diff --git a/.gitattributes b/.gitattributes
index beddf00f09749aa8bb9dad60aa7e90f00fc61a8d..93e4767ec4cd62d4120becd391705ff367d927bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2734,3 +2734,5 @@ dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/mesh/storage_b
 dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/storage_bin_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/basket_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/mesh/basket_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.urdf b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..133a07921dfbed9e62dd6704d591921ee336dd93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_026">
+   <link name="basket_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>2c050c4c21c055c78e522d222ff79cef</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>blue fabric basket</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>dark blue rectangular fabric storage basket with two loop handles</description>
+         <min_height>0.0888</min_height>
+         <max_height>0.0888</max_height>
+         <real_height>0.0888</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132140</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075247 -0.048302 -0.028630</min>
+            <max>0.074753 0.047679 0.060140</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.usd b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..695d5111440520434d1a2ab2330eb612641c48ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/basket_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55011513979e31d73558dfc708e76eb8abdbb40d479814b51b3b73b762e1bcf4
+size 4958914
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.glb b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a50174f3456fec60647c8d4a0bfc7c9a8465da9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1ec3d34e07db492389fc18b3d6fc0c58a5f6798d273d2b4c5a34e8743f4e7bc
+size 17891020
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.mtl b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae503e9b74aa3441e96c1eebebb785fef107bddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.mtl
@@ -0,0 +1,6 @@
+newmtl basket_026_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/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c3e4d10989c6f93abbbd40b3349fdc74d39ad9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026.obj
@@ -0,0 +1,108606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_026_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026_collision.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8079ef7dbd484d33fd215969e29c1c90fd6757d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/basket_026_collision.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/material.mtl b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ad4597da150ddd805d33b83f2a0588a338c88cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_026_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/material_0.png b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/basket_026.xml b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/basket_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60f36c5bf0067f40a56c7f4d8f99444e00b5ed7e
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+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/basket_026.xml
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+    <mesh name="collision_mesh_0_2" file="mesh/basket_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_026_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_026_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_026_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_026_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_026_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_026_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_026_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_026_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_026_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_026_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_026_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_026_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_026_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_026_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_026_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_026_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_026_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_026_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_026_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_026_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_026_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_026_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_026_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_026_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_026_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_026_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_026_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_026_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_026_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_026_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_026_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_026_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_026_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_026_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_026_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_026_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_026_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_026_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_026_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_026_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_026_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_026_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_026_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_026_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_026">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a4a88044056cf17fbb4d2f0b27e5ef3615804a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026.obj
@@ -0,0 +1,108606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_026_geometry_Looks_material_0
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+v 0.067982 -0.008703 0.056079
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b458674f15875b2b22983d8642daff0fef9aed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision.obj
@@ -0,0 +1,15440 @@
+# https://github.com/mikedh/trimesh
+
+o basket_026_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_0.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca07420936f08ea4b8c87f24e1aa7ba7348fc11b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_1.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90054bf1e9ced37efc1260e86dee0b8e5d7480b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_10.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f23a90265d28362d198cb5de554969cd77425685
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_10.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_11.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89197f537f3f5e7325ec3515feb69cb5b3ef0c51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_12.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558478acd74cfad1914fd4f843b7eae3dff9b324
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_13.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c038a2f8d2bd9067c218a4146e0cfb707612e182
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_14.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a82773c4c9334c25f1799b344aac957e978d38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_15.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53b9d17863080184ebe06fb57a42fb70ab12a47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_16.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe7c814b67a4bc51ee676c6180449cab8f6edc5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_16.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_17.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940fa027a3902ede8ae8a49077246e863e778588
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_18.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d384b70400843e5ad1b371c2af8fc0d89ed351b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_18.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_19.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8172fa158813ed5f3f3cdc49808569db1ae19165
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.05385521 0.04358521 0.00041714
+v -0.05419679 0.04359825 0.00190760
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_2.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e86509c09ef736029a62a00e7808c08f5dd2e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_2.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.05385412 -0.04384354 0.01174227
+v -0.05385412 -0.04370746 0.00930630
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_20.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37be8a6c8ff5cd993a29e328521c88e27469a57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.05727333 -0.03079622 -0.00401705
+v 0.05555798 -0.03144393 -0.00401706
+v 0.05727333 -0.03592814 -0.00401707
+v 0.05727333 -0.03098742 -0.00543230
+v 0.03828931 -0.03417077 -0.01447888
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+v 0.03828931 -0.04130780 -0.01263662
+v 0.04571380 -0.03980229 -0.01447890
+v 0.03828931 -0.04455316 -0.00401710
+v 0.04332012 -0.04291299 -0.00401710
+v 0.05564905 -0.03797898 -0.01447889
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+v 0.03828931 -0.04131722 -0.01262125
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+v 0.03828931 -0.04424343 -0.00539753
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+v 0.03828931 -0.04253726 -0.01038676
+v 0.04996406 -0.03942254 -0.01447889
+v 0.03828931 -0.04422188 -0.00548253
+v 0.03834692 -0.04421650 -0.00545488
+v 0.03828931 -0.04254534 -0.01036628
+v 0.03828931 -0.04353915 -0.00782763
+f 1 2 6
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+f 1 22 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
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+f 5 32 33
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+f 29 31 30
+f 29 30 33
+f 29 33 32
+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_21.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f3d08ecc0bf63251a0719dceb82cd30adf7ca8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_21.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05727333 -0.03723096 0.03288735
+v 0.05727333 -0.03700841 0.03266338
+v 0.05673845 -0.03723096 0.03265977
+v 0.05727333 -0.03723086 0.00638668
+v 0.05727333 -0.03684730 0.03216848
+v 0.05686060 -0.03708965 0.03256946
+v 0.05604415 -0.03723096 0.03193006
+v 0.05431866 -0.03723083 -0.00401708
+v 0.05565199 -0.03664305 -0.00401707
+v 0.05727333 -0.03592761 -0.00401707
+v 0.05727333 -0.03070454 0.00685993
+v 0.05570085 -0.03723096 0.03133040
+v 0.04413804 -0.03723083 -0.00401708
+v 0.05727333 -0.03079666 -0.00401705
+v 0.05485353 -0.03723095 0.02888480
+v 0.05727333 -0.03033930 0.00439266
+v 0.04441191 -0.03723083 -0.00311397
+v 0.05277190 -0.03262758 -0.00292972
+v 0.05068254 -0.03378062 -0.00401706
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+v 0.05555942 -0.03144315 -0.00401706
+v 0.05727333 -0.03062873 -0.00281411
+v 0.05727333 -0.03025669 0.00196511
+v 0.05401394 -0.03199407 -0.00292972
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+v 0.05371307 -0.03224870 -0.00401706
+v 0.05564942 -0.03126702 -0.00292971
+v 0.05411937 -0.03205209 -0.00401706
+v 0.05727333 -0.03038434 -0.00048411
+f 1 2 3
+f 1 3 7
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+f 1 12 15
+f 1 15 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 10
+f 1 10 14
+f 1 14 22
+f 1 22 29
+f 1 29 23
+f 1 23 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
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+f 8 21 14
+f 8 14 10
+f 8 10 9
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+f 11 13 17
+f 11 17 15
+f 13 18 19
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+f 24 25 27
+f 25 29 27
+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_22.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..824a7d2ebc1e53a9ea39bb48097512138b04bc90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05727333 -0.03020670 -0.02838100
+v 0.05727333 -0.03020672 -0.02294180
+v 0.05727333 -0.03096667 -0.02829799
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+v 0.05727333 -0.03240961 -0.01447887
+v 0.03828931 -0.03020672 -0.02228317
+v 0.05727333 -0.03256945 -0.02785709
+v 0.03828931 -0.03020670 -0.02824764
+v 0.05727333 -0.03745489 -0.01447889
+v 0.03828931 -0.03377928 -0.01517153
+v 0.03828931 -0.03417035 -0.01447888
+v 0.05727333 -0.03341996 -0.02755908
+v 0.03828931 -0.03096667 -0.02798364
+v 0.05727333 -0.03753386 -0.01517155
+v 0.05564905 -0.03797984 -0.01447889
+v 0.03828931 -0.04004495 -0.01447890
+v 0.05727333 -0.03504201 -0.02657930
+v 0.03828931 -0.03296340 -0.02682695
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+v 0.05068142 -0.03675172 -0.02302755
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+v 0.05564905 -0.03693183 -0.02325618
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+v 0.05564905 -0.03733350 -0.02203281
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+v 0.03828931 -0.03419824 -0.02555596
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+v 0.03828931 -0.03297592 -0.02681470
+v 0.05727333 -0.03754059 -0.02006642
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+v 0.05727333 -0.03726222 -0.02191305
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+f 29 42 30
+f 30 42 40
+f 36 38 39
+f 36 39 42
+f 37 39 38
+f 39 41 42
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_23.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f81625acd78d28575d60fba1e640c53183eaf18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01683919 -0.02807793 -0.02936454
+v -0.01639494 -0.02807793 -0.02936454
+v -0.01639494 -0.02851438 -0.02936363
+v -0.03129294 -0.02851438 -0.02935447
+v -0.03129294 -0.02807793 -0.02935539
+v -0.01391459 -0.02807793 -0.02934349
+v -0.01391459 -0.02851438 -0.02933891
+v -0.01639494 -0.03096575 -0.02913115
+v -0.03625893 -0.03096575 -0.02920437
+v -0.03874457 -0.03096575 -0.02921078
+v -0.03377858 -0.02851438 -0.02934624
+v -0.03377858 -0.02807793 -0.02934441
+v -0.01142895 -0.02807793 -0.02927393
+v -0.01142895 -0.02851438 -0.02925837
+v -0.01391459 -0.03096575 -0.02907074
+v -0.01639494 -0.03242275 -0.02876962
+v -0.04255766 -0.03312187 -0.02888311
+v -0.04371057 -0.03312187 -0.02889227
+v -0.04868715 -0.03312187 -0.02892705
+v -0.05116750 -0.03312187 -0.02893620
+v -0.01391459 -0.03235511 -0.02873026
+v -0.05365315 -0.03312187 -0.02894444
+v -0.04123022 -0.03096575 -0.02919797
+v -0.03625893 -0.02851438 -0.02932519
+v -0.03625893 -0.02807793 -0.02932061
+v -0.00894330 -0.02807793 -0.02917691
+v -0.00646295 -0.02807793 -0.02906981
+v -0.00894330 -0.02851438 -0.02914853
+v 0.00016896 -0.02808188 -0.02877509
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+v -0.01490356 -0.03312188 -0.02814904
+v -0.01639494 -0.03312188 -0.02819390
+v -0.04123022 -0.03312187 -0.02885474
+v -0.01391459 -0.03312188 -0.02811152
+v -0.01247609 -0.03223859 -0.02865795
+v 0.00016896 -0.03312188 -0.02691065
+v -0.05384354 -0.03312187 -0.02893895
+v -0.05365315 -0.03096575 -0.02892613
+v -0.04123022 -0.02851438 -0.02923274
+v -0.04619622 -0.03096575 -0.02911650
+v -0.04371057 -0.03096575 -0.02916593
+v -0.03874457 -0.02851438 -0.02928857
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+v 0.00016896 -0.02807793 -0.02877509
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+v -0.05384883 -0.03096575 -0.02891972
+v -0.04371057 -0.02807793 -0.02914304
+v -0.04123022 -0.02807793 -0.02922176
+v 0.00016896 -0.02807795 -0.02401005
+v -0.01888059 -0.03312191 -0.02001479
+v -0.05384883 -0.03312190 -0.02268746
+v -0.05384883 -0.02807793 -0.02877784
+v -0.05383824 -0.02807793 -0.02877875
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+v -0.04619622 -0.02807793 -0.02905425
+v -0.05384883 -0.02807795 -0.02409334
+v -0.02137152 -0.03312191 -0.02010998
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+f 1 12 25
+f 1 25 43
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+f 1 51 50
+f 1 50 58
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+f 37 48 49
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_24.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f395428cdacf74ed8936cabc1dcc8e83e4503b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.05727431 0.01974868 -0.02838732
+v 0.05727431 0.02054445 -0.02839977
+v 0.05813564 0.03280732 -0.02848697
+v 0.06062008 0.03280732 -0.02769930
+v 0.05815436 0.01974868 -0.02781401
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+v 0.06252110 0.01974859 -0.00307449
+v 0.05727431 0.03220993 -0.00307444
+v 0.05727431 0.03525951 -0.02818784
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+v 0.06191009 0.01974866 -0.02304557
+v 0.06171792 0.01974867 -0.02344190
+v 0.06083393 0.01974867 -0.02495993
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_25.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a24c91fb2801d84430369fdd0115f861220d1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_25.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_26.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df24d5d9552c85c1d321b36af5c82ff59c6cd6bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_26.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_27.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc373b9c2321a82aafdda3583db5981bfb4c9e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_28.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c29c44ffeb90989b6947396544e21f7507bc328
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_28.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_29.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e70e3a49e65e03fe490dd631f555e2b62c99955
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_29.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_3.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836128a085a07f275c7ff65e59ffc8930bc3dbfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_3.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_30.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9d4c9f00d7363ac158bedabb6706caa0498610
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_30.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_31.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4698eae7b3a907a77fa1e54fb81194dac4a345ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_31.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_32.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602d401d50bf62f2de2e016ba64eeae97f277bd8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_33.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999ae00e4fde1d5c7d4809a823ac2e2992fc4bde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_33.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_34.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d54ba86ff935a3a1f6bb7d760dc49b3e2dd3db4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_34.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03074372 -0.03312188 -0.02841278
+v -0.03074372 -0.03324509 -0.02834261
+v -0.03074372 -0.03312190 -0.02146590
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_35.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1441f2b6a1f53cf17cd7a66e97e339a8e47ff254
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_35.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00017425 0.03430371 -0.02103150
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+v 0.00037866 0.03430255 -0.02103150
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+v 0.03556845 0.04430319 -0.01495283
+v 0.03556845 0.04379157 -0.01607512
+v 0.03556845 0.04374400 -0.01617680
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_36.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3dd502b813921f79334b0fea350bbd6ae33d1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_36.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04375902 -0.04663289 -0.00048484
+v -0.04375902 -0.04656270 -0.00293174
+v -0.04375902 -0.04650049 0.00196205
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+v -0.04620671 -0.04643032 0.00196205
+v -0.04620671 -0.04628069 -0.00048484
+v -0.04375902 -0.04632039 -0.00538102
+v -0.04375902 -0.04609534 0.00440895
+v -0.04620572 -0.04593911 0.00626678
+v -0.04868996 -0.04586232 0.00685823
+v -0.04869095 -0.04588482 0.00440895
+v -0.04620671 -0.04595364 -0.00293174
+v -0.04375902 -0.04631775 -0.00539771
+v -0.04375902 -0.04535389 0.00685823
+v -0.04620572 -0.04581598 0.00685823
+v -0.04868996 -0.04524002 0.00930512
+v -0.05117223 -0.04467466 0.01104133
+v -0.05267523 -0.04457139 0.01087439
+v -0.05270290 -0.04461110 0.00930513
+v -0.05127401 -0.04501626 0.00693932
+v -0.05253788 -0.04454754 0.00780981
+v -0.04804667 -0.04495266 -0.00293174
+v -0.04644387 -0.04526116 -0.00559804
+v -0.04617409 -0.04514464 -0.00671417
+v -0.04375902 -0.04609266 -0.00671417
+v -0.04375902 -0.04192066 0.01644550
+v -0.04868996 -0.04460978 0.01082192
+v -0.05117223 -0.04413578 0.01226478
+v -0.05347367 -0.04234171 0.01644549
+v -0.05365549 -0.04234436 0.01644549
+v -0.05365549 -0.04327118 0.01419892
+v -0.05385411 -0.04322616 0.01419892
+v -0.05356458 -0.04399145 0.01171387
+v -0.05385411 -0.04384448 0.01173772
+v -0.05385411 -0.04370810 0.00930513
+v -0.05385411 -0.04369486 0.00920735
+v -0.05385313 -0.03872697 -0.00671414
+v -0.04743005 -0.04444025 -0.00655914
+v -0.04772058 -0.04469049 -0.00492788
+v -0.04724329 -0.04451174 -0.00671416
+v -0.05385313 -0.03312358 -0.00791849
+v -0.04375902 -0.04067200 -0.00671415
+v -0.04375902 -0.03720175 0.01644551
+v -0.05385411 -0.04233111 0.01644549
+v -0.05385411 -0.04288189 0.00729229
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+v -0.05385411 -0.04279317 0.00710150
+v -0.05385411 -0.04233372 0.00626679
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+v -0.04771168 -0.03733937 -0.00671414
+v -0.05385411 -0.03558901 0.00626682
+v -0.04375902 -0.03727191 0.01440881
+v -0.04387859 -0.03720042 0.01644551
+v -0.04375902 -0.03720042 0.01643359
+v -0.05385313 -0.03314478 -0.00505662
+v -0.05385313 -0.03338841 -0.00293169
+v -0.05385313 -0.03342548 -0.00264073
+v -0.05385313 -0.03381477 -0.00020576
+v -0.05385411 -0.03737519 0.01644551
+v -0.05385313 -0.03310637 -0.00747728
+v -0.04375902 -0.03720042 0.01641928
+v -0.04375902 -0.03725337 0.01456622
+v -0.04375902 -0.03725470 0.01455429
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+v -0.04596757 -0.03720572 0.01644551
+v -0.04848443 -0.03724941 0.01644551
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_37.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47eb04fea63af413ea0ec9364c472bcb40843961
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.06440087 -0.02709890 -0.01759952
+v -0.06439570 -0.02713816 -0.01759952
+v -0.05941400 -0.02709890 -0.01759952
+v -0.06426974 -0.02709889 -0.01860221
+v -0.06314228 -0.03341884 -0.02270854
+v -0.06420986 -0.02850129 -0.01759952
+v -0.05696187 -0.02709888 -0.02270852
+v -0.05385515 -0.03325691 -0.01759954
+v -0.06363373 -0.02709888 -0.02109970
+v -0.06328992 -0.03116250 -0.02270853
+v -0.06312163 -0.03356853 -0.02270854
+v -0.06354701 -0.03094903 -0.01759953
+v -0.06315570 -0.03341884 -0.02251300
+v -0.06269212 -0.03522857 -0.02251301
+v -0.05385515 -0.03310720 -0.02270854
+v -0.06306381 -0.02709888 -0.02270852
+v -0.05385515 -0.03920265 -0.01759956
+v -0.06313505 -0.02709888 -0.02251298
+v -0.06322797 -0.02871353 -0.02270853
+v -0.06269521 -0.03523348 -0.02270855
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+v -0.06252176 -0.03494393 -0.02048411
+v -0.06234830 -0.03463965 -0.01885279
+v -0.06193738 -0.03636227 -0.02270855
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+v -0.05878213 -0.03856585 -0.02270856
+v -0.05862622 -0.03863333 -0.02270856
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_38.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e92765aa316ef2eaa7194d8a5da982e7166f3d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05727333 0.03277210 0.00284627
+v 0.05180645 0.03641487 0.00284628
+v 0.05727333 0.03874873 0.00284629
+v 0.05727333 0.03288543 0.00370625
+v 0.04770348 0.03758673 0.01763684
+v 0.04770348 0.03759919 0.01743995
+v 0.04770348 0.03765025 0.01664801
+v 0.05049968 0.03733895 0.00284629
+v 0.04955075 0.04395322 0.00284631
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+v 0.05680121 0.04132168 0.01079174
+v 0.05727333 0.04103773 0.01113486
+v 0.05727333 0.03332505 0.00585476
+v 0.05727333 0.03579960 0.01762091
+v 0.05726584 0.03580458 0.01763683
+v 0.04770348 0.04255709 0.01763686
+v 0.04770348 0.03934527 0.00284629
+v 0.04853250 0.03873628 0.00284629
+v 0.04938494 0.03812977 0.00284629
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+v 0.05566680 0.04182355 0.01763685
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+v 0.05727333 0.04150349 0.01664802
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_39.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb153f04912f126da35de04a2f9d7756c883f076
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_39.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.03074372 -0.04223392 0.00954538
+v -0.03074372 -0.04609272 0.02399075
+v -0.03074372 -0.03742038 0.00954540
+v -0.01065128 -0.04705406 0.00954537
+v -0.03074372 -0.04614107 0.02453586
+v -0.00894135 -0.04742543 0.00954537
+v -0.00645665 -0.04775396 0.00954536
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_4.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb9ccab2456aeb731e515c1c81bdfeef4fdd4bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_4.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_40.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63573b07ca29fa0baa390daf684ad8a960cfed26
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_40.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_41.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c69a780a91405fbe5593dddfe2782c64cf34a5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_41.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_42.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0cf72da09c8879cc00aabbaa593ecf8acba565
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_42.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.05385521 0.02703720 -0.02368199
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_43.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03f21d7336c56f184d9c44d38fdb1aec85dbff4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.06329072 -0.03116250 -0.02270853
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_44.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab82761b1e5d6af2fe47a60be38421c1bd96f0f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_44.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_45.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7a82d57232fec8b7c8dbf415376b273c245329
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_45.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_46.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797448e73bba2d6575cbd8ff03ac7913c14e279b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_46.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.06518377 0.02279366 0.04014231
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+v -0.06690064 0.01561873 0.04779811
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_47.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5faeec5f13aaf233bf010f98973c24e131af6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_47.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.05899721 0.02703380 -0.00714753
+v -0.05998668 0.02703383 -0.01615780
+v -0.06406152 0.02703380 -0.00714753
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_48.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4db031f3a97d3b153c014b0e2e7880d03d37d3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_48.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03074372 -0.04665444 -0.00669187
+v -0.03074372 -0.04675720 -0.00537922
+v -0.03074372 -0.04203743 -0.00669185
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+v -0.00397196 -0.04789172 0.00930459
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+v -0.00397196 -0.04760604 0.00441000
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+v -0.00149029 -0.04788453 0.00930459
+v -0.03074372 -0.04601735 -0.00048461
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+v 0.00017122 -0.04038713 -0.00048459
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_49.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37708b0dfa3434749b655d167c77a97751822cf8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_49.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_5.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b0974fc92c49308d7868abcd3e9d59c9b26670
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_50.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce24623f92eee849b41df64ad1e79d530c9bd46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_50.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_51.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09492448ae90c7a1adc0469c3bb72a1bb7108366
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_51.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_52.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6df549878e30995687a0400dd41e5b14f8144728
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_52.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.06438721 -0.02277067 0.03626380
+v -0.06594914 -0.02270215 0.03626380
+v -0.06336037 -0.02115676 0.03626380
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+v -0.06304775 -0.01870164 0.03867765
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_53.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72283412e22bd57c3a5fa2924b3853833301969
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_53.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.06856298 0.00092217 0.05984265
+v -0.06672818 0.00092217 0.05980728
+v -0.06677880 0.00337347 0.05976720
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+v -0.06479550 0.00972638 0.05709917
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_54.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07aeb7887f2f14b5ba81eaf3e7c107221d0d261
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_54.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_55.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9853e354ffb9b71e74a207d6a39e0f201d94f249
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_55.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_56.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0558e77d32a1f376479e128ce7be5d220593f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_56.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_57.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64b814252b5335e75d670b2e15d29662fc097c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_57.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.06507239 -0.02532347 -0.00889762
+v -0.05856181 -0.02709644 -0.00889763
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+v -0.06656871 -0.02606048 0.00930348
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_58.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505952f9394802b6d2ced15183334cdfc3daeb3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_58.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03074372 -0.03819379 0.01644324
+v -0.03606232 -0.03763761 0.01644324
+v -0.03074372 -0.04310848 0.01644322
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_59.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57084dfdaf37050b671dd10d038f54020e3b7f20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_59.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_6.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db9b25cf7f55d1e74e30d7fc0ea436bbfd7fd43a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_6.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_60.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e444ed8035655febd1482cfd95b5b34a2a05fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_60.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_61.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f871e8c3bbb69a4a5092f5f89f124c453d6a875
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_61.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.04617320 -0.04514556 -0.00671733
+v -0.05385412 -0.03961164 -0.02389133
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+v -0.05385412 -0.03789397 -0.02702277
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+v -0.05365645 -0.03790016 -0.02702060
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+v -0.04459096 -0.03941378 -0.02396749
+v -0.04622216 -0.03565199 -0.02800420
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_62.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec0375e3b45281a9933c4fd889941cafcac72bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_62.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.04770229 0.04255740 0.01763686
+v 0.04719389 0.04260944 0.01763686
+v 0.04770229 0.03758584 0.01763684
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+v 0.04322887 0.03800036 0.01664801
+v 0.04770229 0.03934625 0.00284629
+v 0.04770229 0.04538697 0.00930633
+v 0.04571265 0.04571932 0.00930633
+v 0.03556845 0.04368867 0.01763686
+v 0.04322887 0.04625985 0.00778181
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+v 0.03556845 0.03898281 0.01581553
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+
diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_7.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a727292afb8a2407baf4648329ebf9c2f228b55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_7.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.05385412 -0.02807743 -0.02877825
+v -0.05365315 -0.02807743 -0.02878650
+v -0.05385412 -0.02807745 -0.02409250
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+v -0.05385412 0.02241220 -0.02346909
+v -0.05385412 -0.00888642 -0.02926344
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+v -0.03874987 -0.02807743 -0.02928179
+v -0.00645766 -0.02807743 -0.02907070
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_8.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccbcc993bd26c8a10253a5e04ffa805a8c041a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_9.obj b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715ac4f94b7585cc0b5ed8951b9fd8582255c084
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/mjcf/mesh/basket_026_collision_9.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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