diff --git a/.gitattributes b/.gitattributes
index d3fa86d3333bd2a565318968285140a26b5d8915..d152ece7ebe52c43091108d42493cf001e532885 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/e028a8310ee756aebccc3732ba821ad0/e028a8310ee756aebccc3732ba821ad0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/mesh/plastic_bucket_gs.ply 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
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.urdf b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..601dd94d062e28bc97bd5ed26ad682c64cdfd119
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.377699</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven rectangular basket with rounded edges and flat base</description>
+         <min_height>0.072</min_height>
+         <max_height>0.108</max_height>
+         <real_height>0.090</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116163552</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.121373176574707</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.usd b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.usd
new file mode 100644
index 0000000000000000000000000000000000000000..19153067596f916e2eabc8266a87b68bcb51bc38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/e04419582e9b539f8bcf74a4ee2bbe33.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98bfe9ff55a963470da97abe521c691afb6dde13554ebbe354f655548c489cb0
+size 546143
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.glb b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7bfebb1e3fe8ea8e96f5e1367dc8a8edac5368bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358670168850a2eea04eb70932cf04b27ff60d15f5798d74a9a8c60bfcf34172
+size 3444724
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782b577d7f89cb6b1c7707ad2d297d75de131661
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket.obj
@@ -0,0 +1,34460 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb17781967dfb994e8235d53d06f22da54a8de1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2a3483e2dad0324cb787b47fdcd7d762430dd3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85b115698f9bacc9eca62edf431a767c0f5053404849daa9375275520c276ea
+size 2799241
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/material.mtl b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/material_0.png b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:19142d8ebf63b7b96cf233b261d4a62ae720ae2d99869454ec37ad15d33456f5
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/e04419582e9b539f8bcf74a4ee2bbe33.xml b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/e04419582e9b539f8bcf74a4ee2bbe33.xml
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index 0000000000000000000000000000000000000000..c6c6e811419943416b00e4d586dd32a7c583a873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/e04419582e9b539f8bcf74a4ee2bbe33.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+  </asset>
+  <worldbody>
+    <body name="basket">
+      <joint type="free" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080ecd2224c42af0f20076f613b7de4c2f62cb65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket.obj
@@ -0,0 +1,34460 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd844c56a13ff5510ebf3aba34a34f7fa4523aad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,10339 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae39f898b4bcd6278da93ee0e5f0b6274f0db8cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_0.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a85fad2c0739e5a08b1d01519e7dd2638a3f923
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf8672c42f863a30e78a623aef3bcbc88e8cc3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05706648 0.00078433 -0.03369880
+v 0.05706648 0.00078437 -0.04393489
+v 0.05706648 0.00119872 -0.03365956
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fff503e6763f57a2ea3d515c58af66e877b00eee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07340223 0.05214884 -0.02355520
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3065a0de3cac9ad4a774d1893cfdd017ea527303
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.07739897 -0.09092826 0.01283586
+v 0.07609830 -0.09756078 0.01283583
+v 0.07490991 -0.09649272 -0.00181580
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a08f512ce01493d03b8efc81bcf9243b0596916
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7f4aef78b024fb4924c29e33fa228b037b0cd1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e02271521e24230885697bd448985ad564656be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.05490893 -0.13128073 0.03307282
+v -0.05561059 -0.13101532 0.03307282
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abb6d318e2278c13260dabb910c7211ed8b883c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04156582 0.11598092 0.01560237
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+v 0.03793063 0.11578003 0.01560237
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..489d4db7a11f378062874b4984cabfebd3f77d5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00016403 0.11793163 -0.02303605
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2db1c9be3c36192717e6a298d7e5ac1eab1c62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.08800215 0.04618908 0.04451570
+v -0.09063628 0.04618908 0.04451570
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0d83e401ca5c9b72aff1938f647321d71a6b9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134ed9d5dbcba6042c76be38ffb856e51c650331
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,436 @@
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ddd9ed1814035e5206878a2b7086594427b2246
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00119994 -0.12792398 0.04223232
+v -0.00119994 -0.12703253 0.04184558
+v -0.00119994 -0.13125767 0.04219076
+v 0.03785254 -0.12350125 0.04017395
+v 0.03785254 -0.12343691 0.04017395
+v 0.03785254 -0.12068449 0.03988631
+v 0.03785254 -0.12064084 0.03987671
+v -0.00119994 -0.12434904 0.04057028
+v -0.00119994 -0.13241562 0.04215240
+v 0.03785254 -0.12632030 0.03991505
+v 0.03785254 -0.11843521 0.03854068
+v -0.00119994 -0.12210435 0.03845118
+v 0.03785254 -0.11543694 0.03636406
+v 0.03785254 -0.11539098 0.03632570
+v -0.00119994 -0.13540697 0.04049034
+v 0.00212578 -0.13528982 0.04030815
+v 0.00212578 -0.13241562 0.04180081
+v 0.02002738 -0.13134498 0.04031137
+v 0.02450374 -0.13077978 0.04000772
+v 0.02755424 -0.13038001 0.03975842
+v 0.03785254 -0.12636166 0.03989587
+v -0.00119994 -0.12172067 0.03788863
+v 0.03785254 -0.11314171 0.03322853
+v -0.00119994 -0.13653505 0.03743473
+v 0.00212578 -0.13643627 0.03743473
+v 0.00660214 -0.13607785 0.03743473
+v 0.00660214 -0.13499114 0.03996615
+v 0.00955326 -0.13477057 0.03973283
+v 0.01253494 -0.13446729 0.03939084
+v 0.02002738 -0.13358963 0.03843835
+v 0.03345645 -0.13153105 0.03693294
+v 0.03785254 -0.13096586 0.03630647
+v 0.03053975 -0.12985616 0.03947395
+v 0.03345645 -0.12929099 0.03911598
+v 0.03785254 -0.12856726 0.03848632
+v -0.00119994 -0.12066839 0.03627133
+v 0.03785254 -0.11336219 0.00958266
+v -0.00119994 -0.11865797 0.00958264
+v -0.00119994 -0.11901639 0.01450808
+v -0.00119994 -0.13658788 0.03307503
+v 0.00212578 -0.13660856 0.03307503
+v 0.00660214 -0.13640867 0.03307503
+v 0.01107850 -0.13608701 0.03307503
+v 0.02002738 -0.13519559 0.03625849
+v 0.02365510 -0.13494746 0.03575669
+v 0.03785254 -0.13097505 0.03623615
+v 0.03785254 -0.12323693 0.00958263
+v -0.00119994 -0.12926561 0.00958261
+v -0.00119994 -0.13659245 0.02983723
+v 0.00212578 -0.13652124 0.02871215
+v 0.00660214 -0.13625932 0.02871215
+v 0.01107850 -0.13588252 0.02871215
+v 0.02365510 -0.13494746 0.03436313
+v 0.03785254 -0.13071769 0.02451230
+v 0.03785254 -0.13039372 0.02215666
+v 0.03696951 -0.13052469 0.02172517
+v 0.03162539 -0.12584461 0.00958262
+v -0.00119994 -0.13496120 0.02186899
+v 0.00212578 -0.12920128 0.00958261
+v 0.00212578 -0.13492903 0.02189454
+v -0.00119994 -0.13656949 0.02871215
+v -0.00119994 -0.13620646 0.02547755
+v -0.00119994 -0.13607090 0.02435566
+v 0.00212578 -0.13598820 0.02435566
+v 0.00660214 -0.13578831 0.02435566
+v 0.01107850 -0.13547585 0.02435566
+v 0.01909847 -0.13488308 0.02559900
+v 0.02898009 -0.13269815 0.02435567
+v 0.03345645 -0.13174467 0.02435568
+v 0.02450374 -0.13361486 0.02435567
+v 0.02036379 -0.13429493 0.02422782
+v 0.01638437 -0.13445115 0.02269361
+v 0.03345645 -0.13091298 0.02125851
+v 0.02901449 -0.12630181 0.00958262
+v 0.01340269 -0.13466710 0.02216304
+v 0.01107850 -0.13474063 0.02208952
+v 0.00660214 -0.13485091 0.02197766
+v 0.01515730 -0.13504162 0.02422781
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70361c32593edecb25101c9ecc050867a5038985
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.08557411 0.02923907 -0.02355602
+v 0.08260387 0.02923909 -0.03115492
+v 0.08229607 0.03373155 -0.03115491
+v 0.08541166 0.03038953 -0.02355602
+v 0.08529196 0.00229855 -0.02355612
+v 0.08200536 0.00229857 -0.03115502
+v 0.08493287 0.03373153 -0.02355601
+v 0.07986447 0.04934346 -0.03115485
+v 0.08506967 0.00077729 -0.02355613
+v 0.08183265 0.00077731 -0.03115503
+v 0.08188224 0.00120517 -0.03115503
+v 0.08236959 0.04934344 -0.02355595
+v 0.07059465 0.04934346 -0.03115485
+v 0.07218834 0.00077729 -0.02355613
+v 0.06811859 0.00077731 -0.03115503
+v 0.07411892 0.04934344 -0.02355595
+v 0.06810492 0.00229857 -0.03115502
+v 0.07410353 0.04934344 -0.02358719
+v 0.07201905 0.00158547 -0.02355612
+v 0.07171468 0.00077729 -0.02414454
+v 0.07202589 0.00229855 -0.02355612
+f 1 2 3
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+f 17 20 19
+f 17 19 21
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc1d9468a9b3b2e798dab8949e6bc0646463f6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.06814711 0.00077731 -0.03111259
+v 0.07991624 0.00077719 0.00255802
+v 0.08184776 0.00077731 -0.03111259
+v 0.06702566 -0.02464132 -0.03111268
+v 0.09174376 0.00077719 0.00255802
+v 0.06689187 -0.02913285 -0.03111270
+v 0.07940781 -0.04793352 0.00255784
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+v 0.08097445 -0.02459364 -0.03111268
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+v 0.09000686 -0.02913297 0.00254472
+v 0.08966627 -0.02908526 -0.00202004
+v 0.06844389 -0.04793340 -0.03111277
+v 0.08614624 -0.04793352 0.00255784
+v 0.08688334 0.00077727 -0.01933316
+v 0.08589811 -0.02937130 -0.01960353
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+v 0.08738446 -0.02913291 -0.01489703
+v 0.08962006 -0.03193660 0.00255790
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+v 0.08386442 -0.04793347 -0.01135074
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+f 24 34 35
+f 24 35 30
+f 24 32 36
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+f 25 29 26
+f 26 28 34
+f 26 34 27
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83032b812a2c7b66db300dc34bb33e35f8bf962
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00119994 -0.09092805 -0.04303319
+v -0.00119994 -0.09092809 -0.03345750
+v -0.00087706 -0.09092805 -0.04304183
+v 0.03806816 -0.10394349 -0.04129568
+v 0.00212493 -0.10394349 -0.03966927
+v 0.00110633 -0.10394349 -0.03956924
+v -0.00119994 -0.10394350 -0.03931114
+v 0.01662370 -0.09092809 -0.03343031
+v -0.00119994 -0.10394352 -0.03184841
+v 0.03806816 -0.10394353 -0.03047270
+v -0.00011215 -0.09092805 -0.04304801
+v 0.00212493 -0.09092805 -0.04306406
+v 0.00355098 -0.09092805 -0.04307395
+v 0.00660294 -0.09092805 -0.04308258
+v 0.03490857 -0.09092805 -0.04308876
+v 0.03806816 -0.09092805 -0.04308752
+v 0.03792981 -0.09092809 -0.03346736
+v 0.03806816 -0.09092809 -0.03346861
+f 1 2 8
+f 1 8 17
+f 1 17 18
+f 1 18 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
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+f 2 10 8
+f 3 11 4
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+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 18
+f 4 18 10
+f 4 10 9
+f 4 9 7
+f 4 7 6
+f 4 6 5
+f 8 10 17
+f 10 18 17
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64eafe9590ed2585fc770b45fa24076f3681560b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02935638 0.08869857 -0.03214684
+v -0.05197468 0.08351592 -0.02303617
+v -0.04483661 0.07865449 -0.03214688
+v -0.02935638 0.11132384 -0.03214676
+v -0.02935638 0.10282927 -0.02304413
+v -0.05442603 0.08213094 -0.02303618
+v -0.02935638 0.10307818 -0.02303610
+v -0.05606509 0.08121163 -0.02303618
+v -0.04705465 0.07749432 -0.03214689
+v -0.02940247 0.11130777 -0.03214676
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+v -0.02981151 0.11416199 -0.02303606
+v -0.02935638 0.11426235 -0.02303606
+v -0.05818809 0.08022407 -0.02303619
+v -0.05878148 0.07987082 -0.02318513
+v -0.05878148 0.07325108 -0.03214690
+v -0.03387313 0.10934473 -0.03214677
+v -0.05161171 0.10460767 -0.02303610
+v -0.05878148 0.07999928 -0.02303619
+v -0.05878148 0.09149260 -0.03214683
+v -0.05150513 0.10036849 -0.03214680
+v -0.05378944 0.10334715 -0.02303610
+v -0.05878148 0.09394537 -0.02303613
+v -0.05526717 0.10116731 -0.02303611
+v -0.05467954 0.10209063 -0.02303611
+v -0.05572231 0.09617343 -0.03214682
+v -0.05372607 0.09869447 -0.03214681
+f 1 2 3
+f 1 3 9
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+f 1 20 26
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+f 1 27 21
+f 1 21 17
+f 1 17 10
+f 1 10 4
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+f 2 22 25
+f 2 25 24
+f 2 24 23
+f 2 23 19
+f 2 19 14
+f 2 14 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 8 14 9
+f 9 15 16
+f 9 14 15
+f 10 17 11
+f 11 17 18
+f 14 19 15
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+f 15 23 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 21 27 22
+f 22 27 26
+f 22 26 25
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3161da19f3ae94562182b68d2a5a35be75db0c67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00016576 0.11792329 0.01897025
+v -0.00016576 0.11634635 0.01451716
+v -0.00016576 0.12843638 0.01897029
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+v -0.04688796 0.09287653 -0.02303614
+v -0.00016576 0.10476815 -0.02303610
+v -0.00016576 0.12418945 -0.00181494
+v -0.00148761 0.12830410 0.01897029
+v -0.04688796 0.11779101 0.01897025
+v -0.04688796 0.10586821 -0.02303609
+v -0.00016576 0.11793041 -0.02303605
+v -0.00016576 0.12375083 -0.00394898
+v -0.03183073 0.12142539 0.00415542
+v -0.02920990 0.12455838 0.01897028
+v -0.04688796 0.10926230 -0.01489469
+v -0.04638483 0.11805558 0.01897025
+v -0.03590607 0.12128614 0.00917593
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+v -0.04688796 0.10839551 -0.01816770
+v -0.03614847 0.11251025 -0.02179430
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+v -0.00016576 0.11953521 -0.01909281
+v -0.02920990 0.11429260 -0.02303606
+v -0.02920990 0.11589392 -0.01925730
+v -0.00016576 0.12162736 -0.01375566
+v -0.03252138 0.11718890 -0.01414630
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+v -0.03239331 0.12407798 0.01897028
+v -0.03747489 0.12233740 0.01897027
+v -0.03364657 0.12382037 0.01897027
+v -0.03388441 0.11630121 -0.01531817
+v -0.03368315 0.11492267 -0.01925731
+v -0.03344989 0.11325173 -0.02303606
+v -0.00016576 0.12141502 -0.01439300
+v -0.02980908 0.11416032 -0.02303606
+v -0.02920990 0.11675027 -0.01687655
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+f 1 12 7
+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd23b6a931c70f96b51ad2c1d7ebfeba0a9fc703
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04689178 0.10586363 -0.02303214
+v -0.04711733 0.10582181 -0.02303214
+v -0.05030958 0.10816479 -0.01772348
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+v -0.04689178 0.09287674 -0.02303219
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+v -0.05329154 0.10753301 -0.01610832
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+v -0.04689178 0.11697601 0.01740227
+v -0.04689178 0.10926097 -0.01489697
+v -0.05161704 0.10460847 -0.02303215
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+v -0.04689178 0.10830692 0.01740224
+v -0.07223849 0.09472179 -0.00516251
+v -0.05399499 0.10793466 -0.01320262
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+v -0.07786982 0.09552501 0.01740219
+v -0.07682232 0.09491837 0.01126616
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+f 25 41 26
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+f 26 41 40
+f 33 38 35
+f 33 35 34
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d510b73950e87aab7dafd8049b4398caad4a00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03449272 -0.10293774 -0.03193280
+v -0.00258823 -0.10363702 -0.03193280
+v -0.03449272 -0.12028985 -0.03193286
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+v -0.00120320 -0.11785999 0.00130372
+v -0.03406254 -0.12056707 -0.03193286
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+v -0.03203553 -0.12142618 -0.03193287
+v -0.03449272 -0.12300709 -0.02440454
+v -0.03368452 -0.12747757 0.00130368
+v -0.03449272 -0.12704300 -0.00181631
+v -0.00120320 -0.12228530 -0.03193287
+v -0.00235359 -0.12845156 0.00130368
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+v -0.03449272 -0.12321937 -0.02362047
+v -0.03048428 -0.12817435 0.00130368
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+v -0.02921007 -0.12745257 -0.00617910
+v -0.03449272 -0.12524732 -0.01490142
+v -0.03449272 -0.12531223 -0.01455981
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+f 34 44 43
+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ccc01c0b51bb36a5451ee52c2835969ff0e078
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.08827490 0.04618918 0.01567749
+v -0.09580142 0.04618915 0.02479847
+v -0.08215436 0.04618918 0.01567749
+v -0.09125240 0.03373377 0.01567744
+v -0.09625949 0.04618915 0.02569053
+v -0.09152905 0.02923523 0.01567743
+v -0.08053068 0.04618911 0.03496960
+v -0.07987304 0.03385823 0.01567744
+v -0.09788317 0.04270854 0.02871673
+v -0.09779700 0.04618913 0.02871674
+v -0.09532520 0.02901294 0.02396281
+v -0.08863093 0.00077714 0.01567732
+v -0.09426617 0.00077710 0.02623802
+v -0.09433421 0.00230179 0.02611099
+v -0.09452470 0.00679144 0.02578073
+v -0.08053068 0.04618911 0.03642626
+v -0.07611546 0.00089709 0.03442179
+v -0.07610865 0.00077707 0.03437096
+v -0.07799085 0.00230183 0.01567733
+v -0.09766321 0.03821891 0.02871671
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+v -0.09927327 0.04618912 0.03361176
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+v -0.09921432 0.04270852 0.03627946
+v -0.09927327 0.04618911 0.03637262
+v -0.09505308 0.00077706 0.03699350
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+v -0.09774257 0.04618910 0.03855475
+v -0.09809633 0.04618910 0.03806075
+v -0.09420268 0.00077706 0.03843320
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+v -0.09236810 0.04618908 0.04345260
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+v -0.09063558 0.04618908 0.04451685
+v -0.08522710 0.00077704 0.04399727
+v -0.08511145 0.00077704 0.04399727
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7938924174cdab526247d3f90f7592c033f2e22b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ab4e49dad4f0beac86deecdd3b206f145392b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b81020f2c3b8748911640bc3547d95a44106fa5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94beefd8e258d5d505bb05be73d82ce25ac5933
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3166fde38fe02cba7a82244c90e9820003d68acc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.07469586 -0.04258558 -0.03115854
+v -0.07824524 -0.04258564 -0.01490126
+v -0.07397585 -0.04258558 -0.03115854
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+v -0.05490893 -0.08991167 -0.03115871
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+v -0.06870911 -0.10510134 -0.01925895
+v -0.07084514 -0.10097535 -0.01490147
+v -0.08176795 -0.06522602 0.00003680
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c341197ef643be8c53efb9844c70f5b8ec15d2aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05490693 -0.08759964 -0.03193274
+v -0.03449471 -0.10294111 -0.03193280
+v -0.05490893 -0.09077493 -0.03193275
+v -0.05490893 -0.09055395 -0.03094699
+v -0.05490893 -0.09350442 -0.02453133
+v -0.05490893 -0.10627549 0.00130376
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+v -0.05490893 -0.11457625 0.00130373
+v -0.03449471 -0.12719991 0.00130368
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+v -0.05490893 -0.11347903 -0.00619857
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de740861b569b5aaaa64d8779ce065e29278ba4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03367683 -0.13558176 0.03307253
+v -0.03823251 -0.13523789 0.03340906
+v -0.04264061 -0.13510745 0.03233636
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+v -0.03367683 -0.12747982 0.00130790
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+v -0.05490686 -0.12821508 0.02258951
+v -0.03937559 -0.12514384 0.00130369
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4177e8caa04961137d542107c30439f23b9146
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b429b7f7340631b0c0e1eb639f5142c1cb0f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.05490893 -0.11907055 0.01895222
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9cb041bac1e96fe147c33547b89365ea8fa3ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.09132623 0.06067441 0.00906695
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1a973ff774a21f594db8cfbedc1ef4a38f3ef6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d934bee223c174801eb73ef1eb9c844f678953
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65326f2f4302853de8056598f9d6a646de6d53f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d477010ed5c70d9e5a8f58535b5e7884862a9f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f9d772044a80f2381c936ab29557acde8fc4fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08338802 0.06067862 -0.02355591
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc095ee30e58680122eff830ed6e159ec1d240ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.06844527 -0.04793760 -0.03111277
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00fda9da2028164b03bafcab1a6027aed6eeb37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74e789835d29612ed88212265083b0d1465051be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b88b417b61f50de4bb9b162eddd75d179d4e6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec7c2ee03d227ad715fb9778ed859338930c263
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07470a8274a9a22ef5c84248bcda5773719369e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1fe4dc64c0c1f23d3d0baf3d319b5d43d12fc58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00016576 0.13597689 0.03053361
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+
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffdb3bd9cc99af834acb6f41d15ad01b30620e81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fe51b9e8abb3d34f8d8ff72df1280e376c7a15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d790a94d583245c4ca53b90e7e7094ea16b8ad98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4ed2536d5b7b5621038ec2642b9276074c9070
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92010e3d6be856f0db1f0a618f98e2ad15d3942
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_9.obj b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee34837e1cd424339a44af0ecbec0c62306d0e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/basket_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..52d944fad2ad730a25ad5c45ac973fcce5359c87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 3068235
diff --git a/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/textures/material_0.png b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/textures/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/e04419582e9b539f8bcf74a4ee2bbe33/video.mp4 b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99c71b7337bb3a1ac9b587879e6747026904a676
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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