diff --git a/.gitattributes b/.gitattributes
index d152ece7ebe52c43091108d42493cf001e532885..0d9433a25bf8a82d56806ce3931ff4bed3cfe340 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2850,6 +2850,6 @@ dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer
 dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/mesh/storage_box_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/storage_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.urdf b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7c620229e5684dacce8bbbe54bf4b6435635dce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gray_basket">
+   <link name="gray_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.699685</scale>
+         <version>v0.1.7</version>
+         <category>gray basket</category>
+         <description>rectangular gray basket with open top and hollow sides</description>
+         <min_height>0.2</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.25</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260117185700</generate_time>
+         <gs_model>mesh/gray_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object has missing geometry on the bottom side.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.220240592956543</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.usd b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.usd
new file mode 100644
index 0000000000000000000000000000000000000000..19553217efc9179c8b747da260729d51e2bc0c9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a406a0a4bccb7499802ef22c56e88db6782f517de9e1e72fb6bafa9d8f0a8816
+size 505612
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.glb b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4e71d328b13ada01fbd5440e50b3401925b090dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3bdc55a131a09edd7d38ded4dbdb6a17a143acdc8f23e55d90cdb511d14c382
+size 1219056
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27796dc848dbdb2442b5e99112db9e4e8f5996eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.obj
@@ -0,0 +1,31184 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751c6ed0c5735312f01a899cd60392e52dc3f8f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply
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index 0000000000000000000000000000000000000000..4e23f9ab071eebe49ed68225fdfecf8af1b8dc48
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/material.mtl b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/material_0.png b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/e19f2b44ea175005b103d90bd21a6ac9.xml b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/e19f2b44ea175005b103d90bd21a6ac9.xml
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+    <mesh name="collision_mesh_0_12" file="mesh/gray_basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/gray_basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/gray_basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/gray_basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/gray_basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/gray_basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/gray_basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/gray_basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/gray_basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/gray_basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/gray_basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/gray_basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/gray_basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/gray_basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/gray_basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/gray_basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/gray_basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/gray_basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="gray_basket">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22d5b20b59671fad9a6b85138add429a5b15ff9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket.obj
@@ -0,0 +1,31184 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc8cb8c49bd9fd543e62a16c31aad1cc440c9512
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision.obj
@@ -0,0 +1,10634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_0.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61cab7968fd8c5511753a4cd7f54e7c05cd91551
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_0.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_1.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7788fce2c3674f7a362b9f955ad391118a4e4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_1.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_10.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e107d3e1efb87e90f265f6625d19de813d33f41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_10.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_11.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b861f9ee375f7f1d70817ebf7e9cbb653ef86845
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_11.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_12.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40677e8a6e5a1786db4f1742086722d8dd1be5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_12.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_13.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7082ec380e14b6d7c3f7ca2cfd41bae4ad12aa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_14.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30da10036468e5759079b3d55f62b8546a4f6b2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_14.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_15.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af50ca0b8709156a03c0f3575cfdd44de6f73e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_16.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..763f09e2739d4d3e2ea30b9648486d9965a8a6d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_17.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1814449ab66b19466af5d22afd4e051e016e213
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_17.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_18.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce95be2a5a125b4388e61417f3125c17ae0bf0c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_18.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_19.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ceda97176eee104c519f33c8fc333ce86f8347
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_19.obj
@@ -0,0 +1,1003 @@
+# https://github.com/mikedh/trimesh
+v 0.16843758 0.20429250 -0.10748133
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_2.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f9a0cbe80f04dbb577be4c799a90ba484c230f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_20.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d29e683389f1de265d9cb5449013f2f4f28b66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_20.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_21.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a495720e0e85545ac58e9ca2fa768af9abe89d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_22.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d7e6eeb71713e146a5b44b502c6aab110803e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_22.obj
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+
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_23.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67ed84ae8dede0a524daf66b10749e6abeddabba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_24.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478c0068af24837bbc37d38dc10c66a91156e4a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.11530350 -0.24863359 -0.10747958
+v 0.14472878 -0.24863363 -0.09424341
+v 0.16394889 -0.24863359 -0.10747958
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+
diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_25.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea117ebf87e8cea5b8b6494f5db3865fd070bbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_25.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.20684319 -0.26266658 0.10261331
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+v 0.19049297 -0.29475342 0.11656964
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_26.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71045a81b0cb0755f2b8a40a53ce6fcaff71c86b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_27.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f922ef8741c615db9b5cf4536d8aa0c99ef83731
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_27.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_28.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a218cbd96573d9f8d48ee460524d9ee49847238c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_28.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_29.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947f915a7163332bfd68ea17d7d4155d9f1f1850
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_29.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_3.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d8e93cb53ff28011faaa4f56c2671569866f14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_4.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4675222b43ccebb0c112c55309535c774f834a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_4.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_5.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4015402cfb0a93772c27938d1fe2b526b551e0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_5.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_6.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a5b08a107809d1d64e519622fb5684ef7544e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_6.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_7.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326d8b958dc447371edda2430fee40bacf54d257
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_8.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d419ddd3a8bf81bfc024203766bf0f75d3ba094
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_8.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_9.obj b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b87fa89d0fabd7f5f5207786b329084aa8be3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mjcf/mesh/gray_basket_collision_9.obj
@@ -0,0 +1,823 @@
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