diff --git a/.gitattributes b/.gitattributes
index bbfafae47b4b550302ac646cf51961c47a2606c0..fe89c4b91096d2fad62557cf997e0af4fec70664 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2711,3 +2711,5 @@ dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.gl
 dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.urdf b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42994751d7ea92afb5268a22aa3640fb2e98bd36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_029">
+   <link name="basket_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_029.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>19634cde897b56b083794ed7df300741</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>paw print basket</name>
+         <color>gray,pink</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small gray plastic basket with pink handle and paw cutouts</description>
+         <min_height>0.1458</min_height>
+         <max_height>0.1458</max_height>
+         <real_height>0.1458</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132257</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074849 -0.065178 -0.058290</min>
+            <max>0.075151 0.062768 0.087512</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..80ecfab5c12e0210fec1f711df3b5116fdf96da2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5706df9c0364a01ed39a92185e4ab07afb478a4dd21d1e0f64c5938a748b2ce1
+size 4888947
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35bcfe2431bf1ee20d5fb40d753d6a95d1053721
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef25b8c63173cb75286d0cb49c99363ee6d6e3e17732c6fa3ed7c87f55c6c6e4
+size 13668632
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.mtl b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffd30ae24a492debf1fca3fd76bf7afaa22d0c8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.mtl
@@ -0,0 +1,6 @@
+newmtl basket_029_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cd5fc13c08926472824c7e2236c6aec203c000
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.obj
@@ -0,0 +1,116784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_029_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_collision.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8168459fe3c26120d8dfec8df484ed07657fdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..077d376d3f888624679fe29d627ba3c50c0d877a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10382420
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material.mtl b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9eeac5d9ef18fc8228a4a63e770c958b263b9458
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_029_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material_0.png b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..077d376d3f888624679fe29d627ba3c50c0d877a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae9935683fc8c6541ff3eda5fc125e7d0f9cd96211b4f4338523bea956ed694
+size 10382420
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/basket_029.xml b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/basket_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..66b5bb6700bf7b4ba185696588138ca2d1cdd9c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/basket_029.xml
@@ -0,0 +1,140 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_029">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_029_geometry_Looks_material_0" type="2d" file="mesh/basket_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_029_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_029_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_029_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_029_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_029_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_029_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_029_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_029_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_029_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_029_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_029_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_029_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_029_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_029_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_029_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_029_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_029_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_029_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_029_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_029_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_029_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_029_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_029_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_029_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_029_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_029_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_029_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_029_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_029_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_029_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_029_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_029_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_029_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_029_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_029_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_029_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_029_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_029_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_029_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_029_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_029_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_029_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_029_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_029_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_029">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b73121193d06a63ec55b714b955680fb7d5fa0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029.obj
@@ -0,0 +1,116784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_029_geometry_Looks_material_0
+v 0.074444 -0.007328 0.021283
+v 0.074444 -0.007328 0.021283
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+v 0.073944 -0.006593 0.020877
+v 0.073970 -0.007542 0.021833
+v 0.073970 -0.007542 0.021833
+v 0.073970 -0.007542 0.021833
+v 0.073970 -0.007542 0.021833
+v 0.074504 -0.009699 0.026756
+v 0.074504 -0.009699 0.026756
+v 0.074504 -0.009699 0.026756
+v 0.074504 -0.009699 0.026756
+v 0.073991 -0.009411 0.026069
+v 0.073991 -0.009411 0.026069
+v 0.073991 -0.009411 0.026069
+v 0.073991 -0.009411 0.026069
+v 0.073931 -0.009411 0.027709
+v 0.073931 -0.009411 0.027709
+v 0.073931 -0.009411 0.027709
+v 0.073941 -0.008423 0.023053
+v 0.073941 -0.008423 0.023053
+v 0.073984 -0.008898 0.024098
+v 0.073984 -0.008898 0.024098
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+v 0.074496 -0.008734 0.023144
+v 0.074521 -0.009553 0.025319
+v 0.074521 -0.009553 0.025319
+v 0.074521 -0.009553 0.025319
+v 0.074521 -0.009553 0.025319
+v 0.074587 -0.008315 0.022335
+v 0.074587 -0.008315 0.022335
+v 0.074587 -0.008315 0.022335
+v 0.074587 -0.008315 0.022335
+v 0.074023 -0.004205 0.019515
+v 0.074023 -0.004205 0.019515
+v 0.074023 -0.004205 0.019515
+v 0.074585 -0.003385 0.019519
+v 0.074585 -0.003385 0.019519
+v 0.074497 -0.005035 0.020135
+v 0.074008 -0.005835 0.020277
+v 0.074008 -0.005835 0.020277
+v 0.074600 -0.006179 0.020923
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+v 0.074982 -0.002551 0.019777
+v 0.074530 -0.002342 0.019260
+v 0.074530 -0.002342 0.019260
+v 0.075056 -0.004180 0.020445
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+v 0.074590 0.000957 0.019503
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+v 0.075081 -0.000466 0.019912
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+v 0.074638 0.002416 0.020062
+v 0.074638 0.002416 0.020062
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+v 0.074870 -0.007121 0.022198
+v 0.074938 -0.008107 0.023905
+v 0.074741 -0.008782 0.025096
+v 0.074402 -0.009060 0.025272
+v 0.075065 -0.006577 0.022198
+v 0.073945 -0.009268 0.028688
+v 0.074589 -0.009340 0.029580
+v 0.074589 -0.009340 0.029580
+v 0.074589 -0.009340 0.029580
+v 0.074026 -0.008356 0.030958
+v 0.074578 -0.008064 0.031874
+v 0.074578 -0.008064 0.031874
+v 0.074578 -0.008064 0.031874
+v 0.074070 -0.006385 0.033248
+v 0.074030 -0.005278 0.034016
+v 0.074554 -0.006451 0.033574
+v 0.074554 -0.006451 0.033574
+v 0.074554 -0.006451 0.033574
+v 0.074617 -0.004962 0.034561
+v 0.074617 -0.004962 0.034561
+v 0.074030 -0.004225 0.034530
+v 0.074029 -0.007322 0.032378
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d5dce926619e2fab0b25d456f285baff591f8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision.obj
@@ -0,0 +1,17960 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_0.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50494a1570eaf694c2fdd631b0c9418f7cfb593d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_1.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e4853dd15eca3d439a3ac089a5e697c9c85608
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_10.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e160d18188ea2291085c339d11641fdaab1a0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_11.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25422aacbd82144cbda924809c3c85fb39c7408e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_11.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_12.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36e6063dcf699973af904d187ff2fd53c4501a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_12.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_13.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..799415c9b0af300d0d794764ed02af647fa381d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_13.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_14.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5f8814be9fc4de717e48b7f3e4da3835604e9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_14.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_15.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8ee0cacf2e293e384e44b82fe9f34a6501f78f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_16.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d7f5d6d546b9071ce5d3b64418dbef64cfdd7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_16.obj
@@ -0,0 +1,370 @@
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_17.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdd4d76e791575c0464d5eb61ab7dbcd4ca005a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_18.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7201b8daecde99901101d763144756d2cc4f1b59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_19.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39c7e51d562f0c4811b76e4ce30edb3640c87067
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_19.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_2.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb81efa5c02ec8e3e8c8772d5db00e1bb7154377
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_2.obj
@@ -0,0 +1,763 @@
+# https://github.com/mikedh/trimesh
+v -0.00001094 -0.00202556 -0.05369754
+v -0.00001094 -0.04626725 -0.05221983
+v -0.00001094 -0.00202554 -0.05884411
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_20.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5508a4ce1a517ab1c58fa3bd608697280dbe74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_20.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_21.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014fc0b98e5e5c3450d0810301ce2bae9c8b498f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_21.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_22.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d8ab04bd7f75fda2b1ec2ac355284ff44117da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_23.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d817dbbd9005be79465ca31f149d3f4f7502939
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_23.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_24.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..701b59f10b7fe6b55843e24565539b532a09d7f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_24.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_25.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b44d205ba8adc7c26ba6f9fac079aadf135d31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_25.obj
@@ -0,0 +1,871 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_26.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f98f6d293a7460c14a832235235990e563d2b73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_26.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_27.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d665c003eee3ff00b03615bfdd1805a11d20d87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_27.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_28.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3bde64f299d792b94fa322f9be6782917f3774
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_28.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_29.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e4d87e1e7c964bfe14106253ecdcdcce6ee862
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_29.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_3.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec411ab850d9325a775f9679936385b11a844cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_3.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_30.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897f036239ac0aac423c028ab6f6c2ab0859c4d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_30.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_31.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c827eafbd02f48a8cb0f55b43a3b4cec6a17564d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_31.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_32.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f95b653ca58552d7435d6220b6557258bd4caf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_32.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_33.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12bce69c5f56f35870e2e4f7e655baed0fd1002
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_34.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76ffcb582be1f25e52f99e2bc7e3f69b516774a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_34.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_35.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676efdd66483880f9511271a059cf48d736eb30b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_35.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_36.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a140c0bf9c7795375cc26f8ba55cd8baf0e41b78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_37.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1234aebef4d36a267db2baee8882559955ada158
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_37.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_38.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973b88b5c31b493e8ceed18a6bd294c845bc7c14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_38.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_39.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e91b8e43c78eccd31da13aa72b3f188e24a757
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_39.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_4.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab9df789234b33678d0429071bbd517551ef1ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_4.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_40.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530ca71aac9a140936b5c287ad247397b26c1afa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_40.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_41.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb91d6c6b4142ca3df49f548023755785fee5eb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_41.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_42.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2bd5ee1ea44acde0f6a505a9b6319268563c5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_42.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_43.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed55fbb27b72dea45496c3ffdcf57bd44d23bbf6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_44.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52ff26b313cd45a9ea9993cb3c100dd2fa94cbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_44.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_45.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2c261e453b4a7c355d06502635def2aa56d6f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_45.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 35 57 39
+f 36 54 59
+f 36 59 37
+f 39 57 48
+f 39 48 40
+f 40 48 41
+f 44 47 60
+f 44 60 45
+f 51 53 52
+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_46.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18bc757b9f37a8c66dd67c597d2ea387415a960
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_46.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.04085108 0.05236287 -0.04325116
+v -0.04303006 0.05234104 -0.04354030
+v -0.04303006 0.05236228 -0.04325116
+v -0.01371244 0.05236169 -0.04325116
+v -0.03069146 0.05234104 -0.04354030
+v -0.01342550 0.05215691 -0.04600631
+v -0.04303006 0.05215455 -0.04600631
+v -0.04331701 0.05235992 -0.04325116
+v -0.03809373 0.05215573 -0.04600631
+v -0.04056413 0.05215514 -0.04600631
+v -0.01095509 0.05236110 -0.04325116
+v -0.01095509 0.05233985 -0.04354030
+v -0.01095509 0.05215632 -0.04600631
+v -0.01095509 0.05178334 -0.04847176
+v -0.02822554 0.05178334 -0.04847176
+v -0.04303006 0.05177626 -0.04847176
+v -0.04549599 0.05212032 -0.04600631
+v -0.04549599 0.05231330 -0.04354030
+v -0.04549599 0.05233572 -0.04325116
+v -0.03562780 0.05178157 -0.04847176
+v -0.03316187 0.05178216 -0.04847176
+v 0.00029402 0.05235638 -0.04325116
+v 0.00029402 0.05233513 -0.04354030
+v 0.00029402 0.05215160 -0.04600631
+v 0.00029402 0.05194386 -0.04738360
+v 0.00029402 0.05177921 -0.04847176
+v 0.00029402 0.05166353 -0.04893104
+v -0.01095509 0.05166708 -0.04893104
+v -0.02776374 0.05166708 -0.04893104
+v -0.03023415 0.05166649 -0.04893104
+v -0.04256826 0.05165999 -0.04893104
+v -0.04303006 0.05165941 -0.04893104
+v -0.04549599 0.05173436 -0.04847176
+v -0.04550944 0.05211973 -0.04600631
+v -0.04550944 0.05231389 -0.04353029
+v -0.04550495 0.05233513 -0.04325116
+v -0.03270007 0.05166590 -0.04893104
+v -0.03562780 0.05166472 -0.04893104
+v 0.00029402 0.04761256 -0.04325118
+v 0.00029402 0.04643577 -0.04893106
+v -0.04503867 0.05162517 -0.04893104
+v -0.04549599 0.05161632 -0.04893104
+v -0.04550944 0.05161632 -0.04892937
+v -0.04550944 0.05173318 -0.04847176
+v -0.04550944 0.05173494 -0.04846175
+v -0.04550944 0.05179099 -0.04325116
+v -0.04550944 0.04752816 -0.04325118
+v -0.04550944 0.04633426 -0.04893106
+v -0.04550944 0.05152366 -0.04893104
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 36
+f 1 36 46
+f 1 46 47
+f 1 47 39
+f 1 39 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
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+f 2 9 10
+f 2 10 7
+f 4 11 12
+f 4 12 6
+f 4 6 5
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+f 6 13 14
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+f 7 16 17
+f 7 17 18
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+f 7 10 21
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+f 7 20 16
+f 9 15 10
+f 10 15 21
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
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+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 16 20 31
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 35 36
+f 20 21 30
+f 20 30 37
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+f 20 38 31
+f 22 39 40
+f 22 40 27
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+f 27 31 38
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+f 27 30 29
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+f 32 41 33
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+f 34 46 35
+f 35 46 36
+f 39 47 48
+f 39 48 40
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_47.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3dd684501a750713d610841baca0187cb244e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_47.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.06337152 -0.03696885 -0.04721862
+v 0.06322573 -0.03822008 -0.04721862
+v 0.06319855 -0.03696884 -0.04847333
+v 0.05832583 -0.03696885 -0.04721862
+v 0.06307994 -0.03943250 -0.04721862
+v 0.06290203 -0.03943249 -0.04847333
+v 0.06263023 -0.03696883 -0.05093969
+v 0.05075113 -0.03696882 -0.05362027
+v 0.05075113 -0.04817935 -0.04721866
+v 0.06280196 -0.04068726 -0.04721863
+v 0.06250051 -0.04197494 -0.04721863
+v 0.06226453 -0.04205961 -0.04860596
+v 0.06203720 -0.04134461 -0.05047046
+v 0.06181976 -0.04057905 -0.05211394
+v 0.06223611 -0.03962769 -0.05115052
+v 0.06196431 -0.03893505 -0.05243583
+v 0.06208168 -0.03696883 -0.05267612
+v 0.05075113 -0.03696880 -0.05879781
+v 0.05075113 -0.04898136 -0.04721866
+v 0.06202114 -0.04356956 -0.04721864
+v 0.06197790 -0.04346371 -0.04787263
+v 0.06179134 -0.04298744 -0.04951725
+v 0.06162702 -0.04205960 -0.05115052
+v 0.06075354 -0.04436567 -0.05093971
+v 0.05950201 -0.04580035 -0.05239506
+v 0.05978246 -0.04414457 -0.05329159
+v 0.06062258 -0.04189965 -0.05340379
+v 0.06131816 -0.03962768 -0.05331539
+v 0.06139970 -0.03696882 -0.05390816
+v 0.05075113 -0.03943245 -0.05875814
+v 0.05320108 -0.03696880 -0.05862553
+v 0.05854698 -0.04898136 -0.04721866
+v 0.05075113 -0.04898132 -0.05611047
+v 0.06149359 -0.04468085 -0.04721864
+v 0.06141823 -0.04431864 -0.04860597
+v 0.05976887 -0.04619430 -0.05093972
+v 0.05884844 -0.04742789 -0.05093972
+v 0.05722255 -0.04838277 -0.05260135
+v 0.05805897 -0.04673641 -0.05331881
+v 0.05889539 -0.04481958 -0.05403739
+v 0.05938958 -0.04317558 -0.05466078
+v 0.05961690 -0.04189965 -0.05489540
+v 0.05996778 -0.03943247 -0.05525355
+v 0.06016545 -0.03696882 -0.05544964
+v 0.05075113 -0.04189963 -0.05861760
+v 0.05320108 -0.03943246 -0.05851898
+v 0.05566833 -0.03696881 -0.05811662
+v 0.05838143 -0.04898135 -0.04807667
+v 0.05942293 -0.04813349 -0.04744422
+v 0.05943900 -0.04815230 -0.04721866
+v 0.05075113 -0.04710212 -0.05731191
+v 0.05085244 -0.04898132 -0.05611160
+v 0.06023094 -0.04688931 -0.04721865
+v 0.05999743 -0.04694222 -0.04834868
+v 0.05917460 -0.04783713 -0.04908883
+v 0.05761420 -0.04877202 -0.05093973
+v 0.05601055 -0.04898133 -0.05309893
+v 0.05650227 -0.04767248 -0.05424370
+v 0.05737699 -0.04898134 -0.05093973
+v 0.05724973 -0.04602730 -0.05493169
+v 0.05809727 -0.04414457 -0.05522864
+v 0.05658875 -0.04258053 -0.05694919
+v 0.05795643 -0.04181498 -0.05623172
+v 0.05847780 -0.03943246 -0.05648673
+v 0.05873354 -0.03696881 -0.05668282
+v 0.05075113 -0.04436682 -0.05822545
+v 0.05320108 -0.04189964 -0.05825150
+v 0.05566833 -0.03943246 -0.05790806
+v 0.05749930 -0.03696881 -0.05742635
+v 0.05827023 -0.04898135 -0.04841330
+v 0.05075113 -0.04679637 -0.05744451
+v 0.05126509 -0.04771715 -0.05692428
+v 0.05320108 -0.04890372 -0.05533407
+v 0.05272171 -0.04898133 -0.05544514
+v 0.05782176 -0.04898135 -0.04972469
+v 0.05568809 -0.04898133 -0.05343216
+v 0.05485662 -0.04839452 -0.05492376
+v 0.05567450 -0.04684342 -0.05544626
+v 0.05427965 -0.04544871 -0.05704895
+v 0.05572639 -0.04452205 -0.05666243
+v 0.05494310 -0.04380353 -0.05731869
+v 0.05572639 -0.04181498 -0.05749663
+v 0.05701747 -0.04093535 -0.05717021
+v 0.05724479 -0.03943246 -0.05729374
+v 0.05335428 -0.04452205 -0.05761225
+v 0.05263523 -0.04607315 -0.05731191
+v 0.05335428 -0.04687046 -0.05664204
+v 0.05320108 -0.04898133 -0.05525586
+v 0.05535204 -0.04898133 -0.05374839
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+f 55 70 56
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_48.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2845ccf9ffbf4518f9d782de3083ca7f2fde4b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_48.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.06360306 -0.03649520 -0.04325114
+v -0.06364017 -0.03447026 -0.04325114
+v -0.05893743 -0.03649520 -0.04325114
+v -0.06397180 -0.03649522 -0.03849515
+v -0.06384231 -0.01939121 -0.04325108
+v -0.06405865 -0.03449728 -0.03784638
+v -0.05914825 -0.00202060 -0.04325102
+v -0.06219208 -0.00202080 0.01020011
+v -0.06039263 -0.03649529 -0.01887478
+v -0.06399154 -0.03649522 -0.03818647
+v -0.06402154 -0.03615098 -0.03785161
+v -0.06384862 -0.00242559 -0.04325102
+v -0.06700300 -0.00293877 0.01020011
+v -0.06700379 -0.00242579 0.01020011
+v -0.06676534 -0.03649540 0.01019999
+v -0.06384862 -0.00202060 -0.04325102
+v -0.06700221 -0.00202080 0.01020011
+v -0.06219208 -0.00242579 0.01020011
+v -0.06148462 -0.03649536 -0.00111704
+v -0.06238316 -0.03649540 0.01019999
+v -0.06220156 -0.01969177 0.01020005
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
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+f 1 19 20
+f 1 20 15
+f 1 15 10
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+f 1 4 2
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+f 4 11 6
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+f 8 21 18
+f 8 18 19
+f 8 19 9
+f 10 15 11
+f 12 14 16
+f 14 17 16
+f 18 21 19
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_49.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a5396dfd08d62d85cde340da213379a31aa802
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_49.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v 0.05586819 -0.04898265 -0.01369031
+v 0.05586819 -0.04898253 -0.04721866
+v 0.05586819 -0.04398677 -0.04721864
+v 0.04727632 -0.04898253 -0.04721866
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_5.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b858c045bcfce9bc321625dceaf5a6d4aa01b19e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_5.obj
@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
+v 0.06743273 0.00004206 0.06003361
+v 0.06742333 -0.00489041 0.06003359
+v 0.06742333 0.00497661 0.06003363
+v 0.06742803 0.00250933 0.06003619
+v 0.06695338 0.00497660 0.06191144
+v 0.06695338 0.00250932 0.06191143
+v 0.06695103 -0.00489042 0.06190626
+v 0.06695103 -0.00735769 0.06189855
+v 0.06742803 -0.00242313 0.06003617
+v 0.06742333 -0.00489041 0.06003616
+v 0.06741628 -0.00735768 0.06003358
+v 0.06709436 0.00702503 0.06003364
+v 0.06742333 0.00497661 0.06003620
+v 0.06659622 0.00497660 0.06314448
+v 0.06689228 0.00654782 0.06169823
+v 0.06659622 0.00250932 0.06314447
+v 0.06659622 -0.00489042 0.06313930
+v 0.06688994 -0.00892683 0.06168277
+v 0.06741628 -0.00735768 0.06003615
+v 0.06659152 -0.00735769 0.06313158
+v 0.06709202 -0.00940819 0.06003358
+v 0.06645288 0.00825867 0.06003364
+v 0.06645523 0.00825867 0.06003621
+v 0.06709436 0.00702503 0.06003621
+v 0.06596648 0.00497659 0.06496834
+v 0.06596883 -0.00489043 0.06496830
+v 0.06431695 0.00869001 0.06623736
+v 0.06534615 0.00744387 0.06496835
+v 0.06457073 0.00723755 0.06721094
+v 0.06432636 0.00627690 0.06870855
+v 0.06596178 -0.00735770 0.06496829
+v 0.06645993 -0.01064183 0.06003614
+v 0.06709202 -0.00940819 0.06003615
+v 0.06432401 -0.00864970 0.06870850
+v 0.06455898 -0.00961244 0.06719289
+v 0.06532265 -0.00982498 0.06496828
+v 0.06430521 -0.01106070 0.06621159
+v 0.06645993 -0.01064183 0.06003357
+v 0.06522161 0.00906720 0.06003364
+v 0.06522161 0.00906720 0.06003621
+v 0.06486210 0.00899842 0.06250228
+v 0.06450964 0.00882129 0.06496835
+v 0.06479866 0.00480154 0.06767589
+v 0.06495609 -0.00489044 0.06743438
+v 0.06304574 0.00896923 0.06721094
+v 0.06220688 0.00887963 0.06940985
+v 0.06177217 0.00862330 0.07105390
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+v 0.06157244 0.00497656 0.07320400
+v 0.06234551 0.00497657 0.07197353
+v 0.06237136 0.00250929 0.07199921
+v 0.06365197 -0.00489045 0.06999036
+v 0.06434985 -0.00489044 0.06875732
+v 0.06494669 -0.00735771 0.06743437
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+v 0.06485740 -0.01137118 0.06250221
+v 0.06522631 -0.01143786 0.06003614
+v 0.06434515 -0.00735771 0.06874447
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_50.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a14206954e25c96f69ad0ec8772b338a17e6e1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_50.obj
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_51.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbb42bb77e7d62e47c1977359e838caab875bea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_51.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05252626 -0.04309389 -0.05221982
+v -0.05252626 -0.05147306 -0.05221985
+v -0.05252626 -0.04707693 -0.04715576
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+v -0.00001094 -0.04627042 -0.05221983
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+v -0.05252626 -0.05218397 -0.05056124
+v -0.05048549 -0.05219715 -0.05221985
+v -0.04899474 -0.05264325 -0.05221985
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+v -0.04303177 -0.05430790 -0.04715579
+v -0.04303177 -0.05314319 -0.05221986
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+f 1 18 9
+f 1 9 3
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+f 50 56 51
+f 52 54 55
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_52.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2004e7797e2f23ad58625a4abfff7896348eebd8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_52.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02909805 -0.05670287 0.00083305
+v 0.02943089 -0.05482054 0.00083306
+v 0.02942837 -0.05837510 0.00083305
+v 0.02350038 -0.05830882 0.00929312
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+v 0.02350038 -0.05689527 0.00923261
+v 0.02350038 -0.05683749 0.00926928
+v 0.02350038 -0.05537471 0.01019993
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+v 0.03099420 -0.05375234 0.00083306
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+v 0.02395424 -0.05487704 0.01019993
+v 0.03346020 -0.05333674 0.00083306
+v 0.02657153 -0.05435049 0.01019993
+v 0.03099420 -0.05912948 0.00083304
+v 0.02610002 -0.05972041 0.01019991
+v 0.02904006 -0.05410823 0.01019993
+v 0.03099420 -0.05393029 0.00824697
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+v 0.04925977 -0.05317982 0.00084040
+v 0.04827892 -0.05327043 0.00083306
+v 0.03344508 -0.05909074 0.00083304
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+v 0.04925977 -0.05395918 0.00971856
+v 0.04925977 -0.05350221 0.00483434
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+v 0.04925977 -0.05694842 0.00083305
+v 0.04925977 -0.05797329 0.00083305
+v 0.03099420 -0.05975848 0.00824695
+v 0.04925977 -0.05880321 0.01019991
+v 0.04826379 -0.05886690 0.01019991
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_53.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8ecde0cdd3ad095aaf1920d99080eacc821985
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_53.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05075113 -0.04194158 -0.05323261
+v 0.05075113 -0.04817892 -0.04721866
+v 0.05075113 -0.04898250 -0.05323264
+v -0.00001094 -0.04387412 -0.05323262
+v 0.04727291 -0.04898253 -0.04721866
+v 0.05075113 -0.04898253 -0.04721866
+v -0.00001094 -0.04898252 -0.04843546
+v -0.00001094 -0.04898250 -0.05323264
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+f 2 7 5
+f 3 6 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_54.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8886c2a4ccbdb3f0e1295ab6a21a4408e694353b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_54.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.06201643 -0.04088470 0.01019998
+v 0.06673693 -0.04088470 0.01019998
+v 0.06202572 -0.04088470 0.01038605
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+v 0.06682676 -0.03916602 0.01019999
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+v 0.07181365 -0.04088478 0.03198752
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_55.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a900856f6c6274f06bbd0e51326d61535909aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00029402 0.05432406 0.00632855
+v -0.00650297 0.05588602 0.01020033
+v -0.00600979 0.05465515 0.01020032
+v -0.00594702 0.05432404 0.01020032
+v 0.00029402 0.05396115 0.00629715
+v 0.00029402 0.05573681 0.00513039
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_56.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4051a276e847efa3999b090b50430e69a842ecd3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_56.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_57.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f5e46e57cf0e17c9172da6096045fe8c110e38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_57.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_58.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ac0a37417e23ea3fbc6f522a7c55827bc0cf6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_58.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.06801012 0.01039889 0.03609717
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_59.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aff11a7c7cf933fe4cbdeb607c509b09be49a79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_59.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_6.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a5ef00fa934a2ff2f801a713210f8c7a3329ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_6.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_60.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e218954c7beaa6feaca55463a4f9ca9781cedcad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_60.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_61.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7437c5092bd5cfe1a215d2274d31dfe6453a6fea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_61.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_62.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c184d496f11b17f6f58275aaaafe8381dc1a76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_62.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.06841919 0.01027176 0.03609717
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_7.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6c25f33f6c1424a93a27c834275203320961ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_8.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d0352d4383440e789b715419c3ad6ba67a772d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_8.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_9.obj b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9cfc78f6fc50c237aa05ef7d027df74bd6b737
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mjcf/mesh/basket_029_collision_9.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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