diff --git a/.gitattributes b/.gitattributes
index e12c3368cd40316e74790fc2d8a7ddfec23273d8..f09a744262b1d460da732a0e8b8ab9864152d36c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2853,9 +2853,4 @@ dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55c
 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
-dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/mesh/pill_organizer_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/pill_organizer_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.urdf b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..194a8163518b1a8e782dd9714597742789d64a2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.urdf
@@ -0,0 +1,57 @@
+<?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="1.1500" />
+         <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>0.400000</scale>
+         <version>v0.1.5</version>
+         <category>basket</category>
+         <description>woven wooden basket with rounded body and curved handle</description>
+         <min_height>0.35</min_height>
+         <max_height>0.45</max_height>
+         <real_height>0.4</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20251011204654</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.221904039382935</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.usd b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..379854a00393745f982af60cf107ecd1448feb36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1372b843a7e705462c0a5042d1c0f621ccc269b23c8da92a0f5d00fa9017ea76
+size 707777
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.glb b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4729af24cb3972459ff6f8ff3eca08fad8c579ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f64f4b0da8556a32ca1d9633528af415b1aba53625c97441d71df1f9978eb00
+size 4045524
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abcf79b8f267c258459be16c574eeb60f4f5d9ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket.obj
@@ -0,0 +1,46287 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25731e1af398622ffc04e9128e718e619b31635c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_collision.obj
@@ -0,0 +1,17199 @@
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ab42f6cd40d6fadcc190a59255adc2bff9214333
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/material.mtl b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mesh/material_0.png b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/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/ea7d7b028495590a8888877a8277422a/mjcf/ea7d7b028495590a8888877a8277422a.xml b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/ea7d7b028495590a8888877a8277422a.xml
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index 0000000000000000000000000000000000000000..71c56fac5009058bb126dc031af5483251c833c9
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+    <mesh name="collision_mesh_0_72" file="mesh/basket_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_75" file="mesh/basket_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_77" file="mesh/basket_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_80" file="mesh/basket_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_87" file="mesh/basket_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="basket">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fadc14d8a1896916d1af91912142f706ca4baae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket.obj
@@ -0,0 +1,46287 @@
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69a7ef7d11771cc2d8bc285e31ccc57d78e0144
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,17199 @@
+# https://github.com/mikedh/trimesh
+
+o basket_collision.obj
+v 0.15845277 -0.05542916 -0.10921138
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffb1eb41397fbeaf54d085ee6b295ba4fddaa0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033f812a7e91c31203c5445b7092304d07441f3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7619a9148b1cb6d4cc0ca8569a70500b7fa2bf0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00003150 0.15930141 -0.15818345
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+v 0.02922064 0.11922507 -0.17357701
+v 0.03585224 0.13014096 -0.15818356
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b481d8bd6c24958013c79ebfabba4edee6f8573
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.05306986 0.16328460 0.01075631
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d52dda12b055d80461c9cd8d47843dc1d775f04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v -0.14621159 0.04299787 -0.16430426
+v -0.14933263 0.01908538 -0.16848557
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0538fa677c7c104b3809fdcc2af5ac801508c61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41be2848c87bb029dc69fbcc0b3bc283d15ffb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.10026744 0.08867416 -0.17288322
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8290817787190638f6f91b5ac36f4cbbf5132b90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.17514687 -0.01836333 0.07617670
+v -0.17505772 -0.01836331 0.07173180
+v -0.17405382 -0.02942307 0.07617666
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+v -0.13851469 -0.04348326 0.08465249
+v -0.14435583 -0.01836336 0.08570148
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89908a2c27aa2ce500bb666fa256e441fdd8f986
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.09339132 -0.12551501 -0.14368675
+v -0.09684526 -0.12458358 -0.14368675
+v -0.09673032 -0.12357986 -0.14891357
+v -0.09339132 -0.12442296 -0.14891358
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+v -0.10679904 -0.11877817 -0.15247470
+v -0.10337383 -0.11974973 -0.15502384
+v -0.10558643 -0.11806352 -0.15688919
+v -0.09339132 -0.11949273 -0.16775860
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+v -0.09339132 -0.11820799 -0.17142367
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+v -0.15075199 -0.04348488 -0.14368645
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+v -0.14479812 -0.04926608 -0.17162855
+v -0.14555097 -0.04926609 -0.16926813
+v -0.14659692 -0.04926610 -0.16595862
+v -0.14751069 -0.04926611 -0.16215132
+v -0.15209679 -0.05588254 -0.14368650
+v -0.15203358 -0.05478249 -0.14368649
+v -0.14902215 -0.04926614 -0.15553505
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc423e7b9e445d4cae36255ee1dc27560202fd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00003150 0.15929971 -0.15818345
+v 0.00044191 0.15928177 -0.15818345
+v -0.00003150 0.13913993 -0.15818353
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+v 0.04931906 0.14915700 -0.15561039
+v 0.04931906 0.14912561 -0.15573149
+v 0.04931906 0.14847964 -0.15818349
+v 0.02288057 0.13092618 -0.15818356
+v 0.02469692 0.14523125 -0.00355566
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+v 0.00271235 0.16838806 -0.11580304
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+v 0.04931906 0.13088580 -0.15818356
+v 0.02922330 0.12949516 -0.15818356
+v 0.02903007 0.14457182 -0.00355566
+v -0.00003150 0.17429562 -0.00355555
+v -0.00003150 0.17241187 -0.09427985
+v 0.00271235 0.16954540 -0.10918868
+v 0.04931906 0.15648239 -0.11601499
+v 0.04931906 0.14412771 -0.00355566
+v 0.03555636 0.14441482 -0.00355566
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+v -0.00003150 0.17464554 -0.00715789
+v -0.00003150 0.17245223 -0.09393173
+v 0.04931906 0.15758590 -0.10920386
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+v 0.04931906 0.16166322 -0.00355560
+v 0.00271235 0.17403993 -0.00355555
+v 0.00271235 0.17465901 -0.00989747
+v 0.00271235 0.17520632 -0.01651184
+v -0.00003150 0.17513004 -0.01377225
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+v 0.04931906 0.15824084 -0.10310410
+v 0.04931906 0.15807486 -0.10470851
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+v 0.04931906 0.16203559 -0.00989751
+v 0.00830148 0.17318763 -0.00989747
+v 0.00295872 0.17397712 -0.00355555
+v -0.00003150 0.17531398 -0.01651184
+v 0.04931906 0.16224213 -0.06285786
+v 0.00271235 0.17510770 -0.03637008
+v -0.00003150 0.17496871 -0.05622831
+v 0.00271235 0.17494180 -0.05622831
+f 1 2 8
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+f 1 18 26
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0833b7654ac194930cf0f045b4ee5fea3d06898b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.09796415 0.10113454 -0.15818367
+v 0.07535104 0.11094265 -0.15818363
+v 0.09796415 0.12041320 -0.15818360
+v 0.09796415 0.11811711 -0.00355576
+v 0.08492673 0.11914828 -0.01162316
+v 0.07204645 0.11256302 -0.15818363
+v 0.08226496 0.12099571 -0.00355575
+v 0.09796415 0.12042547 -0.15813819
+v 0.06428971 0.14476776 -0.15818351
+v 0.06560393 0.14576819 -0.15200808
+v 0.06533251 0.15223116 -0.13151412
+v 0.09796415 0.13449875 -0.00355570
+v 0.04932382 0.13089032 -0.15818356
+v 0.07755569 0.12405231 -0.00355573
+v 0.04932382 0.14412272 -0.00355566
+v 0.09796415 0.12278234 -0.14890532
+v 0.06097560 0.14710010 -0.15818350
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cfe28237e1bb9dc39d6b91193cbc220aef51b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.15133682 0.01908534 -0.15818397
+v 0.13408761 0.01908534 -0.15818397
+v 0.14849719 0.01908540 -0.17357738
+v 0.14921012 0.05398691 -0.15818384
+v 0.13257718 0.02118299 -0.15818396
+v 0.12094983 0.02193465 -0.17357737
+v 0.12317319 0.01908540 -0.17357738
+v 0.14583882 0.05398697 -0.17357725
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+v 0.12180775 0.05398697 -0.17357725
+v 0.12957745 0.03010312 -0.15818393
+v 0.13006079 0.02700448 -0.15818394
+v 0.12047856 0.02301422 -0.17357737
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+f 1 12 11
+f 1 11 5
+f 1 5 2
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+f 12 17 13
+f 14 17 15
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b426955b7913e34c649c6c063c7dc3ad1b95f0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00005002 0.01907936 -0.19558243
+v -0.00005002 0.01907930 -0.17948289
+v 0.00050121 0.01907936 -0.19561971
+v -0.00005002 0.00364506 -0.19685001
+v -0.00005002 -0.04264567 -0.17726231
+v 0.00272141 -0.04264567 -0.17708123
+v 0.04911610 0.01907929 -0.17647387
+v 0.01376120 0.01907936 -0.19617092
+v -0.00005002 -0.04260272 -0.19950237
+v 0.01596610 0.01907936 -0.19625081
+v -0.00005002 -0.04348476 -0.17728361
+v 0.00187927 -0.04348476 -0.17715845
+v 0.12599653 -0.04348478 -0.17243191
+v 0.12189297 -0.02941629 -0.17243186
+v 0.12631807 0.01907927 -0.17243168
+v 0.00272141 -0.04302532 -0.19955829
+v -0.00005002 -0.04348468 -0.19950237
+v 0.02922610 0.01907936 -0.19638129
+v 0.14516688 -0.04348478 -0.17243191
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+v 0.15191936 0.01367726 -0.17243170
+v 0.14832111 0.01907928 -0.17515044
+v 0.00935142 -0.04348468 -0.19963285
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+v 0.04248610 -0.03083713 -0.19906561
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+v 0.15147533 0.01267895 -0.17684669
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+v 0.14493719 0.01907934 -0.19080795
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d442cdbd47e47207e394961cbfb2a0f2122345b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.04785080 0.12459967 -0.17288309
+v -0.04785080 0.14486991 -0.17288302
+v -0.04785080 0.13068780 -0.15695954
+v -0.07262490 0.11196038 -0.15695961
+v -0.06415306 0.11247075 -0.17288314
+v -0.05032923 0.14511913 -0.17288302
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+v -0.04785080 0.14895831 -0.15695947
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+v -0.05304884 0.14450794 -0.17288302
+v -0.05032923 0.14661445 -0.16807197
+v -0.04785080 0.14619315 -0.16897150
+v -0.04785080 0.14876248 -0.15800711
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+v -0.05552728 0.14877436 -0.15695947
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+v -0.10026743 0.11866571 -0.15977512
+v -0.10026743 0.11733653 -0.16503828
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+f 27 30 28
+f 28 30 29
+f 31 35 36
+f 32 37 34
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8136fc609a18dc13d009af7e6f170d5db8fab3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v -0.00392489 -0.00296676 0.20138603
+v -0.01055945 -0.00296676 0.20135333
+v -0.00392489 -0.00892304 0.20029178
+v -0.00005001 -0.00296676 0.20137149
+v -0.01055945 0.00364340 0.20115341
+v -0.02380965 0.00364340 0.20118248
+v -0.03044420 0.00364340 0.20117159
+v -0.01718455 -0.00920837 0.20014639
+v -0.01055945 -0.00905976 0.20022637
+v -0.03044420 -0.00296676 0.20114247
+v -0.02380965 -0.00938075 0.20005914
+v -0.00005001 -0.00879523 0.20029178
+v -0.00005001 -0.00544557 0.20091344
+v -0.03438524 -0.01292360 0.19868861
+v -0.03262736 -0.01292360 0.19868861
+v -0.00005001 0.00364340 0.20106616
+v -0.00392489 0.00364340 0.20110250
+v -0.00392489 0.01025653 0.20049545
+v -0.03044420 0.00973046 0.20000468
+v -0.03706930 0.00364340 0.20087348
+v -0.03706930 -0.00296676 0.20097525
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe5a3c742d28c67a0678f9282f90eae5374a655
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d0338690fbfa7f1717350785b9f9ea1de292c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2009b9fa4e88cc43a6664eab9b4646aab218bbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aff9b88856df12800ed8fb189c0ecbc4523178b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641b3011fc930bcc19d2c04df27fe6e20a512a0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6e682f2d789e0f4ca7be25f18573d47e8c4595
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13aae48c5a39df416f040e75435b61706d199fcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc045490c1cd8b56030bce79147ca248eb39e6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a93f9bbfbd67282e832425e2d4e8de0370535ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d09a97883fcb000a47a508064dc0c1a0547afb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+f 81 95 82
+f 82 95 94
+f 82 94 83
+f 83 94 93
+f 83 93 85
+f 83 85 84
+f 87 90 88
+f 90 92 91
+f 95 98 96
+f 96 98 97
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d63747cef0878e71ad17abf0a91a375ea657e9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.16784545 0.01908489 -0.03637756
+v -0.16780790 0.01908487 -0.02975434
+v -0.16326005 0.05522010 -0.01773429
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+v -0.16323753 0.05522029 -0.06947992
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+v -0.16716947 0.01908485 -0.02494364
+v -0.16613296 0.01908483 -0.01773442
+v -0.14341632 0.05522010 -0.01773429
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+v -0.12948364 0.05522061 -0.15695826
+v -0.14532408 0.03010298 -0.01773438
+v -0.13954070 0.03248717 -0.06402879
+v -0.16167902 0.05522038 -0.09461001
+v -0.16427778 0.01908516 -0.10917851
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+v -0.16510398 0.01908514 -0.10256891
+v -0.14757359 0.02226117 -0.01773441
+v -0.13422300 0.01908534 -0.15695839
+v -0.13075297 0.03010349 -0.15695835
+v -0.14873402 0.05522061 -0.15695826
+v -0.14592496 0.02556838 -0.01773440
+v -0.13231148 0.02514087 -0.14890421
+v -0.16147997 0.05522038 -0.09589105
+v -0.15822026 0.05522046 -0.11580160
+v -0.16003413 0.01908524 -0.13022020
+v -0.13375733 0.01995548 -0.15695839
+v -0.13176318 0.02386754 -0.15695837
+v -0.15182850 0.01908534 -0.15695839
+v -0.14913209 0.05522060 -0.15552732
+v -0.15464884 0.01908530 -0.14835911
+v -0.15570412 0.01908529 -0.14508838
+v -0.15869344 0.01908526 -0.13568504
+v -0.15344710 0.05522054 -0.13774274
+v -0.15321050 0.05408866 -0.13965066
+v -0.15899388 0.01908525 -0.13452666
+v -0.15273356 0.05522055 -0.14080904
+f 1 2 3
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+f 27 36 37
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+f 28 37 38
+f 32 35 38
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+f 32 37 39
+f 36 39 37
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ae562373df9ae02f4a931b2953b5a3070d179d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.13698022 -0.04348569 0.07590927
+v 0.13756754 -0.04348571 0.08155255
+v 0.14210491 -0.01655683 0.07617247
+v 0.14455017 -0.02979285 -0.02840580
+v 0.14344078 -0.03603539 -0.02840582
+v 0.14304540 -0.04264963 -0.02840585
+v 0.14304156 -0.04341149 -0.02840585
+v 0.14304156 -0.04348531 -0.02840585
+v 0.13930649 -0.04348572 0.08486749
+v 0.14483424 -0.01655687 0.08660398
+v 0.14288033 -0.01655685 0.08278917
+v 0.15141379 -0.01655645 -0.02840575
+v 0.15063454 -0.01774802 -0.02840576
+v 0.15000882 -0.01871814 -0.02840576
+v 0.14742154 -0.02280954 -0.02840577
+v 0.14695321 -0.02363203 -0.02840578
+v 0.14533326 -0.02648705 -0.02840579
+v 0.14516436 -0.02715664 -0.02840579
+v 0.16133688 -0.04348531 -0.02840585
+v 0.14257706 -0.04348573 0.08847182
+v 0.16295298 -0.01655693 0.10209997
+v 0.16793564 -0.01655645 -0.02840575
+v 0.16301824 -0.04348535 -0.01647473
+v 0.14853476 -0.04348575 0.09140527
+v 0.16839244 -0.01655694 0.10598055
+v 0.16367850 -0.04348537 -0.00987118
+v 0.17617353 -0.01655683 0.07617247
+v 0.17332520 -0.03603577 0.07617240
+v 0.17217742 -0.04087319 0.07118682
+v 0.15433507 -0.04348575 0.09191829
+v 0.17007380 -0.01655693 0.10450724
+v 0.15512583 -0.04348575 0.09187883
+v 0.16092230 -0.04348574 0.09011613
+v 0.16180137 -0.04348574 0.08972149
+v 0.16553644 -0.04348573 0.08718267
+v 0.16597406 -0.04348573 0.08684066
+v 0.17170142 -0.04348569 0.07617237
+v 0.17619656 -0.01655685 0.08243400
+v 0.17231946 -0.04136091 0.07617238
+v 0.17615818 -0.01655685 0.08282864
+v 0.17207761 -0.04050415 0.08010557
+v 0.17321387 -0.01655692 0.10169219
+v 0.16942122 -0.04348571 0.08253914
+v 0.17156322 -0.04348569 0.07729049
+v 0.17457278 -0.01655690 0.09557535
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+f 1 19 23
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+f 4 13 12
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+f 4 22 19
+f 4 19 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
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+f 22 27 28
+f 22 28 29
+f 22 29 26
+f 24 30 25
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+f 25 36 31
+f 26 29 37
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+f 41 45 42
+f 41 42 43
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc8be8c0cce008d255ae154c5f2f0e5f64c8024
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05307505 0.14315504 0.04969966
+v -0.05307505 0.14316025 0.04307981
+v -0.05307505 0.14321211 0.05629722
+v -0.08375878 0.11635269 0.05629712
+v -0.05307505 0.14319142 0.03645551
+v -0.05307505 0.16310103 0.05629729
+v -0.08826774 0.11304652 0.05629711
+v -0.08505226 0.11778017 0.01075614
+v -0.05307505 0.14373129 0.01075624
+v -0.05307505 0.16328806 0.01075631
+v -0.05695550 0.16363061 0.01075631
+v -0.05695550 0.16304914 0.05629729
+v -0.09157887 0.11176453 0.05629710
+v -0.09122817 0.11148427 0.05128652
+v -0.09009410 0.11536153 0.01075613
+v -0.06355954 0.16134156 0.05629728
+v -0.06418806 0.16108222 0.01075630
+v -0.09673457 0.11060711 0.05629710
+v -0.09960391 0.11168161 0.02338064
+v -0.09637932 0.11212277 0.02351883
+v -0.09330503 0.11271445 0.02592605
+v -0.09668447 0.11404321 0.01075613
+v -0.09393811 0.11291689 0.02151282
+v -0.09835598 0.11233559 0.01857958
+v -0.06358686 0.16133118 0.05629728
+v -0.06490311 0.16066699 0.01075630
+v -0.06728512 0.15938483 0.05629728
+v -0.09960391 0.11063825 0.05629710
+v -0.09960391 0.11221104 0.01804464
+v -0.09921678 0.11355014 0.01075613
+v -0.09960391 0.11347748 0.01075613
+v -0.06598709 0.15998707 0.01075630
+v -0.09575991 0.13482470 0.05629719
+v -0.06710750 0.15928121 0.01150522
+v -0.09960391 0.13146143 0.05629717
+v -0.09960391 0.12982149 0.01075619
+v -0.06706195 0.15923449 0.01075629
+f 1 2 5
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+f 33 34 35
+f 34 37 36
+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e33f6eb079160db61fe3fcc2fe7a762a944ad3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.14485264 -0.04348122 0.04811967
+v -0.14479220 -0.04284761 0.04811967
+v -0.16316946 -0.04348122 0.04811967
+v -0.14367029 -0.04348117 0.03644617
+v -0.14067856 -0.03603508 0.02320778
+v -0.14158893 -0.03603510 0.02983404
+v -0.14477332 -0.04264660 0.04811967
+v -0.17701001 -0.00298680 0.04811982
+v -0.16315057 -0.04348117 0.03644617
+v -0.14316035 -0.04348115 0.02983401
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+v -0.15479864 0.00115135 0.04811983
+v -0.13981353 -0.03932106 0.00667031
+v -0.13901649 -0.03117136 -0.02973180
+v -0.14555902 -0.03109736 0.04811972
+v -0.14521527 -0.03233400 0.04811971
+v -0.14449001 -0.03603517 0.04811970
+v -0.17727442 0.00115135 0.04811983
+v -0.17504951 -0.00296901 -0.03635796
+v -0.17303613 -0.01300622 -0.05974730
+v -0.16311280 -0.04348115 0.02983401
+v -0.14271083 -0.04348113 0.02320775
+v -0.14208755 -0.04348105 0.00162306
+v -0.14123008 -0.04348069 -0.09590988
+v -0.13972288 -0.03946077 -0.02610853
+v -0.13868408 -0.03548843 -0.09590985
+v -0.13911849 -0.03599119 -0.02925247
+v -0.15394117 0.00115147 0.01687771
+v -0.13868408 -0.03546221 -0.09590985
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+v -0.17510239 0.00115166 -0.03635795
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+v -0.17266594 -0.00214727 -0.09590973
+v -0.17238263 -0.00312173 -0.09590973
+v -0.17279438 0.00115188 -0.09590972
+v -0.17323256 0.00115188 -0.09472545
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+f 1 8 3
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+f 45 50 46
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e19a007ae2bca93ddc365944e4a7d285a4ea025
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09796415 0.13436189 -0.01389379
+v 0.09796415 0.13446567 -0.00997211
+v 0.10576093 0.13272188 -0.00814069
+v 0.10412139 0.13284645 -0.01389379
+v 0.09796415 0.11783738 -0.01389385
+v 0.09796415 0.13450717 -0.00326124
+v 0.10214439 0.13359375 -0.00326124
+v 0.10587605 0.13275645 -0.00326124
+v 0.10522103 0.13254890 -0.01389379
+v 0.10919087 0.13142093 -0.00326125
+v 0.10829370 0.13166315 -0.01015979
+v 0.10857555 0.13144866 -0.01389380
+v 0.09796415 0.11713839 0.00997923
+v 0.11682092 0.08422784 -0.01389397
+v 0.11658670 0.08399947 -0.00988169
+v 0.09796415 0.13445161 0.05221826
+v 0.10372440 0.13290849 0.05221826
+v 0.10900827 0.13166307 0.00997928
+v 0.11247791 0.12973253 -0.01389380
+v 0.09796415 0.11658465 0.05221820
+v 0.11660656 0.08384721 -0.00326142
+v 0.11814288 0.08292691 -0.01389398
+v 0.11993726 0.08069872 -0.00988170
+v 0.11962760 0.08053954 -0.00326143
+v 0.10873435 0.13124773 0.05221825
+v 0.11265259 0.12937938 0.05221825
+v 0.11553470 0.12785011 0.05221824
+v 0.11605475 0.12792638 0.00951332
+v 0.11913535 0.12637642 -0.01155763
+v 0.11560615 0.12822401 -0.01389381
+v 0.11320440 0.08992952 0.05221810
+v 0.11654304 0.08424143 0.05221808
+v 0.12022308 0.08092017 -0.01389398
+v 0.13852011 0.06625016 -0.01389404
+v 0.12293846 0.07796537 -0.00326144
+v 0.13852011 0.06381415 0.05221800
+v 0.12006826 0.08093377 0.05221807
+v 0.11765460 0.12653534 0.05221823
+v 0.11909565 0.12634182 -0.01389382
+v 0.11859545 0.12587795 0.05221823
+v 0.12032233 0.12463955 -0.01389382
+v 0.13852011 0.08677433 -0.01389396
+v 0.13852011 0.08842100 0.05221809
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0bb03686951723cc3f1087bba94ad4d6d24ca3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8683ee139174d82a2d83aaee5eedf80acce8240
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3e58d55e07756c6e8ac3dab049fb4d9350a5fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf8ce4d3fce15a6cf2684fe6f17a2b58d6cc1129
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d3ce017a0db778c4ef6616bedc3020faa5b212
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,448 @@
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb16bf4730edebb4d4eff0a7611d4a063c2c5dc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00022397 -0.17598228 -0.03637318
+v 0.00022397 -0.17499552 0.02983157
+v -0.00392460 -0.17593077 -0.03637318
+v 0.00022397 -0.17456175 -0.06531350
+v 0.00022397 -0.17471660 0.03648027
+v -0.00390311 -0.17425743 0.03648027
+v -0.00392460 -0.17425315 0.03648027
+v -0.01014531 -0.17262246 0.03648028
+v -0.01116419 -0.17271680 0.01660475
+v -0.04369072 -0.16138353 0.02983162
+v -0.01055372 -0.17356195 -0.04298659
+v -0.00819785 -0.17205125 -0.08931579
+v -0.00392460 -0.17422700 -0.06945791
+v 0.00022397 -0.17433858 -0.06945791
+v 0.00022397 -0.15671034 0.03648033
+v -0.04369072 -0.16107029 0.03648032
+v -0.01371782 -0.17155819 0.02983158
+v -0.04369072 -0.16082963 -0.06284443
+v -0.04369072 -0.15984256 -0.08270233
+v -0.04369072 -0.15936191 -0.08922757
+v -0.04369072 -0.15324239 -0.12904914
+v -0.04369072 -0.15234119 -0.13404007
+v -0.00732084 -0.17165215 -0.09282531
+v -0.00392460 -0.17306829 -0.08931580
+v 0.00022397 -0.17327429 -0.08517139
+v -0.03043678 -0.14247613 0.03648039
+v 0.00022397 -0.14295610 -0.14368682
+v -0.04369072 -0.14704635 0.03648037
+v -0.04369072 -0.14951319 -0.14366920
+v -0.00489619 -0.16136574 -0.14368688
+v -0.00392460 -0.16166184 -0.14368688
+v -0.00392460 -0.16201803 -0.14227604
+v -0.00867934 -0.16565712 -0.12083092
+v -0.00349040 -0.17077239 -0.10217229
+v -0.00392460 -0.16807313 -0.11580473
+v -0.00098836 -0.17168645 -0.09972090
+v -0.00039079 -0.17168645 -0.09972090
+v 0.00022397 -0.17290951 -0.08949216
+v -0.03706590 -0.14192255 0.03648039
+v -0.02911698 -0.13230083 -0.14368678
+v -0.03091828 -0.13214633 -0.14368678
+v 0.00022397 -0.16172621 -0.14368688
+v -0.03708740 -0.14192685 0.03648039
+v -0.04369072 -0.14347171 0.03646274
+v -0.04369072 -0.14946170 -0.14368684
+v -0.00089378 -0.16509919 -0.13275272
+v -0.00432011 -0.16644242 -0.12278849
+v 0.00022397 -0.17136031 -0.10030289
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+v 0.00022397 -0.17187957 -0.09728717
+v -0.00021883 -0.16509919 -0.13275272
+v 0.00022397 -0.16518932 -0.13204728
+v -0.03566872 -0.13235661 -0.14368678
+v -0.04369072 -0.13372982 -0.14368678
+v 0.00022397 -0.16488034 -0.13319361
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 25
+f 1 25 38
+f 1 38 50
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+f 1 49 48
+f 1 48 52
+f 1 52 55
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+f 39 41 53
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+f 42 51 46
+f 43 54 44
+f 51 55 52
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e31e606845eb8af5b629c262fe7b119ee766b8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.13852011 0.08676683 -0.01389396
+v 0.13852011 0.08840214 0.05193981
+v 0.16013386 0.06776455 -0.00988175
+v 0.16002464 0.06768312 -0.01389403
+v 0.13852011 0.06624438 -0.01389404
+v 0.13852011 0.08840893 0.05221809
+v 0.15967739 0.06775761 0.02983337
+v 0.16344957 0.06327865 -0.00988177
+v 0.16351958 0.06279682 -0.01389405
+v 0.13852011 0.06380777 0.05221800
+v 0.14533357 0.02743902 -0.01389418
+v 0.15945056 0.06752000 0.05221802
+v 0.16291189 0.06316313 0.02983335
+v 0.16515224 0.05996002 -0.00632897
+v 0.16516064 0.05997362 -0.00988178
+v 0.16513824 0.05991255 -0.01347342
+v 0.16488060 0.06034688 -0.01389406
+v 0.14479308 0.03147677 0.05221789
+v 0.14554920 0.02664500 -0.01389418
+v 0.16228179 0.06316305 0.05221800
+v 0.16463976 0.05664799 0.05221798
+v 0.16502342 0.05709598 0.03033163
+v 0.16541828 0.05525684 0.02845491
+v 0.16541828 0.05525685 0.02480502
+v 0.16712935 0.01909136 0.05221784
+v 0.16509903 0.05922032 -0.01389406
+v 0.16634242 0.01909156 -0.00326166
+v 0.16616040 0.01909160 -0.01389421
+v 0.14645934 0.02384217 -0.01389419
+v 0.14527196 0.03011946 0.05221788
+v 0.16520265 0.05380444 0.05221797
+v 0.16520545 0.05377729 0.05221797
+v 0.15099885 0.01909136 0.05221784
+v 0.14829082 0.01909160 -0.01389421
+v 0.14749271 0.02108005 -0.01389420
+v 0.14586845 0.02844319 0.05221787
+v 0.14824601 0.02369262 0.05221786
+v 0.14901614 0.01909150 0.01438591
+v 0.14827402 0.01909159 -0.01199161
+v 0.14831603 0.01909159 -0.00988193
+v 0.14861287 0.01909154 0.00335860
+v 0.14871929 0.01909152 0.00776564
+v 0.14881731 0.01909151 0.00997887
+f 1 2 3
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+f 37 43 38
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09777714117406af260f7190ca6cd81901e39f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00003150 0.17751874 0.07618195
+v -0.00003150 0.17672722 0.07891446
+v 0.00270826 0.17747090 0.07618195
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+v -0.00003150 0.15535221 0.05360058
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+v 0.04890085 0.17077352 0.07639384
+v 0.04890085 0.17080396 0.07617821
+v 0.04099293 0.17257832 0.07836422
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+v 0.04890085 0.16930794 0.06956442
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+v -0.00003150 0.14554965 0.06584292
+v -0.00003150 0.17130404 0.08772538
+v -0.00003150 0.16898605 0.08903771
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+v 0.04890085 0.16284981 0.05360061
+v 0.02479870 0.14531920 0.05360054
+v -0.00003150 0.14444066 0.06795085
+v -0.00003150 0.16625056 0.08983701
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+v 0.04890085 0.14253573 0.09058418
+v -0.00003150 0.14914614 0.08953582
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+v -0.00003150 0.14287935 0.08006310
+v 0.04890085 0.13752576 0.08761744
+v -0.00003150 0.14751529 0.08837217
+v -0.00003150 0.14524949 0.08671035
+v -0.00003150 0.14344469 0.08279933
+f 1 2 3
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+f 1 4 5
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+f 1 15 31
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfc93ec13a563edd958ec849e8c20816128a45e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.13636895 0.08939055 -0.01390806
+v 0.12535710 0.11940519 -0.03964170
+v 0.12471158 0.11617700 -0.01390796
+v 0.11407564 0.08939055 -0.01390806
+v 0.13675247 0.08939071 -0.05584192
+v 0.12535710 0.11940519 -0.03972645
+v 0.11909553 0.12634214 -0.01390793
+v 0.12032202 0.12463682 -0.01390793
+v 0.12141941 0.12289143 -0.01390794
+v 0.09796416 0.11783779 -0.01390796
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+v 0.10649265 0.08939108 -0.15818371
+v 0.13651325 0.08939078 -0.07609560
+v 0.12570644 0.11369273 -0.08095414
+v 0.12042075 0.12294956 -0.08228175
+v 0.11882213 0.12609749 -0.07978181
+v 0.11908414 0.12628889 -0.06136424
+v 0.11540466 0.12838586 -0.01650672
+v 0.11560591 0.12822111 -0.01390792
+v 0.09796416 0.13436115 -0.01390790
+v 0.09796416 0.12040744 -0.15818360
+v 0.12276362 0.08939108 -0.15818371
+v 0.13648666 0.08939078 -0.07656169
+v 0.13616011 0.08939080 -0.08194290
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+v 0.12298005 0.11607489 -0.09593959
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118580a4272b452b29da764b092a2e1ded515324
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2dd32604727e7f633e7b86d7a125504032c7e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e98150d157618cc24c4b0899c1a194d0e8ebf8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_46.obj
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff33c49e0f995b6e4862226d4ca240d264460eb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.14972145 0.01908455 0.05629159
+v -0.14616667 0.02632111 0.03421280
+v -0.14635278 0.02655264 0.04686446
+v -0.14591119 0.03169049 0.05629164
+v -0.16765301 0.01908455 0.05629159
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+v -0.13543296 0.06748211 0.05629177
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+v -0.14969306 0.01908482 -0.01650258
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+v -0.14592381 0.02556872 -0.01773440
+v -0.13543296 0.06765607 -0.01773424
+v -0.13543296 0.06763435 -0.01650240
+v -0.13543296 0.06720723 0.02983631
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+v -0.13543296 0.09235389 0.05629186
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+v -0.16176099 0.06356743 -0.00960415
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+v -0.16613586 0.01908483 -0.01773442
+v -0.16652381 0.01908480 -0.00987966
+v -0.16087466 0.06228632 0.05629175
+v -0.14970567 0.01908483 -0.01773442
+v -0.13543296 0.09299098 -0.01773415
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+v -0.16333178 0.05654807 -0.01773428
+v -0.15917771 0.06559339 0.05629176
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+f 25 41 26
+f 28 42 33
+f 31 33 43
+f 32 34 33
+f 33 42 43
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d0872226d6b58b620cef82bfaa8cfbabdb7670
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.12589739 0.06803303 0.07618055
+v 0.12611630 0.06803303 0.07741110
+v 0.12596063 0.06803303 0.07591033
+v 0.14166874 0.01908448 0.07618037
+v 0.14200927 0.01908446 0.08058708
+v 0.14220385 0.01908446 0.08279875
+v 0.12716221 0.06803300 0.08323961
+v 0.13428413 0.06803312 0.05221802
+v 0.14479673 0.03147983 0.05221789
+v 0.14397946 0.01908451 0.06766627
+v 0.14224764 0.01908449 0.07396454
+v 0.14354165 0.01908445 0.08570053
+v 0.12796488 0.06803300 0.08440364
+v 0.14429567 0.01908444 0.08718052
+v 0.15888977 0.06803312 0.05221802
+v 0.14527347 0.03011908 0.05221788
+v 0.14587183 0.02844210 0.05221787
+v 0.14495241 0.01908452 0.06518022
+v 0.13037291 0.06803299 0.08730958
+v 0.14575509 0.01908444 0.08812838
+v 0.16403175 0.06803305 0.06956217
+v 0.15944921 0.06752045 0.05221802
+v 0.14824581 0.02368907 0.05221786
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+v 0.13520356 0.06803298 0.09015315
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+v 0.16448417 0.06803303 0.07728223
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+v 0.16228046 0.06316509 0.05221800
+v 0.16712570 0.01908457 0.05221784
+v 0.15659363 0.01908441 0.09423542
+v 0.14514214 0.05268145 0.09277633
+v 0.14501079 0.05655287 0.09280961
+v 0.14205305 0.06803297 0.09202393
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+v 0.16192534 0.06280562 0.08755899
+v 0.16180372 0.05655288 0.08883110
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e00e78bb9a05bafc88e0a88d9405b957ab9662b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04915129 0.16163047 -0.00355001
+v 0.04940453 0.16167611 -0.00355001
+v 0.04915129 0.14414925 -0.00355007
+v 0.04915129 0.16285805 0.05359131
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+v 0.05574027 0.16313191 0.05359131
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+v 0.06237224 0.16281242 0.05359131
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+v 0.08448041 0.11905003 0.04969744
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d3305971cc04aa988882d8342f7ca1e1f6785b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.10210081 0.00420870 0.18746926
+v 0.10210081 0.00615420 0.18685738
+v 0.10210081 -0.00326273 0.18710593
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+v 0.14624641 0.00830783 0.15994715
+v 0.10877600 0.01548035 0.17548654
+v 0.10210081 0.01568545 0.17552478
+v 0.12203301 0.01514050 0.16886415
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5466dcbd227b4c09755995476b2d87ca53a25857
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86afa2e9d51bb5f5c51765dcfc1dab5568b6cea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba7a645086d6f9c3d8f6bf8889946053eb1a56c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.17279625 0.00115188 -0.09591717
+v -0.17266534 -0.00214727 -0.09591718
+v -0.16367531 0.00115188 -0.09591717
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37f4974eca4133d5c9ac1bdac6a36897eb4a7fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.04789642 -0.15023387 -0.14368684
+v -0.05030559 -0.15065501 -0.14368684
+v -0.05032785 -0.14799295 -0.15553541
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+v -0.05695418 -0.15038983 -0.14891367
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae9b88bfe09f1f378be3c9fe9628d7c8dc126d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.17279509 0.00115800 -0.09591717
+v -0.17279509 0.00378696 -0.09591716
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+v -0.15959296 0.00115824 -0.15979004
+v -0.15869520 0.01908526 -0.13567897
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f00aa48bbad7a9ae78b25ae89c88176e1c6f59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.09019036 -0.10890526 -0.14363673
+v 0.10519403 -0.09940673 -0.14363670
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+v 0.12202669 -0.12363510 0.03633270
+v 0.12767238 -0.12114753 -0.02974653
+v 0.12144625 -0.12031050 -0.10255525
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+f 35 54 47
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ec781e50a5ef3e14a93fb1f38ae99b9027fa9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.16932600 0.01908441 0.09603513
+v -0.16945713 0.01908441 0.09603513
+v -0.16310366 0.01908441 0.09581728
+v -0.14976223 0.05646095 0.09177926
+v -0.16956711 0.01908441 0.09598456
+v -0.14985528 0.05646095 0.09177926
+v -0.15638641 0.05646096 0.09108678
+v -0.15649216 0.05646096 0.09104010
+v -0.14976223 0.01908443 0.08999346
+v -0.13642925 0.05646097 0.08814959
+v -0.14313380 0.05646096 0.09100120
+v -0.14322686 0.05646096 0.09101676
+v -0.16862805 0.05027424 0.08333723
+v -0.17052309 0.04332652 0.08280034
+v -0.17222356 0.01908443 0.08992733
+v -0.16215191 0.05646097 0.08813792
+v -0.16613658 0.05269990 0.08590486
+v -0.14812521 0.01908443 0.08914149
+v -0.13631081 0.05646097 0.08808735
+v -0.16779051 0.05646099 0.08162941
+v -0.17314993 0.03560317 0.07998761
+v -0.17454583 0.01908446 0.08283916
+v -0.16545977 0.05646098 0.08494007
+v -0.16549362 0.05646098 0.08489339
+v -0.14499077 0.01908444 0.08741807
+v -0.13337518 0.05646098 0.08448880
+v -0.16814160 0.05646101 0.07576280
+v -0.17044695 0.04993768 0.07617903
+v -0.17206281 0.04332654 0.07617901
+v -0.17287497 0.03966792 0.07617900
+v -0.17339103 0.03636417 0.07617898
+v -0.17575984 0.01908448 0.07617892
+v -0.14173790 0.01908446 0.08266020
+v -0.13288450 0.05646099 0.08280039
+v -0.16258337 0.05646108 0.05629562
+v -0.17031581 0.04332656 0.06956157
+v -0.17334874 0.03515685 0.07198522
+v -0.17498997 0.01908450 0.06956537
+v -0.14073539 0.01908448 0.07606999
+v -0.13960175 0.02490535 0.07995256
+v -0.13274491 0.05646099 0.08034560
+v -0.16231265 0.05646108 0.05629173
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+v -0.14196209 0.01908450 0.07183343
+v -0.13255032 0.05646101 0.07617906
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+v -0.14276156 0.01908450 0.06956148
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+v -0.14591291 0.03168852 0.05629164
+v -0.14529957 0.01908452 0.06411114
+v -0.14435204 0.01908452 0.06597461
+f 1 2 5
+f 1 5 15
+f 1 15 22
+f 1 22 32
+f 1 32 38
+f 1 38 43
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+f 1 47 52
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+f 1 53 48
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+f 1 9 3
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+f 49 51 50
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d4d8fe35228a2f45e833faad1e576e309e9ef0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.17747911 0.00364603 0.04811984
+v -0.17727302 0.00115747 0.04811983
+v -0.17746681 0.00371974 0.04811984
+v -0.17513528 0.00364634 -0.03635794
+v -0.17510452 0.00115778 -0.03635795
+v -0.15479751 0.00115747 0.04811983
+v -0.17452010 0.01012366 0.04811987
+v -0.17245310 0.01238438 -0.03635790
+v -0.17384956 0.00907976 -0.03635792
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+v -0.15394241 0.00115759 0.01687771
+v -0.14605891 0.01908511 -0.09590965
+v -0.16852520 0.01688559 0.04811989
+v -0.16780852 0.01908487 -0.02973162
+v -0.16784850 0.01908489 -0.03635788
+v -0.16950333 0.01687186 -0.03635789
+v -0.16706415 0.01908499 -0.06125570
+v -0.16778391 0.01572082 -0.09590966
+v -0.17081674 0.01025932 -0.09590968
+v -0.17082904 0.01023300 -0.09590968
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+v -0.17272071 0.00407829 -0.09590971
+v -0.17279453 0.00378696 -0.09590971
+v -0.17290219 0.00318852 -0.09590971
+v -0.17323130 0.00186351 -0.09472544
+v -0.17323130 0.00115800 -0.09472545
+v -0.16640590 0.01908458 0.04811990
+v -0.15411159 0.00115800 -0.09590972
+v -0.16546776 0.01908511 -0.09590965
+v -0.16550776 0.01902720 -0.09590965
+v -0.17279453 0.00115800 -0.09590972
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+f 1 6 12
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+f 1 15 7
+f 1 7 3
+f 1 3 4
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6589377fb67f38263f80e49cb08848d2bf913a9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03043567 -0.12256822 -0.17162882
+v -0.03442057 -0.13177903 -0.14493125
+v -0.03092082 -0.13214700 -0.14368678
+v -0.02778378 -0.12257588 -0.17162882
+v -0.04789197 -0.12525133 -0.17162883
+v -0.04789197 -0.13399451 -0.14368678
+v -0.03566879 -0.13235783 -0.14368678
+v -0.02911679 -0.13230416 -0.14368678
+v -0.02380830 -0.12321216 -0.17162882
+v -0.04789197 -0.14332779 -0.17162890
+v -0.04789197 -0.15023497 -0.14368684
+v -0.02750587 -0.13197068 -0.14575999
+v 0.00022356 -0.14295225 -0.14368682
+v 0.00022356 -0.13130747 -0.17162885
+v -0.04789197 -0.14366126 -0.17062510
+v -0.00387910 -0.15402572 -0.17162894
+v -0.04789197 -0.14810378 -0.15310388
+v -0.00392149 -0.16166116 -0.14368688
+v 0.00022356 -0.16172633 -0.14368688
+v 0.00022356 -0.15432086 -0.17162894
+v -0.04789197 -0.14422472 -0.16892386
+v -0.00004964 -0.15430169 -0.17162894
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+v -0.00392149 -0.15492649 -0.16877346
+v -0.04789197 -0.14754033 -0.15553541
+v -0.04789197 -0.14602243 -0.16177698
+v 0.00022356 -0.15852189 -0.15887231
+v 0.00002573 -0.15847588 -0.15917317
+v 0.00022356 -0.15838772 -0.15938377
+v 0.00022356 -0.15846056 -0.15911300
+f 1 2 3
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+f 1 20 22
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+f 1 16 10
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+f 20 23 22
+f 21 24 23
+f 27 28 30
+f 28 29 30
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad96b53d69b8a75b71d5d72c4baaa180cb361be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.05307505 0.12986548 0.07640033
+v -0.05307505 0.13079727 0.07079103
+v -0.05307505 0.13098360 0.07990831
+v -0.09960391 0.10382739 0.07982138
+v -0.09960391 0.10288919 0.07618142
+v -0.08826319 0.11304232 0.05632142
+v -0.08826774 0.11304875 0.05629711
+v -0.08375878 0.11635170 0.05629712
+v -0.05307505 0.14321232 0.05629722
+v -0.05307505 0.13163904 0.08167619
+v -0.09960391 0.10450210 0.08177682
+v -0.09960391 0.10442502 0.07070410
+v -0.09157887 0.11176355 0.05629710
+v -0.05307505 0.16310075 0.05629729
+v -0.05307505 0.13318768 0.08483338
+v -0.09960391 0.10520895 0.08324601
+v -0.09960391 0.11063901 0.05629710
+v -0.09673457 0.11061330 0.05629710
+v -0.05695550 0.16304933 0.05629729
+v -0.05307505 0.16622375 0.06543889
+v -0.05307505 0.13439576 0.08627131
+v -0.05448240 0.13294993 0.08557666
+v -0.09960391 0.10677689 0.08524313
+v -0.09960391 0.13146561 0.05629717
+v -0.06358686 0.16133360 0.05629728
+v -0.05687807 0.16662856 0.06956163
+v -0.05307505 0.16760531 0.06956164
+v -0.05307505 0.13646493 0.08786901
+v -0.09960391 0.10742590 0.08603503
+v -0.09575991 0.13482642 0.05629719
+v -0.09960391 0.14188211 0.06460522
+v -0.06130049 0.16602452 0.07176715
+v -0.06728512 0.15938009 0.05629728
+v -0.08023359 0.15910373 0.07278825
+v -0.05307505 0.16853706 0.07618166
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e8c0bc4975fcd821794a82e72a3a44d0740985
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cbdeafe24ff3af104d9c9d9317dc6dbd2d95754
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35178b7813ae88cf3ebadbb7db70835a1704839
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00003150 0.17429746 -0.00354996
+v 0.00271265 0.17404362 -0.00354996
+v -0.00003150 0.15658519 -0.00355002
+v -0.00003150 0.17450292 0.00998292
+v 0.00271265 0.17429741 0.00998292
+v 0.04915129 0.16163203 -0.00355001
+v 0.04915129 0.16285877 0.05359131
+v 0.02469470 0.14523133 -0.00355007
+v 0.02468507 0.14522528 -0.00325916
+v -0.00003150 0.15657613 -0.00325911
+v -0.00003150 0.17453609 0.02983748
+v 0.00271265 0.17449678 0.03645567
+v 0.00886050 0.17320933 0.04969764
+v 0.00874014 0.17316402 0.04307945
+v 0.04915129 0.14415245 -0.00355007
+v 0.00898567 0.17318514 0.05359135
+v 0.04915129 0.14366569 0.05359124
+v 0.02902756 0.14457252 -0.00355007
+v -0.00003150 0.15647336 0.00062340
+v 0.02922013 0.14453625 -0.00325916
+v 0.02922013 0.14448184 0.00335903
+v 0.02466100 0.14518598 0.00335903
+v -0.00003150 0.15527341 0.05358009
+v -0.00003150 0.17443930 0.05359135
+v 0.00271265 0.17441210 0.05359135
+v 0.04915129 0.14413734 -0.00325916
+v 0.04218501 0.14428541 -0.00355007
+v 0.03312452 0.14460252 0.05359124
+v 0.02922013 0.14462974 0.04969753
+v 0.03584941 0.14439421 -0.00325916
+v 0.04915129 0.14406479 0.00335903
+v 0.02922013 0.14454532 -0.00355007
+v 0.02473321 0.14525229 0.04969753
+v 0.02479580 0.14531573 0.05359124
+v -0.00001705 0.15527341 0.05359128
+v -0.00003150 0.15535802 0.05359128
+v 0.03555574 0.14441234 -0.00355007
+f 1 2 6
+f 1 6 15
+f 1 15 27
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+f 1 32 18
+f 1 18 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 23
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+f 26 30 37
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+f 26 31 30
+f 28 34 29
+f 29 34 33
+f 30 32 37
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44b46c640dff332e5ae8eb51959aba55f8d5bab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05170947 -0.16529298 -0.03219353
+v 0.04910944 -0.16525432 -0.03228083
+v 0.05170947 -0.16529298 -0.03391476
+v 0.05170947 -0.16277701 -0.01621601
+v 0.04574547 -0.16502237 -0.03301672
+v 0.04910944 -0.16525432 -0.03377756
+v 0.04940004 -0.16262239 -0.01621601
+v 0.02921844 -0.16065403 -0.01622848
+v 0.05170947 -0.16162344 -0.08931839
+v 0.05170947 -0.14335112 -0.01621594
+v 0.04574547 -0.16502237 -0.03311650
+v 0.02921844 -0.16066046 -0.01651535
+v 0.02922504 -0.16065080 -0.01621600
+v 0.02921844 -0.16063147 -0.01621600
+v 0.02921844 -0.15837612 -0.08931838
+v 0.02921844 -0.15282527 -0.12916858
+v 0.04910944 -0.15516732 -0.12904386
+v 0.05170947 -0.15535417 -0.12904386
+v 0.02921844 -0.16000307 -0.06947435
+v 0.03585391 -0.14166626 -0.01621593
+v 0.05170947 -0.13376335 -0.14363682
+v 0.02921844 -0.16044777 -0.03638433
+v 0.02921844 -0.16010619 -0.06286383
+v 0.02921844 -0.14281635 -0.01621593
+v 0.02921844 -0.15200053 -0.13289790
+v 0.04941325 -0.15244506 -0.14363689
+v 0.04910944 -0.15409774 -0.13566685
+v 0.05170947 -0.15430070 -0.13566685
+v 0.03556550 -0.14171135 -0.01621593
+v 0.03469589 -0.13242641 -0.14363682
+v 0.03080355 -0.13238130 -0.14363682
+v 0.03031261 -0.13238130 -0.14363682
+v 0.02945400 -0.13248439 -0.14363682
+v 0.02921844 -0.13251339 -0.14363682
+v 0.05170947 -0.15262225 -0.14363689
+v 0.02921844 -0.14928150 -0.14363688
+f 1 2 6
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+f 21 31 30
+f 24 29 34
+f 25 36 26
+f 26 35 28
+f 26 28 27
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6479d928e1bfc1018baf4cc6983cc48b22e8cc68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.03706246 -0.14192052 0.03648038
+v -0.04468061 -0.14354174 0.03648037
+v -0.04468061 -0.14338772 0.05723133
+v -0.03792845 -0.14205865 0.05723134
+v -0.03134774 -0.14223521 0.05723134
+v -0.03043338 -0.14234113 0.04969754
+v -0.03043338 -0.14247591 0.03648038
+v -0.04468061 -0.16131739 0.03648031
+v -0.04468061 -0.16140735 0.05723127
+v -0.03043338 -0.14235721 0.05723134
+v 0.00022387 -0.15465601 0.05723129
+v 0.00022387 -0.15671376 0.03648032
+v -0.01014614 -0.17262098 0.03648027
+v -0.01095499 -0.17254081 0.05723123
+v 0.00022387 -0.17456332 0.05723122
+v 0.00022387 -0.17471733 0.03648026
+v -0.01012416 -0.17262740 0.03648027
+v -0.00392149 -0.17425504 0.03648026
+v -0.00392149 -0.17416202 0.05723122
+v 0.00022387 -0.17466601 0.04722136
+v -0.00389951 -0.17425826 0.03648026
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 1 16 21
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+f 1 18 17
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+f 16 19 21
+f 18 21 19
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70079b01c2ae63701d833c77cfee9bf4326df6a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.16770758 -0.01655409 0.04509912
+v 0.17191883 -0.01071780 0.04509914
+v 0.15257035 -0.01655409 0.04509912
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+v 0.17336223 -0.00839096 0.04509915
+v 0.16895536 -0.01619459 -0.00325898
+v 0.15085466 0.01908459 0.04509925
+v 0.14901736 0.01908471 0.01438348
+v 0.14881645 0.01908472 0.00997290
+v 0.14872127 0.01908473 0.00776401
+v 0.15252013 -0.01655408 0.04307731
+v 0.16865135 -0.01655388 -0.00987845
+v 0.17444874 -0.00575364 0.04509916
+v 0.17141126 -0.01216884 -0.00325896
+v 0.16888133 -0.01619456 -0.00987845
+v 0.16648095 0.01908459 0.04509925
+v 0.14861290 0.01908475 0.00336062
+v 0.15237209 -0.01655405 0.03645784
+v 0.16793493 -0.01655382 -0.02840577
+v 0.16818343 -0.01619450 -0.02840577
+v 0.17522067 -0.00296632 0.04509917
+v 0.17277007 -0.00886173 -0.00325895
+v 0.17271984 -0.00877449 -0.00987842
+v 0.17256651 -0.00833487 -0.02840574
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+v 0.17107816 -0.01164199 -0.02840575
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+v 0.14831680 0.01908480 -0.00987832
+v 0.15195175 -0.01655398 0.01659224
+v 0.15141245 -0.01655382 -0.02840577
+v 0.17453334 0.00364442 0.04509919
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+v 0.16613993 0.01908484 -0.02311726
+v 0.14827451 0.01908480 -0.01198647
+v 0.15188566 -0.01655397 0.01341921
+v 0.14821634 0.01908483 -0.01890814
+v 0.14834588 0.01908485 -0.02557797
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+v 0.17250836 0.00814133 -0.00987836
+v 0.17320362 0.00448891 -0.02840569
+v 0.16608442 0.01908486 -0.02840564
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+f 33 38 34
+f 34 48 35
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+f 35 40 36
+f 39 47 40
+f 40 49 41
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df592c5caa0a65d20b0fce47c98340cfd4f25cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.16133897 -0.04348531 -0.02841370
+v 0.17256681 -0.00833827 -0.02841357
+v 0.14304263 -0.04348531 -0.02841370
+v 0.16201686 -0.04348528 -0.03636743
+v 0.17258724 -0.00847106 -0.02974704
+v 0.17270988 -0.00778259 -0.02974704
+v 0.17270306 -0.00778259 -0.02958232
+v 0.17265198 -0.00778260 -0.02841357
+v 0.14304263 -0.04341192 -0.02841370
+v 0.13831440 -0.03433219 -0.10369170
+v 0.13811001 -0.03600967 -0.10853924
+v 0.13837572 -0.03746699 -0.10853925
+v 0.13868572 -0.03892432 -0.10853925
+v 0.14120313 -0.04348513 -0.07524970
+v 0.17266559 -0.00874014 -0.03636730
+v 0.16000021 -0.04348508 -0.08929031
+v 0.17232835 -0.00778587 -0.08726645
+v 0.17290405 -0.00778257 -0.03636730
+v 0.15489046 -0.00778260 -0.02841357
+v 0.14304604 -0.04264656 -0.02841370
+v 0.13831440 -0.03184740 -0.10369169
+v 0.13814068 -0.03004407 -0.10853922
+v 0.14009260 -0.04348501 -0.10853927
+v 0.15603504 -0.04348501 -0.10853927
+v 0.16827802 -0.00778230 -0.10853914
+v 0.17232835 -0.00778238 -0.08726645
+v 0.14533521 -0.02648319 -0.02841364
+v 0.15487002 -0.00778259 -0.02877439
+v 0.14235793 -0.02280994 -0.08932161
+v 0.14344119 -0.03603443 -0.02841367
+v 0.13889011 -0.02798914 -0.10853921
+v 0.14454831 -0.02978925 -0.02841365
+v 0.14516148 -0.02715418 -0.02841364
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+v 0.15481892 -0.00778259 -0.02974704
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bfc64017dd3519fd171a8a644c981b935743a12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d929a779c4d0ec2044f3100eb0433b3ded804d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb27f71bfc8a5d1e7a60a6318f256041bc459a22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e7f67ab8cb70d3d2c17743179fb5cb41eb876f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05f003f658f91586b51d4fee083e0a0b7e15843
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,349 @@
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a67157cd157cb6a5711b236b7a3577de9bf6e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_70.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.13543296 0.06720725 0.02983631
+v -0.13543296 0.06725870 0.03645923
+v -0.13543296 0.06764202 -0.01650240
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+v -0.12324194 0.12164627 -0.00987928
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307098999ff849f9c547387d36435e2592138f73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.09019036 -0.15144699 0.07617909
+v 0.08673426 -0.15292415 0.08078349
+v 0.08762044 -0.15371422 0.07617909
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c19e241faf62052c3900a46743e1a37fb88f97c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00270844 -0.17601926 -0.03637192
+v 0.00933736 -0.17456699 -0.03637191
+v 0.00270844 -0.17497591 -0.01621605
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+v 0.02921844 -0.13251489 -0.14363682
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8f2eb59bf189f8d02394bcefe26839440529d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.16341921 -0.05587693 0.02983783
+v -0.16341579 -0.05587695 0.03644668
+v -0.16331316 -0.04926497 0.02983786
+v -0.16322765 -0.05587669 -0.03638104
+v -0.16310791 -0.06249059 -0.03638106
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533bb3d9e3dc7d4f2258085315008d68fe8a2716
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc46b62646fe8b1f4bbc57c3a68e25121c96535a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_76.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a6fc1b0271913cc2838912b4d98528ee36a132
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_76.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.12632646 0.01908228 -0.17242542
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diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_77.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d39ba854798769254c06d62ee977ef255bcfd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_77.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_78.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757fe51b9b2a4f710104f37329f6312389aa8ba5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_78.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_79.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91bd89b561fc6f8fd7337d8f036cbd606602dab9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_79.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.05574283 -0.16335643 0.01659994
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+v 0.09018622 -0.11525007 0.04969296
+v 0.09013242 -0.11512703 -0.01621583
+v 0.09018622 -0.11510813 -0.01621583
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ae37d17db5ed3cde95ab3fc907e729120a0c7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.16616017 0.01908481 -0.01390832
+v 0.16509936 0.05922067 -0.01390817
+v 0.14828645 0.01908481 -0.01390832
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+v 0.15268583 0.06096759 -0.13973801
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_80.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6148867cbba12626aef5390446bec7e5dbd28a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_80.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.09960391 0.11938704 -0.15695274
+v -0.06874952 0.14007120 -0.15695267
+v -0.09960391 0.09898045 -0.15695282
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+v -0.06883108 0.14007120 -0.15670969
+v -0.04752916 0.14007120 -0.15695267
+v -0.07683905 0.10978110 -0.15695278
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+v -0.09960391 0.09920973 -0.15536288
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+v -0.07365319 0.11140220 -0.15695277
+v -0.07896465 0.11733934 -0.10300037
+v -0.08433728 0.11397244 -0.10300038
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+v -0.09960391 0.12791877 -0.10919107
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+f 31 37 32
+f 32 37 36
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_81.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648fe7d76687264e0de528fe830d29703720b4a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_81.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00022827 -0.15616148 -0.01621598
+v 0.02452811 -0.14440122 -0.00325854
+v 0.02464947 -0.14447057 -0.00988279
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+v 0.00022827 -0.17451905 0.05631699
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_82.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72bb7084fc05e5ef1f4c77cf33bde7cfb281fd48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_82.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.13238818 -0.09940739 0.03633278
+v 0.15748887 -0.07142455 0.02983654
+v 0.15741163 -0.07121108 0.03633289
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+v 0.15813262 -0.07205381 -0.03636636
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_83.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee8ec5c4cd771d68a5482d5c035a60deb99f5e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_83.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.14483521 0.01908253 -0.10853904
+v 0.16187998 0.01908253 -0.10853904
+v 0.15146740 -0.00777967 -0.10853914
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+v 0.15481788 -0.00777996 -0.02974704
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+v 0.15488953 -0.00777997 -0.02841357
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+v 0.16707624 0.01084556 -0.10853907
+v 0.17220658 0.00789206 -0.08715658
+v 0.16727114 0.01908236 -0.06284825
+v 0.17032355 -0.00254083 -0.10853912
+v 0.17232695 -0.00777975 -0.08726645
+v 0.17265083 -0.00777997 -0.02841357
+v 0.17241580 0.00798915 -0.02841351
+v 0.16677243 0.01908226 -0.03636720
+v 0.16976465 0.00449689 -0.10853909
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+v 0.17026049 0.00325556 -0.10853910
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+v 0.17238427 0.00854157 -0.06284829
+v 0.17405522 0.00364715 -0.03636726
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+v 0.17255625 -0.00263820 -0.08941566
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+v 0.17411541 -0.00296715 -0.03636728
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+v 0.17350492 -0.00296718 -0.02841355
+v 0.17271102 -0.00777996 -0.02974704
+v 0.17320399 0.00449133 -0.02841352
+v 0.17335302 0.00364712 -0.02841353
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_84.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20966976746173cef6b7336cd31fc24920b4b4cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_84.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.12190301 -0.02941913 -0.17242560
+v 0.12253616 -0.02324529 -0.17242558
+v 0.12600341 -0.04348478 -0.17242565
+v 0.13868361 -0.03892684 -0.10853925
+v 0.13837780 -0.03746762 -0.10853925
+v 0.13811076 -0.03600840 -0.10853924
+v 0.13814090 -0.03004216 -0.10853922
+v 0.13286466 -0.01274795 -0.17242554
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+v 0.13860177 -0.02611280 -0.11249811
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+v 0.14886567 -0.01274818 -0.10853916
+v 0.14517876 -0.04348478 -0.17242565
+v 0.14009204 -0.04348501 -0.10853927
+v 0.15186344 -0.01274795 -0.17242554
+v 0.14015664 -0.02572769 -0.10853920
+v 0.16590040 -0.01274818 -0.10853916
+v 0.14535966 -0.04348478 -0.17163137
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+v 0.15603705 -0.04348501 -0.10853927
+v 0.16587455 -0.01274818 -0.10919585
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+v 0.15437019 -0.04348496 -0.12243605
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_85.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dabf232c87c6ac1ef24a0e2079245ccea7172b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_85.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.16287924 -0.06317578 -0.03638106
+v -0.16118280 -0.06822109 -0.03638108
+v -0.16129121 -0.06808053 -0.00988981
+v -0.16283588 -0.06317587 -0.00988979
+v -0.16260283 -0.06317565 -0.06946256
+v -0.15877094 -0.07152778 -0.03638109
+v -0.16089556 -0.06728431 -0.06946258
+v -0.15871132 -0.07151604 0.02983778
+v -0.16112319 -0.06820936 0.02983779
+v -0.16275459 -0.06317602 0.02983781
+v -0.16071670 -0.06317558 -0.08943806
+v -0.15992539 -0.06609923 -0.08753918
+v -0.13400182 -0.09374399 -0.00988990
+v -0.13470641 -0.09374420 0.04649946
+v -0.15762191 -0.07059100 -0.06946259
+v -0.13109132 -0.09374363 -0.10917166
+v -0.15330222 -0.07264375 -0.09306831
+v -0.13091246 -0.09374362 -0.11162903
+v -0.15849453 -0.07139042 0.04649954
+v -0.15978989 -0.06979244 0.04649954
+v -0.16108525 -0.06808373 0.04649955
+v -0.16195243 -0.06542941 0.04649956
+v -0.16273291 -0.06317604 0.03644666
+v -0.16067875 -0.06317558 -0.08977316
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+v -0.11449005 -0.09374420 0.04649946
+v -0.15164914 -0.07096788 -0.11579904
+v -0.14584980 -0.07844312 -0.10917161
+v -0.13045718 -0.09374360 -0.11579912
+v -0.16262451 -0.06317608 0.04649957
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+v -0.11476104 -0.07435825 -0.14368656
+v -0.12205628 -0.08136434 0.04649950
+v -0.11737346 -0.07158423 -0.14368655
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+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_86.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76847de1140a8f80e6d5da1fb1a2c967eb83f3bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_86.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.11060865 0.10767971 -0.01773409
+v -0.11060865 0.12384968 -0.01773404
+v -0.09960391 0.11343209 -0.01773407
+v -0.09960391 0.11167898 0.02337296
+v -0.09960391 0.11063593 0.05629193
+v -0.11060865 0.10788667 0.04327795
+v -0.09960391 0.12963232 -0.01773401
+v -0.11060865 0.12562562 0.05629198
+v -0.09960391 0.13145949 0.05629200
+v -0.11060865 0.10818925 0.05629192
+f 1 2 7
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+f 1 8 2
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+f 2 9 7
+f 3 7 9
+f 3 9 5
+f 3 5 4
+f 5 9 8
+f 5 8 10
+f 5 10 6
+
diff --git a/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_87.obj b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04c47e1447e4085883434de47021c7388a225ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/mjcf/mesh/basket_collision_87.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.15845277 -0.05542916 -0.10921138
+v 0.15805133 -0.05008111 -0.10921136
+v 0.15742570 -0.06229349 -0.10921141
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