12786182
+v 0.06086132 -0.10103356 -0.12461452
+v 0.02835327 -0.12067362 -0.10264138
+v 0.02835327 -0.11984311 -0.10859325
+v 0.02959993 -0.11843461 -0.11822291
+v 0.08397993 -0.09463660 -0.10557043
+v 0.08489520 -0.09526511 -0.10160252
+v 0.06775745 -0.11298050 -0.06517082
+v 0.04343163 -0.12454002 -0.06451579
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bb16135e3103a7024de32e893b647696cc1812
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.00184842 -0.08475579 0.10542308
+v 0.00449832 -0.08475579 0.10566062
+v -0.00191696 -0.08475579 0.10542886
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+v 0.00495363 -0.08475579 0.10595028
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+v -0.00542407 -0.08475581 0.11038224
+v -0.00414787 -0.08315024 0.10876588
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+v 0.01002578 -0.02070365 0.15302789
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+v 0.00928814 -0.05028051 0.14113967
+v 0.00912004 -0.06211423 0.13518977
+v 0.00852111 -0.08475584 0.11918826
+v -0.00506503 -0.06211424 0.13905978
+v -0.00477617 -0.05387821 0.14445929
+v -0.00473863 -0.04213370 0.15034546
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2451da344d76df9431c24ee41ee756e6d41c4b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.08657792 0.06452062 -0.13822882
+v -0.07418755 0.06452062 -0.13822882
+v -0.08582291 0.06452062 -0.13943124
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03162b7d2bb9e1dbc191a826916e46e2d642a83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.07446603 -0.10430216 0.03268648
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+v 0.06941155 -0.10430216 0.03173353
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a509e2c24b0c1e2430c7c9ecacf26e3ab2bb4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.08457305 0.08624133 -0.05796192
+v -0.08457305 0.10314008 -0.05796186
+v -0.05249872 0.10979192 -0.05796184
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+v -0.05249872 0.11368947 0.02875739
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ea656f160627c6114cc4ab13de45163a0746903
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be6227e0f76542e522fd4797b5ed6ddade1b68c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43606c6b96232abafa9306518227a451496fdaad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63359b1e03047abd890111226da65f5e903fa744
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74827acf8a29f7618cbd133d6c84f1e020512091
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+f 44 47 45
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057d885846a77122686788482fd39ccb30ebb42a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.12416918 -0.04038543 -0.06140372
+v -0.12358885 -0.04436978 -0.06549402
+v -0.12358885 -0.04436979 -0.06269077
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2a1878a32f8b9b34ad76260303bc653932d18d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.07392834 0.07050025 -0.12775667
+v 0.08648429 0.07050025 -0.12775667
+v 0.09552065 0.03559965 -0.12775680
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+v 0.09737335 0.07050020 -0.11453145
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+v 0.10527436 0.04450245 -0.12775677
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094c4cd9a0a351e4a9a8257546a8f246c89c3f04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10553144 0.00911013 -0.15756949
+v 0.10549366 0.00831877 -0.15756949
+v 0.10192749 0.00580337 -0.16528394
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+v 0.10443590 0.00440901 -0.15756950
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+v 0.09002018 0.02372227 -0.17107075
+v 0.08429318 0.02414624 -0.17713967
+v 0.07341339 0.07361619 -0.15756925
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e70725b5c1624918c0bb4416ec596d72f88f3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.12232674 -0.00044324 -0.04868750
+v 0.12479965 -0.00044341 -0.00160486
+v 0.13398355 -0.00044324 -0.04868750
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+f 2 35 62
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+f 3 7 8
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+f 4 12 6
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+f 10 21 22
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+f 19 45 46
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+f 22 47 50
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+f 29 47 30
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+f 39 64 40
+f 40 64 65
+f 40 65 41
+f 41 66 42
+f 41 65 66
+f 42 66 43
+f 43 66 65
+f 43 65 67
+f 43 67 60
+f 44 68 69
+f 44 69 45
+f 45 70 71
+f 45 71 46
+f 45 69 70
+f 47 59 50
+f 47 49 61
+f 49 51 62
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+f 52 72 53
+f 53 72 63
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5edd0f88ce658a87e07437ed4f4f89ac68445e58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01650128 0.12056592 -0.09708260
+v 0.00018890 0.12494925 -0.09708258
+v -0.01650128 0.11206939 -0.09708263
+v -0.01650128 0.13154923 -0.07744069
+v 0.00247602 0.12494925 -0.09708258
+v -0.01334498 0.13170795 -0.07755275
+v -0.00744064 0.13193076 -0.07760077
+v -0.00153630 0.13198923 -0.07803298
+v 0.02834536 0.10924279 -0.09708264
+v 0.02834536 0.12468160 -0.01531348
+v -0.01650128 0.12782289 -0.01531347
+v -0.01650128 0.13630553 -0.02378171
+v -0.00153630 0.13731087 -0.02535048
+v 0.00131270 0.13613015 -0.04043007
+v 0.02826635 0.12148770 -0.09708259
+v 0.00436804 0.13193076 -0.07802498
+v 0.01617672 0.13162442 -0.07731263
+v 0.02208106 0.13140163 -0.07709651
+v 0.00147952 0.13613015 -0.04043007
+v 0.02834536 0.12146820 -0.09708259
+v 0.02834536 0.13344825 -0.01531345
+v -0.01650128 0.13671487 -0.01531344
+v -0.01650128 0.13663691 -0.01940350
+v -0.00153630 0.13761715 -0.01940349
+v 0.00273063 0.13674556 -0.03129748
+v 0.00192728 0.13634735 -0.03724446
+v 0.02696257 0.13091985 -0.07660827
+v 0.01026799 0.13181100 -0.07748071
+v 0.02208106 0.13190289 -0.07291041
+v 0.02834536 0.13049655 -0.07291041
+v 0.02798540 0.13354295 -0.01531345
+v 0.02834536 0.13335638 -0.01940351
+v 0.02208106 0.13511916 -0.01940350
+v -0.00153630 0.13769234 -0.01531343
+v 0.00339788 0.13697668 -0.02535048
+v 0.02208106 0.13498552 -0.02535048
+v 0.02208106 0.13460959 -0.03129749
+v 0.02208106 0.13501055 -0.01531344
+v 0.00015817 0.13750855 -0.01531343
+f 1 2 5
+f 1 5 15
+f 1 15 20
+f 1 20 9
+f 1 9 3
+f 1 3 11
+f 1 11 22
+f 1 22 23
+f 1 23 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 5 8 16
+f 5 16 17
+f 5 17 18
+f 5 18 15
+f 6 14 7
+f 7 14 8
+f 8 14 19
+f 8 19 16
+f 9 20 30
+f 9 30 32
+f 9 32 21
+f 9 21 10
+f 10 21 31
+f 10 31 38
+f 10 38 39
+f 10 39 34
+f 10 34 22
+f 10 22 11
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 19
+f 13 19 14
+f 15 18 27
+f 15 27 20
+f 16 28 17
+f 16 19 28
+f 17 28 29
+f 17 29 18
+f 18 29 27
+f 19 26 29
+f 19 29 28
+f 20 27 30
+f 21 32 33
+f 21 33 31
+f 22 24 23
+f 22 34 24
+f 24 34 33
+f 24 33 35
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 29
+f 25 29 26
+f 27 29 37
+f 27 37 36
+f 27 36 32
+f 27 32 30
+f 31 33 38
+f 32 36 33
+f 33 34 39
+f 33 39 38
+f 33 36 35
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c186861026a95d6ee1d4e25bf7a1b0045e4dc3d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.09218376 -0.04028331 -0.12787100
+v 0.10297162 -0.00044295 -0.12787085
+v 0.10642591 -0.04028331 -0.12787100
+v 0.11387616 -0.04028360 -0.04904418
+v 0.12232646 -0.00044324 -0.04869525
+v 0.11349283 -0.00044295 -0.12787085
+v 0.10896767 -0.03744037 -0.12787099
+v 0.10981352 -0.04028334 -0.12042236
+v 0.11395950 -0.04028360 -0.04877291
+v 0.11398450 -0.04028360 -0.04869540
+v 0.13398519 -0.00044324 -0.04869525
+v 0.11515954 -0.00892892 -0.12787088
+v 0.11478870 -0.00044296 -0.12642143
+v 0.11481786 -0.01312900 -0.12787090
+v 0.11977220 -0.00679966 -0.11780242
+v 0.11397200 -0.03662147 -0.11282645
+v 0.11281779 -0.03853625 -0.11470217
+v 0.11215528 -0.04028336 -0.11464793
+v 0.11162609 -0.04028335 -0.11599658
+v 0.12319732 -0.04028360 -0.04869540
+v 0.13475189 -0.00295081 -0.04869526
+v 0.13213095 -0.00044318 -0.06643709
+v 0.11518871 -0.00973227 -0.12787089
+v 0.12002221 -0.00044299 -0.11824421
+v 0.11996388 -0.00295056 -0.11800393
+v 0.12122226 -0.00295057 -0.11453928
+v 0.12571408 -0.00079403 -0.10121545
+v 0.13153094 -0.01882294 -0.06453043
+v 0.12588074 -0.04028354 -0.06486381
+v 0.12382651 -0.03844291 -0.04869539
+v 0.12588074 -0.04028355 -0.06339113
+v 0.12760996 -0.02661481 -0.04869535
+v 0.13153094 -0.01882295 -0.06367783
+v 0.13173512 -0.01478275 -0.06504974
+v 0.13208097 -0.00295075 -0.06626659
+v 0.12571408 -0.00044305 -0.10121545
+v 0.12608075 -0.03162993 -0.04869537
+v 0.12623076 -0.03114248 -0.04869536
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 18
+f 1 18 29
+f 1 29 31
+f 1 31 20
+f 1 20 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 36
+f 2 36 24
+f 2 24 13
+f 2 13 6
+f 3 7 8
+f 4 9 5
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+f 5 10 20
+f 5 20 30
+f 5 30 37
+f 5 37 38
+f 5 38 32
+f 5 32 21
+f 5 21 11
+f 6 13 12
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 11 21 22
+f 12 13 24
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+f 14 23 15
+f 15 23 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 20 31 30
+f 21 32 31
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+f 21 33 28
+f 21 28 34
+f 21 34 35
+f 21 35 22
+f 22 35 27
+f 22 27 36
+f 23 24 25
+f 24 36 27
+f 24 27 26
+f 24 26 25
+f 27 35 34
+f 27 34 28
+f 28 33 31
+f 28 31 29
+f 30 31 37
+f 31 32 38
+f 31 38 37
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1791329b8bc602e5b4c2a24b19644b58e9fa96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.09551705 0.03559965 -0.12775680
+v 0.10605771 0.03559965 -0.12775680
+v 0.10302161 -0.00044295 -0.12775693
+v 0.12265915 -0.00044325 -0.04636607
+v 0.11746692 0.03559935 -0.04636594
+v 0.11052996 0.02663134 -0.12775683
+v 0.11392797 0.03559961 -0.11779010
+v 0.11359656 -0.00044295 -0.12775693
+v 0.13443028 -0.00044325 -0.04636607
+v 0.12643810 0.03559935 -0.04636594
+v 0.11588220 0.00894873 -0.12775690
+v 0.11394702 0.02416522 -0.12428322
+v 0.11526127 0.03559960 -0.11461125
+v 0.11980590 0.01378918 -0.11802121
+v 0.11521937 0.00314508 -0.12775692
+v 0.11479271 -0.00044296 -0.12641847
+v 0.13220557 0.00296845 -0.06666598
+v 0.13210272 0.00888852 -0.06631542
+v 0.13193510 0.01480507 -0.06570193
+v 0.13159987 0.02071809 -0.06477774
+v 0.13136369 0.02383336 -0.06412442
+v 0.13136369 0.02383335 -0.06393322
+v 0.13151225 0.01847065 -0.04636600
+v 0.13213319 -0.00044318 -0.06643494
+v 0.13137891 0.01893635 -0.04636600
+v 0.12664381 0.03559942 -0.06523976
+v 0.11590888 0.00790795 -0.12775690
+v 0.12005733 0.00888872 -0.11868248
+v 0.11604601 0.03255136 -0.11453159
+v 0.12664381 0.03559943 -0.06673756
+v 0.12571432 0.00042485 -0.10121089
+v 0.12001923 -0.00044299 -0.11824432
+v 0.12571432 -0.00044305 -0.10121089
+v 0.12009542 0.00296865 -0.11857097
+f 1 2 6
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+f 1 27 15
+f 1 15 8
+f 1 8 3
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+f 1 4 5
+f 1 5 10
+f 1 10 26
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+f 1 30 13
+f 1 13 7
+f 1 7 2
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+f 21 30 26
+f 21 26 22
+f 22 25 23
+f 27 28 34
+f 27 34 32
+f 28 31 34
+f 31 33 34
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f85013da7dae878a56d3299c7967e3653368de2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04493912 0.09580122 -0.15756917
+v 0.04898317 0.09535383 -0.15390385
+v 0.04545884 0.09500121 -0.15756917
+v 0.04140786 0.09572227 -0.15756917
+v 0.02834768 0.10354865 -0.15313636
+v 0.02834768 0.10567498 -0.14997006
+v 0.04872562 0.10065387 -0.14739912
+v 0.04936135 0.09745384 -0.14971328
+v 0.05204809 0.08461162 -0.15756921
+v 0.02834768 0.09763806 -0.15634058
+v 0.02834768 0.09495385 -0.15756917
+v 0.02834768 0.10847499 -0.14521918
+v 0.03101819 0.11250131 -0.13553649
+v 0.04894835 0.10678018 -0.13024577
+v 0.04931031 0.10125386 -0.14426787
+v 0.05204809 0.06033241 -0.15756930
+v 0.05204809 0.09709589 -0.13832345
+v 0.02834768 0.07408520 -0.15756925
+v 0.02834768 0.11133815 -0.13775435
+v 0.03041959 0.11250131 -0.13553649
+v 0.02877692 0.11410130 -0.12775941
+v 0.03152862 0.11301183 -0.13237898
+v 0.03212258 0.11376972 -0.12775941
+v 0.04928479 0.10711176 -0.12775944
+v 0.05001331 0.10233278 -0.13832343
+v 0.05204809 0.09760115 -0.13742464
+v 0.05204809 0.08859577 -0.12775950
+v 0.02834768 0.09928007 -0.12775947
+v 0.02834768 0.11235921 -0.13478360
+v 0.02834768 0.11409077 -0.12775941
+v 0.05204809 0.10133801 -0.12775946
+v 0.05204809 0.10084326 -0.12916897
+v 0.05204809 0.10043800 -0.13025747
+v 0.05204809 0.09959590 -0.13251034
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
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+f 4 11 10
+f 5 10 11
+f 5 11 18
+f 5 18 28
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+f 5 30 29
+f 5 29 19
+f 5 19 12
+f 5 12 6
+f 6 12 7
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+f 7 15 8
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+f 9 26 34
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+f 16 27 28
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+f 19 29 20
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+f 21 27 31
+f 21 31 24
+f 21 24 23
+f 21 23 22
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b29314b16472d9d602b6c6a9e2f60432dfab972
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06355444 0.09377623 -0.12774762
+v 0.07936953 0.08351926 -0.12774765
+v 0.06355444 0.08055825 -0.12774766
+v 0.06355444 0.09508382 -0.12500496
+v 0.06659074 0.09486114 -0.12404592
+v 0.08157731 0.07997553 -0.12774767
+v 0.07186406 0.09431628 -0.11672321
+v 0.08453563 0.08328235 -0.11853377
+v 0.09604727 0.07116348 -0.11763752
+v 0.09643716 0.07050022 -0.11796018
+v 0.07392563 0.07050026 -0.12774770
+v 0.06355444 0.10801248 -0.03620016
+v 0.06355444 0.09982140 -0.11480511
+v 0.06770193 0.09562389 -0.12047868
+v 0.06719019 0.11286870 -0.07630030
+v 0.08648510 0.07050026 -0.12774770
+v 0.06967090 0.09659981 -0.11465277
+v 0.08417011 0.10066929 -0.07595976
+v 0.09009650 0.09479463 -0.07598667
+v 0.09736804 0.07050021 -0.11453634
+v 0.10263649 0.07049992 -0.03620030
+v 0.06355444 0.11889481 -0.03620012
+v 0.06355444 0.09989247 -0.11461690
+v 0.06355444 0.11375463 -0.07699045
+v 0.06355444 0.11477322 -0.07303780
+v 0.07452022 0.11139988 -0.03620015
+v 0.07902350 0.10826357 -0.03620016
+v 0.07973993 0.10774243 -0.03620016
+v 0.08269337 0.10528833 -0.03620017
+v 0.08850281 0.10023329 -0.03620019
+v 0.08902429 0.09977848 -0.03620019
+v 0.09158297 0.09733859 -0.03620020
+v 0.09211420 0.09681746 -0.03620020
+v 0.10758813 0.07068957 -0.07504566
+v 0.09506765 0.09369062 -0.03620022
+v 0.10054080 0.08732798 -0.03620024
+v 0.10263162 0.08488811 -0.03620025
+v 0.10307025 0.08436697 -0.03620025
+v 0.10602370 0.08055317 -0.03620026
+v 0.10819248 0.07759690 -0.03620027
+v 0.11029304 0.07472590 -0.03620029
+v 0.10052131 0.08103182 -0.07292140
+v 0.10593111 0.07353688 -0.07300208
+v 0.10762226 0.07050007 -0.07522491
+v 0.11333910 0.07049992 -0.03620030
+v 0.10771000 0.07050007 -0.07487536
+v 0.10785620 0.07127229 -0.07107507
+v 0.10819248 0.07050005 -0.07160388
+v 0.11088763 0.07390628 -0.03620029
+v 0.11330499 0.07055678 -0.03620030
+f 1 2 6
+f 1 6 16
+f 1 16 11
+f 1 11 3
+f 1 3 12
+f 1 12 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 4 13 5
+f 5 14 7
+f 5 13 15
+f 5 15 14
+f 6 10 16
+f 7 14 17
+f 7 17 15
+f 7 15 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 20
+f 10 20 44
+f 10 44 46
+f 10 46 48
+f 10 48 45
+f 10 45 21
+f 10 21 11
+f 10 11 16
+f 11 21 12
+f 12 21 45
+f 12 45 50
+f 12 50 49
+f 12 49 41
+f 12 41 40
+f 12 40 39
+f 12 39 38
+f 12 38 37
+f 12 37 36
+f 12 36 35
+f 12 35 33
+f 12 33 32
+f 12 32 31
+f 12 31 30
+f 12 30 29
+f 12 29 28
+f 12 28 27
+f 12 27 26
+f 12 26 22
+f 13 23 15
+f 14 15 17
+f 15 23 24
+f 15 24 25
+f 15 25 22
+f 15 22 26
+f 15 26 27
+f 15 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 34 20
+f 19 33 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 34
+f 20 34 44
+f 34 46 44
+f 34 43 47
+f 34 47 48
+f 34 48 46
+f 41 49 42
+f 42 49 47
+f 42 47 43
+f 45 48 47
+f 45 47 50
+f 47 49 50
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f5db4e904aa580a501f7f9419f594673ef0be4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01650128 0.13671740 -0.01531344
+v -0.00153630 0.13769084 -0.01531343
+v -0.01650128 0.12782747 -0.01531347
+v -0.01650128 0.14345804 0.02221770
+v 0.00015817 0.13750880 -0.01531343
+v -0.01334498 0.14359964 0.02221770
+v -0.00744064 0.14385754 0.02221770
+v -0.00153630 0.14406488 0.02221770
+v 0.00436804 0.14398143 0.02221770
+v 0.01026799 0.14355665 0.02221770
+v 0.02834536 0.12468464 -0.01531348
+v 0.02834536 0.11826737 0.02221760
+v -0.01650128 0.12221171 0.02221762
+v -0.01650128 0.14319003 0.02507274
+v -0.00153630 0.14357940 0.02816269
+v 0.02208106 0.13501072 -0.01531344
+v 0.00436804 0.14347825 0.02816269
+v 0.01071575 0.14286636 0.02871682
+v 0.01617672 0.14253010 0.02701223
+v 0.01973249 0.14215337 0.02570518
+v 0.01973249 0.14215337 0.02391023
+v 0.01651035 0.14260092 0.02204301
+v 0.01870527 0.14193593 0.01994691
+v 0.01476759 0.14230510 0.01868805
+v 0.02834536 0.13344815 -0.01531345
+v 0.02834536 0.11823701 0.02512083
+v -0.01650128 0.12174645 0.02816261
+v -0.01650128 0.12193862 0.02498834
+v -0.01650128 0.14281833 0.02806028
+v -0.00744064 0.14329368 0.02816269
+v -0.01501751 0.14195108 0.03098158
+v -0.00744064 0.14218114 0.03137309
+v -0.00153630 0.14234550 0.03160197
+v 0.00436804 0.14231263 0.03155980
+v 0.02798540 0.13354170 -0.01531345
+v 0.02798540 0.14005985 0.02221768
+v 0.00904761 0.14216093 0.03134900
+v 0.01298530 0.14199406 0.03107191
+v 0.01617672 0.14164513 0.02998773
+v 0.02185279 0.14095995 0.02787356
+v 0.02798540 0.13923555 0.02816267
+v 0.02834536 0.13918752 0.02780128
+v 0.02834536 0.13995870 0.02221768
+v 0.02185279 0.14147827 0.02204301
+v 0.02834536 0.11843168 0.02758436
+v -0.00152313 0.12156687 0.04622043
+v -0.01650128 0.12229004 0.03033099
+v -0.01650128 0.14188281 0.03082497
+v -0.00153630 0.13378674 0.04622047
+v 0.02798540 0.13712683 0.03226452
+v 0.02834536 0.13707120 0.03221030
+v 0.02834536 0.13912431 0.02817471
+v 0.02834536 0.11877554 0.02881311
+v 0.00379736 0.12251502 0.04622043
+v -0.00510086 0.12322804 0.04622043
+v -0.01650128 0.12312190 0.03289692
+v -0.01650128 0.14084614 0.03192120
+v -0.00166800 0.13372100 0.04622047
+v 0.00484652 0.13208763 0.04622047
+v 0.02834536 0.13273496 0.03511351
+v 0.02834536 0.12178183 0.03339685
+v 0.00678684 0.12763508 0.04622045
+v 0.02834536 0.12763512 0.03621577
+v -0.00525011 0.12331907 0.04622043
+v -0.01650128 0.12445436 0.03428228
+v -0.01650128 0.13916474 0.03350532
+v -0.00553984 0.13148081 0.04622046
+v 0.02525931 0.13030006 0.03712529
+v -0.00627734 0.12705355 0.04622045
+v -0.01650128 0.12913192 0.03755896
+v -0.01650128 0.12755168 0.03675786
+v -0.01650128 0.12617369 0.03587243
+v -0.01650128 0.13482595 0.03670971
+v -0.00557934 0.13134176 0.04622046
+v -0.01650128 0.13186769 0.03755897
+v -0.00630366 0.12722547 0.04622045
+f 1 2 5
+f 1 5 16
+f 1 16 35
+f 1 35 25
+f 1 25 11
+f 1 11 3
+f 1 3 13
+f 1 13 28
+f 1 28 27
+f 1 27 47
+f 1 47 56
+f 1 56 65
+f 1 65 72
+f 1 72 71
+f 1 71 70
+f 1 70 75
+f 1 75 73
+f 1 73 66
+f 1 66 57
+f 1 57 48
+f 1 48 29
+f 1 29 14
+f 1 14 4
+f 1 4 2
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+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 6
+f 5 10 16
+f 6 15 7
+f 7 15 8
+f 8 15 9
+f 9 15 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 16
+f 11 25 43
+f 11 43 42
+f 11 42 52
+f 11 52 51
+f 11 51 60
+f 11 60 63
+f 11 63 61
+f 11 61 53
+f 11 53 45
+f 11 45 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 17
+f 16 24 23
+f 16 23 36
+f 16 36 35
+f 17 34 37
+f 17 37 38
+f 17 38 18
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 36
+f 20 36 21
+f 21 36 44
+f 21 44 23
+f 21 23 22
+f 23 44 36
+f 25 35 36
+f 25 36 43
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 29 48 31
+f 29 31 30
+f 31 48 49
+f 31 49 32
+f 32 49 33
+f 33 49 34
+f 34 49 37
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 39 51 41
+f 39 41 40
+f 41 52 42
+f 41 51 52
+f 45 53 46
+f 46 54 62
+f 46 62 59
+f 46 59 49
+f 46 49 58
+f 46 58 67
+f 46 67 74
+f 46 74 76
+f 46 76 69
+f 46 69 64
+f 46 64 55
+f 46 55 56
+f 46 56 47
+f 46 53 54
+f 48 57 49
+f 49 59 50
+f 49 57 58
+f 50 59 51
+f 51 59 60
+f 53 61 54
+f 54 61 63
+f 54 63 62
+f 55 64 56
+f 56 64 65
+f 57 66 58
+f 58 66 67
+f 59 62 68
+f 59 68 60
+f 60 68 63
+f 62 63 68
+f 64 69 70
+f 64 70 71
+f 64 71 72
+f 64 72 65
+f 66 73 67
+f 67 73 75
+f 67 75 74
+f 69 76 70
+f 70 76 75
+f 74 75 76
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b9bc2bdde86faea873c3abe57ff0878c51cbf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.10646650 -0.02387605 -0.13784090
+v -0.10496104 -0.02387604 -0.14143675
+v -0.10540539 -0.03458300 -0.15476016
+v -0.10604512 -0.03393421 -0.15021440
+v -0.10779193 -0.03289283 -0.13784093
+v -0.09639174 -0.02387605 -0.13784090
+v -0.10489591 -0.02387604 -0.14158225
+v -0.10540539 -0.03621667 -0.15476016
+v -0.10806391 -0.03751435 -0.13784095
+v -0.10353218 -0.02387603 -0.14424901
+v -0.10072043 -0.02387601 -0.14940167
+v -0.09566389 -0.02387598 -0.15675134
+v -0.10156702 -0.03351828 -0.15907310
+v -0.08084670 -0.05786367 -0.13784102
+v -0.06893320 -0.05786363 -0.15005861
+v -0.06986405 -0.03877862 -0.15907312
+v -0.07782428 -0.02387598 -0.15907307
+v -0.10604512 -0.03697862 -0.15021442
+v -0.10156702 -0.03705180 -0.15907312
+v -0.09531913 -0.05429015 -0.15907318
+v -0.09924944 -0.05358146 -0.15400156
+v -0.09988534 -0.05420035 -0.15021448
+v -0.10058252 -0.05483587 -0.14427197
+v -0.10104988 -0.05556121 -0.13832530
+v -0.10104988 -0.05566769 -0.13784101
+v -0.09318542 -0.02387598 -0.15907307
+v -0.09720767 -0.05786367 -0.13784102
+v -0.06893320 -0.05786360 -0.15907319
+v -0.06893320 -0.04084150 -0.15907313
+v -0.09011320 -0.05553120 -0.15907318
+v -0.10070894 -0.05610356 -0.13784102
+v -0.07981626 -0.05786360 -0.15907319
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 25
+f 1 25 31
+f 1 31 27
+f 1 27 14
+f 1 14 6
+f 1 6 17
+f 1 17 26
+f 1 26 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 19
+f 3 19 8
+f 4 9 5
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 8 18 9
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 18
+f 9 18 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 12 26 13
+f 13 26 17
+f 13 17 16
+f 13 16 29
+f 13 29 28
+f 13 28 32
+f 13 32 30
+f 13 30 20
+f 13 20 19
+f 14 27 32
+f 14 32 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 20 27 22
+f 20 22 21
+f 20 30 27
+f 22 27 31
+f 22 31 23
+f 23 31 24
+f 24 31 25
+f 27 30 32
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e3235e2f615f07486ec0470b72bf17284a9f10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03106384 -0.07322574 -0.15907325
+v -0.01650128 -0.07518358 -0.15907326
+v -0.03107668 -0.07327448 -0.15907325
+v -0.03107668 -0.07322980 -0.15906910
+v -0.03107668 -0.09334851 -0.13784115
+v -0.01650128 -0.09663865 -0.13784116
+v -0.01650128 -0.10403125 -0.15907336
+v -0.03107668 -0.08769832 -0.15907330
+v -0.03107668 -0.10360076 -0.13784119
+v -0.01650128 -0.11321530 -0.13784123
+v -0.01650128 -0.10598503 -0.15855998
+v -0.01664539 -0.10622875 -0.15880525
+v -0.01683372 -0.10611907 -0.15907337
+v -0.02267898 -0.10706144 -0.15907337
+v -0.03107668 -0.09615931 -0.14891140
+v -0.03107668 -0.10384042 -0.13784326
+v -0.03106384 -0.10383636 -0.13784119
+v -0.01928054 -0.11471822 -0.13784123
+v -0.01650128 -0.11255727 -0.14181951
+v -0.01650128 -0.10637092 -0.15812140
+v -0.01761126 -0.10639124 -0.15907337
+v -0.01650128 -0.11226886 -0.14265925
+v -0.01729454 -0.11165145 -0.14557126
+v -0.02123230 -0.11271160 -0.14798236
+v -0.02166031 -0.10710612 -0.15907337
+v -0.02253346 -0.11271160 -0.14798236
+v -0.03107668 -0.10358045 -0.13833795
+v -0.03107668 -0.10129765 -0.14226636
+v -0.03107668 -0.09912047 -0.14524073
+v -0.02302996 -0.11333715 -0.14427219
+v -0.02339806 -0.11428765 -0.13784123
+v -0.02310272 -0.11436888 -0.13784123
+v -0.01926056 -0.11319904 -0.14386272
+v -0.02015798 -0.10710612 -0.15907337
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 34
+f 1 34 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 19
+f 2 19 22
+f 2 22 20
+f 2 20 11
+f 2 11 7
+f 3 8 15
+f 3 15 29
+f 3 29 28
+f 3 28 27
+f 3 27 16
+f 3 16 9
+f 3 9 5
+f 3 5 4
+f 5 9 17
+f 5 17 31
+f 5 31 32
+f 5 32 18
+f 5 18 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 11 20 12
+f 12 21 13
+f 12 20 22
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+f 12 24 21
+f 14 25 26
+f 14 26 16
+f 14 16 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 26 30
+f 16 30 31
+f 16 31 17
+f 18 32 30
+f 18 30 26
+f 18 26 24
+f 18 24 33
+f 18 33 19
+f 19 33 22
+f 21 24 34
+f 22 33 23
+f 23 33 24
+f 24 26 25
+f 24 25 34
+f 30 32 31
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3175eecbe24695970d59dae10b9677b528b1e84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00467971 0.11417605 -0.13231493
+v 0.00291061 0.11318908 -0.13832404
+v 0.00050496 0.11318908 -0.13832404
+v -0.01630375 0.11243252 -0.14130456
+v 0.00451291 0.11417261 -0.13231493
+v 0.02834536 0.11296209 -0.13231494
+v 0.00188777 0.11261135 -0.14183774
+v 0.00117662 0.11261135 -0.14183774
+v -0.01650128 0.10714688 -0.15463605
+v -0.01650128 0.11226402 -0.14115159
+v -0.01650128 0.11259415 -0.13988423
+v -0.01650128 0.11351232 -0.13234988
+v -0.01650128 0.11351576 -0.13231493
+v 0.02834536 0.09718415 -0.13231499
+v 0.02834536 0.11295522 -0.13234989
+v 0.00327058 0.10733947 -0.15463605
+v 0.00204142 0.10736354 -0.15463605
+v 0.02834536 0.11236029 -0.13478413
+v 0.02584755 0.10702653 -0.15427770
+v 0.00059716 0.10736354 -0.15463605
+v -0.01650128 0.08329770 -0.15463613
+v -0.01650128 0.10131777 -0.13231498
+v 0.02834536 0.07904714 -0.15463615
+v 0.02328826 0.10669982 -0.15463605
+v 0.02834536 0.11133892 -0.13775591
+v 0.02701965 0.10776588 -0.15021334
+v 0.02698890 0.10485311 -0.15463605
+v 0.02605387 0.10643503 -0.15463605
+v 0.02834536 0.10071947 -0.15463607
+v 0.02834536 0.10847429 -0.14521814
+v 0.02834536 0.10567499 -0.14997080
+v 0.02834536 0.10354974 -0.15313708
+v 0.02767811 0.10367700 -0.15463606
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 8 9
+f 5 12 13
+f 6 14 23
+f 6 23 29
+f 6 29 32
+f 6 32 31
+f 6 31 30
+f 6 30 25
+f 6 25 18
+f 6 18 15
+f 6 15 7
+f 7 16 17
+f 7 17 20
+f 7 20 8
+f 7 15 18
+f 7 18 19
+f 7 19 16
+f 8 20 9
+f 9 21 22
+f 9 22 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 20 17
+f 9 17 16
+f 9 16 24
+f 9 24 28
+f 9 28 27
+f 9 27 33
+f 9 33 29
+f 9 29 23
+f 9 23 21
+f 14 22 23
+f 16 19 24
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 24
+f 21 23 22
+f 25 30 26
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 33 32
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e384c93a3c0df342411e9d7db773763a14ebce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.00481742 -0.13141543 0.04621950
+v 0.00710511 -0.12993130 0.04857716
+v 0.00482794 -0.13137890 0.04635956
+v 0.00301941 -0.13074872 0.05195415
+v 0.00007982 -0.13074872 0.05195415
+v -0.00092358 -0.13138347 0.04621950
+v 0.00505024 -0.13131040 0.04621950
+v 0.00179971 -0.13029664 0.05534669
+v 0.00811602 -0.12788087 0.04621951
+v 0.00800786 -0.12536016 0.05789892
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab103f5c5c2da3c4c01acecabbe57ecb2018149
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02835162 -0.03814445 -0.17657753
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72598d37260504a9d3ece69e01bcfd1ad61b8130
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.05125203 -0.05936306 -0.15907320
+v -0.03107668 -0.07322663 -0.15906910
+v -0.03107668 -0.07327387 -0.15907325
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4739c4bf78aa761e11599ac37da3211fe936401
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.09130685 0.05075893 -0.15748294
+v -0.08962385 0.05075894 -0.16189267
+v -0.10223117 0.03775300 -0.15748299
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+v -0.05922046 0.02662734 -0.16604274
+v -0.09951529 0.03476964 -0.16584412
+v -0.09009169 0.02662734 -0.16604274
+v -0.09918112 0.03464681 -0.16604271
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 11
+f 3 11 7
+f 4 9 8
+f 5 10 15
+f 5 15 11
+f 5 6 10
+f 6 12 10
+f 6 8 14
+f 6 14 16
+f 6 16 17
+f 6 17 12
+f 7 11 13
+f 8 9 14
+f 9 13 16
+f 9 16 14
+f 10 12 17
+f 10 17 15
+f 11 15 16
+f 11 16 13
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ad931aa93e03ce744867efc2f457245455a9e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.06893596 -0.08677453 -0.13784113
+v -0.07830740 -0.08539351 -0.13784112
+v -0.06893596 -0.08584909 -0.15021460
+v -0.06893596 -0.07235022 -0.13784108
+v -0.08176703 -0.08413135 -0.13784112
+v -0.07652499 -0.08361060 -0.15021459
+v -0.06893596 -0.08547553 -0.15169243
+v -0.06893596 -0.05786363 -0.15005861
+v -0.08084815 -0.05786367 -0.13784102
+v -0.08211576 -0.08397854 -0.13784112
+v -0.08207425 -0.08389080 -0.13832541
+v -0.08156222 -0.08319745 -0.14213536
+v -0.07559228 -0.08303610 -0.15356311
+v -0.06893596 -0.08486990 -0.15402038
+v -0.06893596 -0.05786360 -0.15907319
+v -0.09720805 -0.05786367 -0.13784102
+v -0.09156747 -0.06799775 -0.13784106
+v -0.08726368 -0.07106256 -0.14766211
+v -0.07240113 -0.08341814 -0.15431346
+v -0.08736332 -0.06596013 -0.15363163
+v -0.08302357 -0.06714021 -0.15907323
+v -0.07852606 -0.06840237 -0.15907323
+v -0.06893596 -0.06966737 -0.15907324
+v -0.07981581 -0.05786360 -0.15907319
+v -0.08302357 -0.06389424 -0.15907321
+v -0.08736332 -0.06482814 -0.15363163
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 24
+f 8 24 16
+f 8 16 9
+f 10 17 11
+f 11 17 12
+f 12 18 13
+f 12 17 18
+f 13 19 14
+f 13 18 20
+f 13 20 21
+f 13 21 19
+f 14 19 22
+f 14 22 23
+f 15 23 22
+f 15 22 21
+f 15 21 25
+f 15 25 24
+f 16 24 25
+f 16 25 26
+f 16 26 20
+f 16 20 18
+f 16 18 17
+f 19 21 22
+f 20 26 25
+f 20 25 21
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a17c97a56ef968369760b146c3af0e66c8f4167
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.05204809 0.08460587 -0.15756921
+v 0.05204809 0.09709527 -0.13832345
+v 0.05300818 0.08445356 -0.15756921
+v 0.05204809 0.06033547 -0.15756930
+v 0.05204809 0.09760516 -0.13742464
+v 0.07280492 0.07728832 -0.15418992
+v 0.05568392 0.08361254 -0.15756921
+v 0.07336429 0.03369435 -0.15756940
+v 0.07337054 0.03368772 -0.15756647
+v 0.05204809 0.08859894 -0.12775950
+v 0.05204809 0.09959845 -0.13251034
+v 0.06341685 0.09385700 -0.12775949
+v 0.06403885 0.09342653 -0.12775949
+v 0.06732194 0.09085711 -0.12775950
+v 0.07337054 0.07751347 -0.15227848
+v 0.07337054 0.07510300 -0.15557899
+v 0.07337054 0.07364611 -0.15755172
+v 0.07031702 0.07495069 -0.15756924
+v 0.07337054 0.03640283 -0.15756939
+v 0.07337054 0.07111632 -0.12775957
+v 0.05204809 0.10134007 -0.12775946
+v 0.05204809 0.10043945 -0.13025747
+v 0.05204809 0.10084341 -0.12916897
+v 0.07337054 0.08568518 -0.12775952
+v 0.07337054 0.07265940 -0.15756925
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 25
+f 1 25 19
+f 1 19 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 23
+f 1 23 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 8 19 9
+f 9 19 25
+f 9 25 17
+f 9 17 16
+f 9 16 15
+f 9 15 24
+f 9 24 20
+f 9 20 10
+f 10 20 24
+f 10 24 14
+f 10 14 13
+f 10 13 12
+f 10 12 21
+f 11 22 12
+f 12 22 23
+f 12 23 21
+f 14 24 15
+f 17 25 18
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbba355b43601e291f2922ce54e0587abea399fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.06894178 -0.07295397 -0.12787112
+v 0.09218893 -0.04028652 -0.12787100
+v 0.08165498 -0.07295397 -0.12787112
+v 0.09437375 -0.07295426 -0.04869552
+v 0.11395911 -0.04028681 -0.04877291
+v 0.11387551 -0.04028681 -0.04904418
+v 0.10641813 -0.04028652 -0.12787100
+v 0.09187124 -0.06658677 -0.12787109
+v 0.09330921 -0.07295401 -0.11813596
+v 0.10527557 -0.07295426 -0.04869552
+v 0.11398698 -0.04028681 -0.04869540
+v 0.10981241 -0.04028655 -0.12042236
+v 0.10805675 -0.04832310 -0.11786459
+v 0.10245536 -0.06059378 -0.11802740
+v 0.09728314 -0.06803549 -0.11891878
+v 0.09604582 -0.07116954 -0.11763989
+v 0.09467473 -0.07295402 -0.11453954
+v 0.10730433 -0.07050140 -0.04869551
+v 0.10892064 -0.07295421 -0.06274793
+v 0.12319443 -0.04028681 -0.04869540
+v 0.11162380 -0.04028656 -0.11599658
+v 0.11214771 -0.04028657 -0.11464793
+v 0.11059269 -0.04437040 -0.11453943
+v 0.12561333 -0.04190173 -0.06444526
+v 0.11990048 -0.05407008 -0.06477084
+v 0.10293468 -0.06157558 -0.11453950
+v 0.10152458 -0.06453372 -0.11453951
+v 0.10894852 -0.07295420 -0.06560025
+v 0.10945570 -0.06757204 -0.04869550
+v 0.11389780 -0.06557006 -0.06362373
+v 0.11457777 -0.06053648 -0.04869547
+v 0.11259916 -0.06327395 -0.04869548
+v 0.12588086 -0.04028676 -0.06339113
+v 0.12180105 -0.04437064 -0.04869541
+v 0.12561333 -0.04190174 -0.06371667
+v 0.12588086 -0.04028675 -0.06486381
+v 0.11990048 -0.05407009 -0.06352294
+v 0.11389780 -0.06557005 -0.06456161
+v 0.11477842 -0.06014312 -0.04869547
+v 0.12008440 -0.04849285 -0.04869543
+v 0.11660653 -0.05616481 -0.04869546
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 28
+f 1 28 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 20
+f 2 20 33
+f 2 33 36
+f 2 36 22
+f 2 22 21
+f 2 21 12
+f 2 12 7
+f 3 8 9
+f 4 10 18
+f 4 18 29
+f 4 29 32
+f 4 32 31
+f 4 31 39
+f 4 39 41
+f 4 41 40
+f 4 40 34
+f 4 34 20
+f 4 20 11
+f 4 11 5
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 19 18
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 16 15
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 16 27 28
+f 16 28 17
+f 18 19 29
+f 19 30 31
+f 19 31 32
+f 19 32 29
+f 19 28 30
+f 20 34 35
+f 20 35 33
+f 22 36 24
+f 22 24 23
+f 24 36 33
+f 24 33 35
+f 24 35 37
+f 24 37 25
+f 25 37 30
+f 25 30 38
+f 25 38 27
+f 25 27 26
+f 27 38 28
+f 28 38 30
+f 30 37 31
+f 31 37 39
+f 34 40 35
+f 35 40 41
+f 35 41 39
+f 35 39 37
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa4385d808336a227582d0ae0f9223bebb12748
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02834536 0.10924464 -0.09708609
+v 0.02834536 0.09718569 -0.13231281
+v 0.02834536 0.12146407 -0.09708604
+v -0.01650128 0.11206576 -0.09708608
+v 0.02834536 0.11296278 -0.13231276
+v -0.01650128 0.10131954 -0.13231280
+v 0.02834536 0.12145592 -0.09718604
+v 0.02826635 0.12148310 -0.09708604
+v -0.01650128 0.12056174 -0.09708605
+v 0.01617672 0.12003999 -0.11959457
+v 0.02208106 0.11956437 -0.11926351
+v 0.02834536 0.11870281 -0.11790133
+v 0.00467971 0.11417494 -0.13231275
+v 0.00223457 0.11893929 -0.12464320
+v -0.01650128 0.11351721 -0.13231275
+v 0.02834536 0.11974916 -0.11454248
+v 0.02798540 0.11983613 -0.11454248
+v 0.02208106 0.12080913 -0.11454248
+v 0.00247602 0.12495106 -0.09708603
+v -0.01650128 0.12191801 -0.11454247
+v 0.00018890 0.12495106 -0.09708603
+v 0.01617672 0.12145598 -0.11454247
+v 0.00427146 0.12035256 -0.12053256
+v 0.00436804 0.12220881 -0.11454247
+v 0.02834536 0.11965676 -0.11490112
+v 0.00451291 0.11417494 -0.13231275
+v 0.00048302 0.11893929 -0.12464320
+v -0.00150557 0.12039876 -0.12059807
+v -0.01650128 0.12023568 -0.11942903
+v 0.00193605 0.12460863 -0.10128978
+v -0.01334498 0.12210010 -0.11454247
+v 0.00075958 0.12460863 -0.10128978
+v -0.00153630 0.12235558 -0.11454247
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 15
+f 2 15 26
+f 2 26 13
+f 2 13 5
+f 3 7 8
+f 4 9 20
+f 4 20 29
+f 4 29 15
+f 4 15 6
+f 5 10 11
+f 5 11 12
+f 5 13 14
+f 5 14 10
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 9 21 20
+f 10 22 11
+f 10 14 23
+f 10 23 24
+f 10 24 22
+f 11 22 18
+f 11 18 17
+f 11 17 25
+f 11 25 12
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 23
+f 15 29 27
+f 15 27 26
+f 16 25 17
+f 18 22 30
+f 18 30 19
+f 19 30 32
+f 19 32 21
+f 20 31 29
+f 20 21 32
+f 20 32 31
+f 22 24 30
+f 23 28 33
+f 23 33 24
+f 24 33 30
+f 27 29 28
+f 28 29 31
+f 28 31 33
+f 30 33 32
+f 31 32 33
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5285471c7e7dc31b19ad6a40547e3347fd187771
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.06845337 0.06861094 -0.16604259
+v -0.06771181 0.06861095 -0.16750771
+v -0.08864519 0.05464740 -0.16604264
+v -0.01650128 0.06861094 -0.16604259
+v -0.06762000 0.06861095 -0.16764601
+v -0.08836268 0.05452169 -0.16679935
+v -0.08864519 0.05165639 -0.16604265
+v -0.01650128 0.05854210 -0.16604262
+v -0.01650128 0.06861097 -0.17446025
+v -0.06466784 0.06861096 -0.17206359
+v -0.08289628 0.05425604 -0.17204146
+v -0.08392035 0.04437932 -0.17232201
+v -0.08836268 0.05172755 -0.16679936
+v -0.08555885 0.04437931 -0.16845369
+v -0.08538935 0.04437930 -0.16604268
+v -0.01650128 0.04437931 -0.16845369
+v -0.04574023 0.04437930 -0.16604268
+v -0.01922036 0.06861097 -0.17453201
+v -0.01650128 0.06725898 -0.17592017
+v -0.06073400 0.06861096 -0.17280594
+v -0.06483029 0.05992260 -0.17750798
+v -0.07830562 0.05030680 -0.17446032
+v -0.07830562 0.04437933 -0.17427116
+v -0.01650128 0.04437935 -0.17926800
+v -0.01925568 0.06861097 -0.17453201
+v -0.01650128 0.06567928 -0.17752619
+v -0.01925568 0.06567216 -0.17752098
+v -0.06058570 0.06024282 -0.17787066
+v -0.04933505 0.06861097 -0.17406232
+v -0.06483029 0.05812468 -0.17750799
+v -0.06058570 0.05732060 -0.17787067
+v -0.03697561 0.04437935 -0.17861698
+v -0.01650128 0.06213799 -0.17816027
+v -0.02515997 0.04437935 -0.17937108
+v -0.04878419 0.06861097 -0.17410408
+v -0.01925568 0.06213799 -0.17818768
+v -0.03107132 0.04438884 -0.17922364
+v -0.03107132 0.04437935 -0.17922364
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 25
+f 1 25 35
+f 1 35 29
+f 1 29 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 13
+f 3 13 7
+f 4 8 16
+f 4 16 24
+f 4 24 33
+f 4 33 26
+f 4 26 19
+f 4 19 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 10 11
+f 7 13 14
+f 7 14 15
+f 8 17 16
+f 9 19 18
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 22
+f 12 14 13
+f 12 22 23
+f 12 23 32
+f 12 32 38
+f 12 38 34
+f 12 34 24
+f 12 24 16
+f 12 16 17
+f 12 17 15
+f 12 15 14
+f 18 19 25
+f 19 26 27
+f 19 27 25
+f 20 28 21
+f 20 29 28
+f 21 28 31
+f 21 31 30
+f 21 30 22
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 24 34 33
+f 25 27 35
+f 26 33 36
+f 26 36 27
+f 27 36 28
+f 27 28 35
+f 28 29 35
+f 28 36 34
+f 28 34 37
+f 28 37 38
+f 28 38 31
+f 31 38 32
+f 33 34 36
+f 34 38 37
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e33712e00c5475ab07b629492227ccb70e0619
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02834536 -0.07923032 -0.15249360
+v 0.02834536 -0.07923025 -0.17039275
+v 0.02834536 -0.06182472 -0.16248932
+v -0.01650128 -0.06182472 -0.16402803
+v -0.01650128 -0.07923031 -0.15632288
+v 0.01641378 -0.06182469 -0.17192169
+v 0.02027245 -0.06182469 -0.17167106
+v 0.02208106 -0.06182469 -0.17153118
+v 0.02798540 -0.06182469 -0.17103576
+v 0.02820050 -0.06182469 -0.17101051
+v 0.02834536 -0.06182469 -0.17099302
+v -0.01650128 -0.07923026 -0.16854124
+v -0.01650128 -0.06182469 -0.17225390
+v -0.01350302 -0.06182469 -0.17231024
+v -0.01334498 -0.06182469 -0.17231220
+v -0.00183042 -0.06182469 -0.17233939
+v -0.00153630 -0.06182469 -0.17233939
+v 0.00407391 -0.06182469 -0.17230636
+v 0.00436804 -0.06182469 -0.17230248
+v 0.00997386 -0.06182469 -0.17220727
+v 0.01026799 -0.06182469 -0.17220145
+f 1 2 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 21
+f 2 21 6
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 4
+f 4 13 12
+f 4 12 5
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4a77404017ac3a5355ab87dd65d6fa4c31300d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e010a212db2c82aa419494fe489137937c99aa62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f4a4d929704c9572b0edb1b7f9ba4edfc2ac80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d273fbf29774b834d0d06ed07e24176642dcd70c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8968165e38cadb2867821fd475d5dd67e14b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2db44a799c80c6fcc0fcd09cc8b4a3ca8df405
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.02834536 -0.12720249 0.03501116
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db44d5974fcce0f60b3609eb1c88da7484db7079
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19164d2c6a18c64252e0a5049b8f35baef77a13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..876b3a0ec718aeb7a5eead48af07c9e115f84045
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514cf4a8fe7d1ba994ce712c198ecccddc05a3ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8c2ee0a4415a48819f33e8ae7dcb31daf3c338
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.09429004 0.02662731 -0.15748303
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bd86d1aed620d52840eabaa8fc2d0a34de0f1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0df428c3b913fa14b990bb4d7c6155af2be30d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.11591206 0.00791199 -0.12775980
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899d9f369a84f3069250e53a62967a1868ddcfc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_70.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0b132f25b8d99992ff75fb288b8bd015611402
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87240dad8233820b01430f0135ce77fc504970ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.07399459 0.06349226 -0.15748290
+v -0.07391961 0.06349226 -0.15767142
+v -0.09044492 0.05708945 -0.15748292
+v -0.05263565 0.06349226 -0.15748290
+v -0.07351473 0.06349226 -0.15865174
+v -0.08865044 0.05464527 -0.16604264
+v -0.09291422 0.05584055 -0.15748292
+v -0.06825120 0.06349229 -0.16604261
+v -0.05500997 0.06093338 -0.15748291
+v -0.04272845 0.05076021 -0.16561114
+v -0.04272845 0.06349227 -0.16181555
+v -0.08865044 0.05165514 -0.16604265
+v -0.09336410 0.05394352 -0.15970077
+v -0.09369901 0.05512387 -0.15748293
+v -0.04272845 0.06349229 -0.16604261
+v -0.06522208 0.05076018 -0.15748294
+v -0.04272845 0.05076021 -0.16604265
+v -0.08765072 0.05076021 -0.16604265
+v -0.09336410 0.05283920 -0.15970078
+v -0.09379398 0.05288904 -0.15748294
+v -0.09130468 0.05076018 -0.15748294
+v -0.08962515 0.05076019 -0.16189267
+v -0.09379398 0.05247649 -0.15748294
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 20
+f 1 20 23
+f 1 23 21
+f 1 21 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 15
+f 1 15 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 6 12 19
+f 6 19 13
+f 6 13 14
+f 6 14 7
+f 6 8 15
+f 6 15 17
+f 6 17 18
+f 6 18 12
+f 9 16 10
+f 10 17 15
+f 10 15 11
+f 10 16 21
+f 10 21 22
+f 10 22 18
+f 10 18 17
+f 12 18 19
+f 13 19 23
+f 13 23 20
+f 13 20 14
+f 18 22 19
+f 19 22 23
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7363e837342a03d1979eb4de4f8fd4eb9c4d7f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.08938293 0.02072121 -0.16605871
+v -0.08937987 0.02067390 -0.16604276
+v -0.08882183 0.02072121 -0.16604276
+v -0.08805225 0.02072123 -0.17202817
+v -0.10111087 0.01248427 -0.16604279
+v -0.07231074 0.02072121 -0.16604276
+v -0.08421345 0.02072124 -0.17358810
+v -0.09602110 0.01264324 -0.17249798
+v -0.09921293 0.01199987 -0.17129512
+v -0.10304253 0.01014167 -0.16604280
+v -0.07231074 0.00139002 -0.16604283
+v -0.07231074 0.02072124 -0.17397808
+v -0.09011574 0.00888713 -0.17623227
+v -0.09602110 0.00888712 -0.17413075
+v -0.07830809 0.02072124 -0.17378261
+v -0.09932025 0.00888711 -0.17140583
+v -0.10363123 0.00888709 -0.16604281
+v -0.07231074 0.00139005 -0.17397716
+v -0.09698999 0.00139002 -0.16604283
+v -0.07231074 0.02062663 -0.17397909
+v -0.08853975 0.00139005 -0.17526581
+v -0.09011574 0.00297007 -0.17545233
+v -0.07231074 0.01480228 -0.17402400
+v -0.09919454 0.00574789 -0.17126322
+v -0.09011574 0.00139005 -0.17512418
+v -0.09387788 0.00139005 -0.17321615
+v -0.09566544 0.00345259 -0.17273839
+v -0.10127030 0.00515937 -0.16604282
+v -0.10056203 0.00542810 -0.16805457
+v -0.09689188 0.00139002 -0.16686769
+v -0.09503074 0.00139004 -0.17246310
+v -0.09547840 0.00139004 -0.17122932
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 15
+f 1 15 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 28
+f 2 28 19
+f 2 19 11
+f 2 11 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 18
+f 6 18 23
+f 6 23 20
+f 6 20 12
+f 7 13 14
+f 7 14 8
+f 7 15 13
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 10
+f 11 19 30
+f 11 30 32
+f 11 32 31
+f 11 31 26
+f 11 26 25
+f 11 25 21
+f 11 21 18
+f 12 20 13
+f 12 13 15
+f 13 21 22
+f 13 22 14
+f 13 20 23
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+f 14 24 16
+f 14 22 25
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+f 14 26 27
+f 14 27 24
+f 16 24 17
+f 17 24 29
+f 17 29 28
+f 19 28 30
+f 21 25 22
+f 24 27 26
+f 24 26 31
+f 24 31 29
+f 28 29 31
+f 28 31 32
+f 28 32 30
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289e2d18a644f95d9b9a27e3e21564539f974403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05950125 0.09049397 -0.15748280
+v -0.05873841 0.09049397 -0.15748280
+v -0.05880630 0.08980148 -0.16042123
+v -0.07574718 0.07760102 -0.15748284
+v -0.05519895 0.09019267 -0.15748280
+v -0.05633676 0.08980148 -0.16042123
+v -0.07020042 0.07748476 -0.16594454
+v -0.04487474 0.08521577 -0.16604253
+v -0.05108092 0.08506247 -0.16604253
+v -0.05396096 0.08457879 -0.16604253
+v -0.07537222 0.07697197 -0.15918039
+v -0.07574718 0.07643543 -0.15748285
+v -0.04272845 0.08696018 -0.15748281
+v -0.04272845 0.08516027 -0.16604253
+v -0.07008406 0.07739225 -0.16604256
+v -0.07017133 0.07397474 -0.16604257
+v -0.07018102 0.07397474 -0.16603419
+v -0.07537222 0.07688475 -0.15918039
+v -0.07399524 0.06349226 -0.15748290
+v -0.04272845 0.07158537 -0.15748287
+v -0.04272845 0.06349229 -0.16604261
+v -0.07017133 0.07394833 -0.16604257
+v -0.07351359 0.06349226 -0.15865174
+v -0.07391766 0.06349226 -0.15767142
+v -0.05263569 0.06349226 -0.15748290
+v -0.04272845 0.06349227 -0.16181555
+v -0.06824806 0.06349229 -0.16604261
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 25
+f 1 25 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 7 11
+f 4 11 18
+f 4 18 12
+f 5 13 14
+f 5 14 6
+f 6 14 8
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+f 7 16 17
+f 7 17 11
+f 7 10 15
+f 8 14 21
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+f 8 27 22
+f 8 22 16
+f 8 16 15
+f 8 15 10
+f 8 10 9
+f 11 17 18
+f 12 18 19
+f 13 20 26
+f 13 26 21
+f 13 21 14
+f 16 22 17
+f 17 22 18
+f 18 23 24
+f 18 24 19
+f 18 22 23
+f 19 24 23
+f 19 23 27
+f 19 27 21
+f 19 21 26
+f 19 26 25
+f 20 25 26
+f 22 27 23
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c658d831cc11e64cc5438d39d57b8de415f9cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00153979 -0.09170573 -0.17471395
+v -0.01650128 -0.09165910 -0.17251695
+v -0.01650128 -0.08753948 -0.17218864
+v -0.00153979 -0.08673288 -0.17330923
+v 0.00782185 -0.08566964 -0.17293359
+v 0.00782185 -0.09160243 -0.17271581
+v -0.00195882 -0.09736190 -0.17222340
+v -0.00420638 -0.10070825 -0.17115648
+v -0.00461829 -0.10070825 -0.17115648
+v -0.00543016 -0.09761854 -0.17217289
+v -0.01650128 -0.09491880 -0.17119749
+v -0.01650128 -0.07923026 -0.16853957
+v 0.00361005 -0.07923026 -0.16931925
+v 0.00782185 -0.08253994 -0.17128268
+v 0.00782185 -0.10331809 -0.15001986
+v 0.00103632 -0.10585450 -0.15833120
+v 0.00178869 -0.10099158 -0.16561032
+v -0.00195882 -0.10197815 -0.16777576
+v -0.00290166 -0.10718769 -0.16084703
+v -0.00519447 -0.10718769 -0.16084703
+v -0.01650128 -0.10637111 -0.15812288
+v -0.01650128 -0.10121823 -0.16573344
+v -0.01650128 -0.10066161 -0.16627636
+v -0.01650128 -0.07923031 -0.15632352
+v 0.00782185 -0.07923026 -0.16932241
+v 0.00782185 -0.10481797 -0.14505769
+v 0.00184345 -0.10685441 -0.15436652
+v -0.00117551 -0.10789431 -0.15627627
+v -0.00117551 -0.10506788 -0.16253896
+v -0.00420877 -0.11252057 -0.14757037
+v -0.00463019 -0.11252057 -0.14757037
+v -0.01650128 -0.11227064 -0.14266185
+v 0.00782185 -0.07923031 -0.15610887
+v -0.01650128 -0.09373235 -0.14246607
+v 0.00782185 -0.10505462 -0.14427170
+v 0.00021730 -0.11144402 -0.14246614
+v -0.00159693 -0.11265392 -0.14246614
+v -0.00317308 -0.11304054 -0.14427173
+v -0.00516112 -0.11304054 -0.14427173
+v -0.01650128 -0.11233727 -0.14246614
+v 0.00782185 -0.09397233 -0.14246608
+v 0.00782185 -0.10542126 -0.14267761
+v 0.00782185 -0.10546792 -0.14246612
+v -0.00262786 -0.11319388 -0.14246615
+v -0.00534921 -0.11328052 -0.14246615
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 9
+f 2 9 11
+f 2 11 23
+f 2 23 22
+f 2 22 21
+f 2 21 32
+f 2 32 40
+f 2 40 34
+f 2 34 24
+f 2 24 12
+f 2 12 3
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+f 4 14 5
+f 5 14 25
+f 5 25 33
+f 5 33 41
+f 5 41 43
+f 5 43 42
+f 5 42 35
+f 5 35 26
+f 5 26 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 8
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+f 8 20 9
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+f 12 24 33
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+f 12 25 13
+f 13 25 14
+f 15 26 27
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+f 16 27 28
+f 16 28 19
+f 16 19 29
+f 16 29 17
+f 17 29 18
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+f 19 28 30
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 24 34 33
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 30
+f 27 30 28
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+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 33 34 41
+f 34 40 45
+f 34 45 44
+f 34 44 37
+f 34 37 36
+f 34 36 43
+f 34 43 41
+f 35 42 36
+f 36 42 43
+f 37 44 38
+f 38 44 45
+f 38 45 39
+f 39 45 40
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_76.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf6f4773d66c7e25f77eb8d4d51e43492768b67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_76.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.09765039 -0.07295433 -0.03226698
+v 0.09979500 -0.07295444 -0.00391453
+v 0.10863208 -0.07295433 -0.03226698
+v 0.06511993 -0.10429885 -0.03226709
+v 0.11066968 -0.07295444 -0.00391453
+v 0.06814737 -0.10429896 -0.00391464
+v 0.10882824 -0.07295434 -0.03129275
+v 0.09808733 -0.09634535 -0.03226706
+v 0.08039087 -0.10429885 -0.03226709
+v 0.10128419 -0.09767718 -0.00391462
+v 0.11064294 -0.07295442 -0.00751167
+v 0.08301703 -0.10429896 -0.00391464
+v 0.10918495 -0.07295434 -0.02911949
+v 0.10977794 -0.07295436 -0.02534748
+v 0.09842618 -0.10156495 -0.00391463
+v 0.09598730 -0.10061367 -0.01671556
+v 0.08169726 -0.10429887 -0.02709621
+v 0.11028623 -0.07295438 -0.01940222
+v 0.11050027 -0.07295440 -0.01365122
+v 0.08311512 -0.10429895 -0.00606848
+v 0.08323104 -0.10429893 -0.01189718
+v 0.08321766 -0.10429892 -0.01345983
+v 0.08305269 -0.10429890 -0.01802564
+v 0.08297244 -0.10429890 -0.01940233
+v 0.08212529 -0.10429888 -0.02534759
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 18
+f 1 18 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 15
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+f 2 10 5
+f 3 7 8
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+f 4 17 25
+f 4 25 24
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+f 4 20 12
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+f 5 10 11
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+f 10 14 18
+f 10 18 19
+f 10 19 11
+f 12 20 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 17
+f 15 20 21
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_77.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62c710d4919f2ae352bf546e7b75f1a9bdde72c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_77.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01617734 0.08581014 -0.17886496
+v 0.00961193 0.08631457 -0.17811551
+v 0.00961193 0.08917880 -0.17726646
+v 0.01617734 0.08971143 -0.17763168
+v 0.02084650 0.08992659 -0.17773841
+v 0.02252086 0.08623698 -0.17839301
+v 0.02834536 0.07971485 -0.17787601
+v 0.02834536 0.07942914 -0.17787126
+v 0.02208072 0.08107640 -0.17817483
+v 0.01617734 0.08143620 -0.17820327
+v 0.00961193 0.08228630 -0.17798983
+v 0.00961193 0.08581013 -0.17820564
+v 0.00961193 0.08953859 -0.17689648
+v 0.01877601 0.09516825 -0.17172624
+v 0.02208072 0.09539047 -0.17188753
+v 0.02478391 0.08849447 -0.17663559
+v 0.02834536 0.08425810 -0.17770523
+v 0.02535242 0.09514003 -0.17147248
+v 0.02834536 0.08408527 -0.17774317
+v 0.02834536 0.07891766 -0.17780012
+v 0.02209172 0.07066713 -0.17520081
+v 0.00961193 0.08185950 -0.17791157
+v 0.00961193 0.10178555 -0.15463607
+v 0.01900158 0.10073794 -0.16529666
+v 0.02208072 0.09834993 -0.16846759
+v 0.02525522 0.10082613 -0.16542000
+v 0.02768149 0.10367621 -0.15463606
+v 0.02834536 0.10072027 -0.15463607
+v 0.02834536 0.07066713 -0.17530042
+v 0.02815281 0.07066713 -0.17530754
+v 0.02795475 0.07066713 -0.17531466
+v 0.01617734 0.07066713 -0.17421657
+v 0.01042803 0.07066713 -0.17288133
+v 0.00961193 0.07066712 -0.17235008
+v 0.02329110 0.10670271 -0.15463605
+v 0.00961193 0.08419101 -0.15463613
+v 0.02208072 0.10087551 -0.16549588
+v 0.02605481 0.10643462 -0.15463605
+v 0.02699011 0.10485435 -0.15463605
+v 0.02834536 0.07904458 -0.15463615
+v 0.02834536 0.07066708 -0.15932733
+v 0.00961193 0.07066708 -0.16150687
+f 1 2 3
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+f 2 22 34
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+f 26 39 27
+f 36 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_78.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cbcb7444ec7906353ba85f5b1db9a228cfbf62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_78.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.08556449 0.04437931 -0.16845286
+v -0.09918434 0.03632036 -0.16604382
+v -0.08539875 0.04437930 -0.16614494
+v -0.08392811 0.04437932 -0.17232161
+v -0.09401738 0.03634584 -0.17200146
+v -0.09918434 0.03464373 -0.16604382
+v -0.08539085 0.04437930 -0.16604379
+v -0.07830601 0.04437933 -0.17427153
+v -0.08762970 0.03591745 -0.17721092
+v -0.09401738 0.03422923 -0.17200146
+v -0.08805326 0.02072123 -0.17202818
+v -0.08938184 0.02072121 -0.16605942
+v -0.08882148 0.02072121 -0.16604387
+v -0.07230768 0.04437930 -0.16604379
+v -0.08048697 0.03623008 -0.17730207
+v -0.08421224 0.03635513 -0.17739880
+v -0.07230768 0.04437932 -0.17283298
+v -0.08755604 0.03255262 -0.17717646
+v -0.08470421 0.03256419 -0.17733321
+v -0.08721930 0.02953745 -0.17700528
+v -0.08421224 0.02072124 -0.17358791
+v -0.07230768 0.02072121 -0.16604387
+v -0.08048697 0.03454649 -0.17730207
+v -0.07230768 0.03846944 -0.17381019
+v -0.07230768 0.03837681 -0.17382353
+v -0.07230768 0.03246229 -0.17415151
+v -0.08699829 0.02953745 -0.17700528
+v -0.07230768 0.02072124 -0.17397813
+v -0.07830601 0.02072124 -0.17378246
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 6 13
+f 2 13 22
+f 2 22 14
+f 2 14 7
+f 2 7 3
+f 2 4 5
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 8 15 16
+f 8 16 9
+f 8 17 15
+f 9 18 10
+f 9 16 19
+f 9 19 18
+f 10 18 20
+f 10 20 11
+f 11 20 21
+f 11 21 29
+f 11 29 28
+f 11 28 22
+f 11 22 13
+f 11 13 12
+f 14 22 28
+f 14 28 26
+f 14 26 25
+f 14 25 24
+f 14 24 17
+f 15 23 16
+f 15 17 24
+f 15 24 25
+f 15 25 26
+f 15 26 23
+f 16 23 19
+f 18 19 20
+f 19 23 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 23 26 28
+f 23 28 27
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_79.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef4d466ee149b3cb85f6294aec6bc981292d716
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_79.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02084445 -0.08578900 -0.17324639
+v 0.02084445 -0.09022884 -0.17233046
+v 0.01605403 -0.09163262 -0.17251123
+v 0.00782185 -0.09159953 -0.17271612
+v 0.01027188 -0.08578900 -0.17314695
+v 0.02084445 -0.08215372 -0.17194477
+v 0.02084445 -0.10490255 -0.14246612
+v 0.01542813 -0.10864047 -0.15021846
+v 0.01421206 -0.10732935 -0.15616302
+v 0.01329298 -0.10653474 -0.15920007
+v 0.01409733 -0.10127380 -0.16584360
+v 0.01400682 -0.09531428 -0.17154711
+v 0.00782185 -0.08566981 -0.17293302
+v 0.01261101 -0.09531428 -0.17154711
+v 0.01245930 -0.10127380 -0.16584360
+v 0.01316678 -0.10653474 -0.15920007
+v 0.01235988 -0.10732935 -0.15616302
+v 0.00782185 -0.10331995 -0.15001959
+v 0.01027188 -0.08229939 -0.17154103
+v 0.00782185 -0.07923026 -0.16932347
+v 0.01015333 -0.07923026 -0.16932951
+v 0.02084445 -0.08153459 -0.17136929
+v 0.01432551 -0.11305383 -0.14246615
+v 0.02084445 -0.09097720 -0.14246606
+v 0.01421715 -0.11296775 -0.14292411
+v 0.00782185 -0.08254110 -0.17128192
+v 0.01247460 -0.11296775 -0.14292411
+v 0.01154915 -0.10864047 -0.15021846
+v 0.01240195 -0.11305383 -0.14246615
+v 0.00782185 -0.10505485 -0.14427088
+v 0.00782185 -0.07923031 -0.15610867
+v 0.01027188 -0.07923026 -0.16932649
+v 0.02084445 -0.07923026 -0.16887456
+v 0.02084445 -0.07923031 -0.15415024
+v 0.00782185 -0.09397350 -0.14246608
+v 0.01037895 -0.10975956 -0.14246613
+v 0.00782185 -0.10546872 -0.14246612
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 22
+f 1 22 33
+f 1 33 34
+f 1 34 24
+f 1 24 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 4
+f 4 13 5
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 30
+f 4 30 37
+f 4 37 35
+f 4 35 31
+f 4 31 20
+f 4 20 26
+f 4 26 13
+f 5 13 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 7 23 8
+f 7 24 35
+f 7 35 37
+f 7 37 36
+f 7 36 29
+f 7 29 23
+f 8 23 25
+f 8 25 9
+f 9 25 10
+f 10 25 27
+f 10 27 16
+f 10 16 15
+f 10 15 11
+f 11 15 14
+f 11 14 12
+f 13 26 19
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 19 26 20
+f 20 31 34
+f 20 34 33
+f 20 33 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 23 29 27
+f 23 27 25
+f 24 34 31
+f 24 31 35
+f 27 29 28
+f 29 36 30
+f 30 36 37
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8898ceb98842cee2fb1e6f0e2003c33d7b7f8cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.08457013 0.05137516 -0.13822885
+v -0.08457013 0.06684606 -0.13822879
+v -0.05464520 0.08268032 -0.13822874
+v -0.05464520 0.10870259 -0.05796184
+v -0.08457013 0.08623987 -0.05796192
+v -0.08162568 0.08327922 -0.13704234
+v -0.08108661 0.08070187 -0.13822874
+v -0.08457013 0.08597092 -0.12033841
+v -0.05464520 0.09539215 -0.13822869
+v -0.05464520 0.11844004 -0.05796180
+v -0.08457013 0.10313065 -0.05796186
+v -0.06499616 0.09587665 -0.13822869
+v -0.07959826 0.08357533 -0.13822873
+v -0.08457013 0.08852135 -0.11610349
+v -0.08249876 0.08993453 -0.11848416
+v -0.07633447 0.09539207 -0.11804414
+v -0.06985377 0.10086979 -0.11791056
+v -0.06014149 0.09574880 -0.13822869
+v -0.05464520 0.10800297 -0.11843694
+v -0.05814923 0.11723547 -0.05796181
+v -0.05464520 0.12011573 -0.07760422
+v -0.05468621 0.12010901 -0.07760422
+v -0.05906040 0.11911303 -0.07457928
+v -0.08441485 0.10324505 -0.05796186
+v -0.07005592 0.11283452 -0.07643357
+v -0.08358572 0.10273367 -0.07292153
+v -0.08457013 0.10175792 -0.07292154
+v -0.05874105 0.10708776 -0.11798124
+v -0.07697609 0.09609191 -0.11453207
+v -0.07665382 0.10749811 -0.07688928
+v -0.05906040 0.11911304 -0.07682638
+v -0.05464520 0.10964492 -0.11453202
+v -0.06059268 0.11630681 -0.05796181
+v -0.07005592 0.11283452 -0.07520789
+v -0.08439434 0.10325851 -0.05796186
+f 1 2 7
+f 1 7 13
+f 1 13 12
+f 1 12 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 27
+f 1 27 14
+f 1 14 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 19
+f 3 19 32
+f 3 32 21
+f 3 21 10
+f 3 10 4
+f 4 10 20
+f 4 20 33
+f 4 33 35
+f 4 35 24
+f 4 24 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 6 8 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 9 18 19
+f 10 21 22
+f 10 22 23
+f 10 23 20
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 12 19 18
+f 12 17 28
+f 12 28 19
+f 14 27 15
+f 15 29 16
+f 15 27 26
+f 15 26 29
+f 16 29 17
+f 17 29 30
+f 17 30 25
+f 17 25 31
+f 17 31 28
+f 19 28 32
+f 20 23 33
+f 21 32 22
+f 22 31 23
+f 22 32 31
+f 23 31 25
+f 23 25 34
+f 23 34 35
+f 23 35 33
+f 24 35 34
+f 24 34 25
+f 25 30 26
+f 26 30 29
+f 28 31 32
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_80.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d782ed3958a8973ce52be69875a996e3a0eb612c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_80.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00153794 0.08580783 -0.17874181
+v 0.00436615 0.08580783 -0.17847518
+v 0.00961011 0.08228397 -0.17798913
+v 0.00961011 0.08186011 -0.17791126
+v 0.00436615 0.08201096 -0.17778148
+v -0.00153794 0.08218698 -0.17762103
+v -0.00495550 0.08240610 -0.17741339
+v -0.00495550 0.08580783 -0.17833359
+v -0.00495550 0.08803133 -0.17816372
+v -0.00495550 0.09015065 -0.17788998
+v -0.00153794 0.09084035 -0.17809055
+v 0.00961011 0.08580782 -0.17820619
+v 0.00961011 0.07067070 -0.17234972
+v 0.00395695 0.07067070 -0.17217510
+v -0.00495550 0.07067070 -0.17173386
+v -0.00495550 0.10284505 -0.15463606
+v 0.00040395 0.10178184 -0.16704994
+v 0.00019579 0.09664157 -0.17291357
+v 0.00297175 0.09664157 -0.17291357
+v 0.00436615 0.09032668 -0.17766347
+v 0.00961011 0.08631430 -0.17811416
+v 0.00961011 0.07067066 -0.16150735
+v -0.00495550 0.07067066 -0.16197692
+v 0.00059357 0.10736392 -0.15463605
+v 0.00079460 0.10711248 -0.15616271
+v 0.00137774 0.10654135 -0.15920190
+v -0.00495550 0.08436013 -0.15463613
+v 0.00330823 0.10178184 -0.16704994
+v 0.00961011 0.08953642 -0.17689660
+v 0.00961011 0.08917721 -0.17726470
+v 0.00961011 0.08419129 -0.15463613
+v 0.00203930 0.10736392 -0.15463605
+v 0.00273649 0.10711248 -0.15616271
+v 0.00151889 0.10654135 -0.15920190
+v 0.00622106 0.10560379 -0.15463605
+v 0.00793341 0.10383648 -0.15463606
+v 0.00900417 0.10261517 -0.15463606
+v 0.00961011 0.10178539 -0.15463607
+v 0.00326830 0.10733877 -0.15463605
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 3
+f 2 11 12
+f 3 12 21
+f 3 21 30
+f 3 30 29
+f 3 29 38
+f 3 38 31
+f 3 31 22
+f 3 22 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 23
+f 7 23 27
+f 7 27 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 13 23 15
+f 13 15 14
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 16 27 31
+f 16 31 38
+f 16 38 37
+f 16 37 36
+f 16 36 35
+f 16 35 39
+f 16 39 32
+f 16 32 24
+f 17 26 34
+f 17 34 28
+f 17 28 19
+f 17 19 18
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 22 31 27
+f 22 27 23
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 26
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 32 39 33
+f 33 39 35
+f 33 35 34
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_81.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1e2a4d8ef11f7af9c63afe77a0d41a40d529ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_81.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00495664 0.08580899 -0.17833373
+v -0.00495664 0.08803026 -0.17816439
+v -0.00495664 0.08240920 -0.17741283
+v -0.01650016 0.08205567 -0.17769353
+v -0.01650016 0.08417695 -0.17788139
+v -0.01650016 0.08580898 -0.17800434
+v -0.00495664 0.09014798 -0.17789066
+v -0.00495664 0.07066712 -0.17173205
+v -0.01562428 0.07066713 -0.17329317
+v -0.01650016 0.07066713 -0.17331636
+v -0.01650016 0.08906948 -0.17728060
+v -0.01650016 0.10223282 -0.16106384
+v -0.01650016 0.10713962 -0.15467781
+v -0.01460713 0.10713962 -0.15467781
+v -0.00495664 0.10284705 -0.15463606
+v -0.00495664 0.07066708 -0.16197791
+v -0.01650016 0.07066708 -0.16185728
+v -0.01650016 0.10714676 -0.15463605
+v -0.01459130 0.10715034 -0.15463605
+v -0.00495664 0.08435900 -0.15463613
+v -0.01625265 0.07066708 -0.16185960
+v -0.01650016 0.08329479 -0.15463613
+f 1 2 7
+f 1 7 15
+f 1 15 20
+f 1 20 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 17
+f 4 17 22
+f 4 22 18
+f 4 18 13
+f 4 13 12
+f 4 12 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 21
+f 8 21 17
+f 8 17 10
+f 8 10 9
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 15 19 18
+f 15 18 22
+f 15 22 20
+f 16 20 22
+f 16 22 21
+f 17 21 22
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_82.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8c95df93767158e124302743d6cb2d209ce354
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_82.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02793420 -0.10861270 -0.14246613
+v 0.02821100 -0.10854367 -0.14246613
+v 0.02084445 -0.10490252 -0.14246612
+v 0.02084445 -0.09022561 -0.17232879
+v 0.02834536 -0.10772397 -0.14449387
+v 0.02834536 -0.10850916 -0.14246613
+v 0.02084445 -0.09097639 -0.14246606
+v 0.02084445 -0.08578777 -0.17324350
+v 0.02798707 -0.08578777 -0.17514010
+v 0.02798707 -0.09024286 -0.17316995
+v 0.02834536 -0.09023423 -0.17315397
+v 0.02834536 -0.08897462 -0.14246606
+v 0.02084445 -0.07923031 -0.15414949
+v 0.02084445 -0.08215526 -0.17194497
+v 0.02834536 -0.08138732 -0.17302280
+v 0.02834536 -0.08580502 -0.17507934
+v 0.02834536 -0.08613578 -0.17496420
+v 0.02798707 -0.08144772 -0.17299402
+v 0.02834536 -0.07923032 -0.15249595
+v 0.02815374 -0.07923032 -0.15253754
+v 0.02208236 -0.07923031 -0.15387444
+v 0.02084445 -0.07923026 -0.16887456
+v 0.02084445 -0.08153402 -0.17136926
+v 0.02834536 -0.07923025 -0.17039376
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 22
+f 3 22 23
+f 3 23 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 17
+f 5 17 16
+f 5 16 15
+f 5 15 24
+f 5 24 19
+f 5 19 12
+f 5 12 6
+f 7 12 13
+f 8 14 9
+f 9 15 16
+f 9 16 17
+f 9 17 11
+f 9 11 10
+f 9 14 18
+f 9 18 15
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 19
+f 13 19 24
+f 13 24 22
+f 14 23 18
+f 15 18 23
+f 15 23 22
+f 15 22 24
+
diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_83.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9f4e1acd51cec1c8963a8c63430a1dffd6ec3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_83.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.08784692 -0.09098660 0.03178922
+v 0.08442556 -0.09098659 0.03097838
+v 0.09327199 -0.09098660 0.03177174
+v 0.10491927 -0.07295457 0.03155162
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_9.obj b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f798ce1bb14aad66b620356bfbd0c8c3d078c218
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/basket_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/textures/material_0.png b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/video.mp4 b/dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/video.mp4
new file mode 100644
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