diff --git a/.gitattributes b/.gitattributes
index 0d9433a25bf8a82d56806ce3931ff4bed3cfe340..827eb3b5642fcdc3b67ce82312a64ded9ef7dc51 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2853,3 +2853,5 @@ 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
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.urdf b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d54d9e9541c72c23ee2bcd10407a5fa85a2429a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_002">
+   <link name="basket_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_002.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e71319c323d5582cbb8082c2d23d41b2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>round wicker basket</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>small round brown woven basket with thick braided rim</description>
+         <min_height>0.0765</min_height>
+         <max_height>0.0765</max_height>
+         <real_height>0.0765</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131051</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074624 -0.074519 -0.036918</min>
+            <max>0.075376 0.073988 0.039548</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..479d5d76761534194b5b36684d0df9b7b4baa149
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e959b2a1888f4e417e7a49f7e4ce145e6e90d3b9e7a0c0f1b46893c7b4219aa6
+size 5018179
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b3ad61193a121f076c6c4c8b1dbae153b9b2dfb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c8f0ad943f6d50e3fd3784dbbee43de98c172932df3791a9c321bcdb63b730
+size 18658440
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.mtl b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb3023e2b40077e0df0003db7dbad89216a18de1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.mtl
@@ -0,0 +1,6 @@
+newmtl basket_002_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f717c44bfb90907aeba3aada4072b0765217f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.obj
@@ -0,0 +1,115094 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_collision.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f398b4ff46c41b82f2842d1f84ea8c9541eb5d2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..523e9d8f3c68cbef0e41d5aa99cb6900f2b069fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6a5bda041401530af9408f187b84013d1970a545a5c1553cbd2535d0a642a3
+size 15159484
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material.mtl b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6fbbbfbc3fe5916e7046879a2d6d8551a78c52fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material_0.png b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..523e9d8f3c68cbef0e41d5aa99cb6900f2b069fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6a5bda041401530af9408f187b84013d1970a545a5c1553cbd2535d0a642a3
+size 15159484
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/basket_002.xml b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/basket_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..904372315391d0fe2850ca452ce6c011159d2dca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/basket_002.xml
@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_002">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_002_geometry_Looks_material_0" type="2d" file="mesh/basket_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_002_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_002_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_002_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_002_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_002_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_002_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_002_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_002_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_002_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_002_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_002_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_002_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_002_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_002_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_002_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_002_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_002_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c85feae21e007321052690fac1cd5c3f6a3d70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002.obj
@@ -0,0 +1,115094 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_002_geometry_Looks_material_0
+v 0.072041 -0.003573 0.028622
+v 0.072041 -0.003573 0.028622
+v 0.073127 0.000082 0.028836
+v 0.073127 0.000082 0.028836
+v 0.073127 0.000082 0.028836
+v 0.072777 -0.001045 0.029326
+v 0.072777 -0.001045 0.029326
+v 0.072777 -0.001045 0.029326
+v 0.010297 -0.020088 -0.033268
+v -0.000043 -0.013401 -0.033267
+v 0.003657 -0.024195 -0.033268
+v 0.003064 -0.005719 -0.033271
+v -0.001104 -0.000588 -0.033265
+v 0.012160 -0.001185 -0.033264
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6dde27d23157ba14333342bb427aaa294d7a011
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision.obj
@@ -0,0 +1,12836 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_0.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d62f38eb31fd11d818630c9e322fd7d5dedf4e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_1.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3540e6562d1152f5d26e65d06cbe129a4c84119
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_1.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_10.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e37c4590a13ffec697340aa289f0e97e5fff24a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_10.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_11.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4df8c9be6bc96479f271e02c760c2f88c803ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_12.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39cd31f4d7048d84324fe60a27d25bbacff3222a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_12.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_13.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901a6031186b1f600739143e4cf59e21b27f9181
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.06904232 -0.00015270 -0.00366020
+v -0.06760493 -0.00648869 0.00492048
+v -0.06760664 -0.00645988 0.00492048
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+f 1 19 9
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+f 39 61 62
+f 39 62 63
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+f 39 64 57
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+f 41 44 42
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_14.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b49a54e2f0f70df214968aa328eb2990bb2a786
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02272199 -0.05509217 0.00518525
+v -0.00023714 -0.05987304 0.00518523
+v 0.02272199 -0.06434931 0.00518521
+v 0.02272199 -0.05032232 -0.02622896
+v -0.00023714 -0.06760900 0.00518520
+v -0.00023714 -0.05529079 -0.02622898
+v 0.02122734 -0.06507740 0.00518521
+v 0.02272199 -0.06489909 0.00415816
+v 0.02272199 -0.05974848 -0.02622900
+v 0.00161263 -0.06759228 0.00518520
+v -0.00023714 -0.06923603 -0.00238238
+v 0.00161263 -0.06929546 -0.00238238
+v -0.00023714 -0.06567164 -0.02622902
+v 0.01916181 -0.06571262 0.00518521
+v 0.01881793 -0.06677689 0.00239310
+v 0.02143637 -0.06592249 0.00250381
+v 0.02272199 -0.06506067 0.00373073
+v 0.01984957 -0.06075146 -0.02622900
+v 0.02272199 -0.06219466 -0.02311711
+v 0.00409172 -0.06749570 0.00518520
+v -0.00023714 -0.06826457 -0.01703477
+v 0.00161263 -0.06836301 -0.01703477
+v 0.00409172 -0.06910972 -0.00238238
+v 0.01400134 -0.06754398 0.00250380
+v 0.01400134 -0.06725237 0.00392752
+v 0.00888808 -0.06729696 0.00518520
+v 0.00656856 -0.06739354 0.00518520
+v 0.00409172 -0.06823671 -0.01703477
+v 0.00161263 -0.06567164 -0.02622902
+v 0.00161263 -0.06643874 -0.02436557
+v -0.00023714 -0.06575336 -0.02602915
+v 0.01675689 -0.06638499 0.00518521
+v 0.01701311 -0.06703691 0.00313110
+v 0.01789866 -0.06722080 0.00150135
+v 0.02272199 -0.06538943 0.00250381
+v 0.01789866 -0.06722079 0.00112620
+v 0.02272199 -0.06487117 -0.01138906
+v 0.00825426 -0.06485255 -0.02579545
+v 0.00656856 -0.06509771 -0.02610295
+v 0.00656856 -0.06497698 -0.02622902
+v 0.02272199 -0.06321435 -0.02179486
+v -0.00023714 -0.06643317 -0.02436557
+v 0.01630512 -0.06731924 0.00239310
+v 0.00656856 -0.06786709 -0.01703477
+v 0.01536113 -0.06719851 0.00377377
+v 0.01152450 -0.06703321 0.00518520
+v 0.00409172 -0.06618428 -0.02436557
+v 0.00409172 -0.06545432 -0.02622902
+v 0.01633434 -0.06648157 0.00518521
+v 0.01053781 -0.06725973 -0.01603540
+v 0.02026088 -0.06471140 -0.02072477
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+v 0.02272199 -0.06416534 -0.01947939
+v 0.00563357 -0.06520172 -0.02622902
+v 0.00637078 -0.06503456 -0.02622902
+v 0.01400134 -0.06675089 0.00518520
+f 1 2 5
+f 1 5 10
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+f 1 20 27
+f 1 27 26
+f 1 26 46
+f 1 46 56
+f 1 56 49
+f 1 49 32
+f 1 32 14
+f 1 14 7
+f 1 7 3
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+f 1 19 9
+f 1 9 4
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+f 22 42 30
+f 22 30 28
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+f 32 45 33
+f 33 45 34
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+f 41 53 51
+f 44 47 51
+f 44 51 50
+f 45 49 56
+f 45 56 46
+f 47 48 54
+f 51 53 52
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_15.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41fc49029c52727026e064970ce1f84b2d1ed9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02167447 -0.04738220 -0.03075178
+v 0.02167447 -0.05077865 -0.02622941
+v 0.02167447 -0.05824292 -0.03075182
+v -0.00023714 -0.05262098 -0.03075180
+v -0.00023714 -0.05450452 -0.02755050
+v -0.00023714 -0.05529052 -0.02622942
+v 0.02167447 -0.06005843 -0.02622944
+v 0.02167447 -0.05893224 -0.02926473
+v 0.01822129 -0.05987579 -0.03064557
+v 0.01830923 -0.05975046 -0.03075183
+v -0.00023714 -0.06183810 -0.03075184
+v -0.00023714 -0.06567141 -0.02622946
+v 0.01984922 -0.06075311 -0.02622944
+v 0.02167447 -0.05904145 -0.02901238
+v 0.01731832 -0.05996532 -0.03075183
+v 0.01809046 -0.05981313 -0.03075183
+v 0.00656842 -0.06497673 -0.02622946
+v 0.00637109 -0.06503402 -0.02622946
+v 0.00563327 -0.06520232 -0.02622946
+v 0.00409114 -0.06537420 -0.02643400
+v -0.00023714 -0.06448257 -0.02781839
+v 0.00084815 -0.06184168 -0.03075184
+v -0.00023714 -0.06552102 -0.02659692
+v 0.00161385 -0.06567141 -0.02622946
+v 0.01647969 -0.06007453 -0.03075183
+v 0.00409114 -0.06545477 -0.02622946
+v 0.00161385 -0.06552102 -0.02659294
+v 0.00161385 -0.06448078 -0.02781440
+v 0.00409114 -0.06167696 -0.03075184
+v -0.00023714 -0.06474755 -0.02750804
+v 0.00104118 -0.06184168 -0.03075184
+v 0.00161385 -0.06183989 -0.03075184
+f 1 2 7
+f 1 7 14
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+f 1 8 3
+f 1 3 10
+f 1 10 16
+f 1 16 15
+f 1 15 25
+f 1 25 29
+f 1 29 32
+f 1 32 31
+f 1 31 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
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+f 1 6 2
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+f 2 17 13
+f 2 13 7
+f 3 8 9
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+f 27 30 28
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+f 28 32 29
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_16.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a658cb7107134a5d0729d870f15d7f18f45e1582
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_16.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00336214 0.06875053 0.02002598
+v -0.00339273 0.06875360 0.02002598
+v -0.00336214 0.06028973 0.02002595
+v -0.00336214 0.06845601 -0.00482129
+v -0.00582324 0.06870603 0.02002598
+v -0.02289608 0.05622504 0.02002594
+v -0.02289608 0.05307963 -0.02254320
+v -0.00336214 0.05739903 -0.02254318
+v -0.00336214 0.06744026 -0.01459268
+v -0.00830156 0.06786682 -0.01459268
+v -0.01077987 0.06796963 -0.01459268
+v -0.01325628 0.06791899 -0.01459268
+v -0.01325628 0.06843752 0.01716331
+v -0.00830156 0.06858328 0.02002598
+v -0.02289608 0.06547301 0.02002597
+v -0.02289608 0.06277564 -0.02254316
+v -0.00336214 0.06561432 -0.02254315
+v -0.00336214 0.06715026 -0.01701782
+v -0.00830156 0.06748783 -0.01703449
+v -0.01077987 0.06760905 -0.01703449
+v -0.01325628 0.06759217 -0.01703449
+v -0.01573459 0.06738963 -0.01703449
+v -0.01573459 0.06769036 -0.01459268
+v -0.01573459 0.06816746 0.01716331
+v -0.01378215 0.06809226 0.02002598
+v -0.01325628 0.06814290 0.02002598
+v -0.01077987 0.06837920 0.02002598
+v -0.02111575 0.06616963 0.02002597
+v -0.02153263 0.06649187 0.01716330
+v -0.02289608 0.06582593 0.01716330
+v -0.02289608 0.06518006 -0.01719285
+v -0.02246964 0.06295363 -0.02254316
+v -0.00336214 0.06601327 -0.02170144
+v -0.00830156 0.06546855 -0.02254315
+v -0.00336214 0.06714719 -0.01703449
+v -0.00336214 0.06675285 -0.01910128
+v -0.00336214 0.06664237 -0.01960548
+v -0.00375989 0.06655798 -0.02003467
+v -0.00336214 0.06624957 -0.02102640
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+v -0.01325628 0.06522918 -0.02254315
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+v -0.01805610 0.06696766 -0.01703033
+v -0.01988615 0.06679274 -0.01621361
+v -0.01821291 0.06721929 -0.01459268
+v -0.01821291 0.06762120 0.01716331
+v -0.01627194 0.06770866 0.02002598
+v -0.01573459 0.06781760 0.02002598
+v -0.01827027 0.06720076 0.02002598
+v -0.02029347 0.06696754 0.01716331
+v -0.02109854 0.06636155 -0.01459269
+v -0.02289608 0.06564038 -0.01459269
+v -0.02289608 0.06559741 -0.01486354
+v -0.02070461 0.06614521 -0.01703034
+v -0.02000471 0.06396021 -0.02254316
+v -0.01573459 0.06492383 -0.02254315
+v -0.01877894 0.06644290 -0.01784288
+v -0.01889559 0.06430086 -0.02254315
+f 1 2 5
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+f 1 14 27
+f 1 27 26
+f 1 26 25
+f 1 25 48
+f 1 48 47
+f 1 47 49
+f 1 49 28
+f 1 28 15
+f 1 15 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
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+f 1 33 39
+f 1 39 37
+f 1 37 36
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+f 1 18 9
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+f 1 4 2
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+f 31 53 44
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+f 31 55 32
+f 33 34 40
+f 37 39 38
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+f 44 52 51
+f 44 51 50
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+f 44 46 45
+f 46 50 49
+f 46 49 47
+f 55 57 58
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_17.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4da39290458cda0cbd717061778c826960dd3b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_17.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02640121 0.06115530 -0.02254317
+v -0.02640121 0.05154503 -0.02254320
+v -0.02640121 0.06098576 -0.02387405
+v -0.03654808 0.05662484 -0.02254318
+v -0.02640121 0.04532585 -0.03082272
+v -0.04399987 0.03806443 -0.02254325
+v -0.02640121 0.06095185 -0.02400131
+v -0.03753637 0.05614557 -0.02254318
+v -0.02640121 0.06085690 -0.02433524
+v -0.02640121 0.05593536 -0.03082268
+v -0.03569762 0.03828601 -0.03082275
+v -0.03601434 0.03806446 -0.03082275
+v -0.05508225 0.03806443 -0.02254325
+v -0.03785603 0.05598280 -0.02254318
+v -0.02640121 0.05998428 -0.02610218
+v -0.03459202 0.05201303 -0.03082270
+v -0.05008506 0.03806446 -0.03082275
+v -0.05591511 0.03862961 -0.02254325
+v -0.05636087 0.03806443 -0.02254731
+v -0.03804078 0.05588333 -0.02254318
+v -0.03472399 0.05194747 -0.03082270
+v -0.03479437 0.05198590 -0.03073192
+v -0.03959800 0.04951043 -0.03070194
+v -0.04951320 0.03930559 -0.03082275
+v -0.05589752 0.03864996 -0.02254325
+v -0.04717883 0.04243441 -0.03082273
+v -0.04939883 0.03970348 -0.03068900
+v -0.04090009 0.05419006 -0.02254319
+v -0.03914638 0.04963250 -0.03082271
+v -0.03948363 0.04944939 -0.03082271
+v -0.03970064 0.04930470 -0.03082271
+v -0.04232828 0.04729267 -0.03082272
+v -0.04128719 0.05393912 -0.02254319
+v -0.04934310 0.03958366 -0.03082274
+v -0.04402333 0.05158347 -0.02254320
+v -0.04917008 0.03981877 -0.03082274
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_18.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d32dfcf52cbc5d064800d0538717e760628ad0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_18.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_19.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff6dc541a0d9366c06097eb34636beeb18839fdd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_19.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_2.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51a3a9bbc4fa33cee1867a3f223c72a3a42f30e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_2.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_20.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0911493641276efd8817a5b4769667966c926a00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v -0.06221390 -0.02892995 0.00459405
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+v -0.06140940 -0.03215025 -0.01459429
+v -0.06192136 -0.03071277 -0.01648265
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+f 1 53 57
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+f 1 24 50
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+f 1 13 7
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+f 32 51 52
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+f 37 38 58
+f 38 40 59
+f 38 59 60
+f 38 60 58
+f 40 41 56
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+f 43 61 62
+f 43 62 63
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+f 43 65 44
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+f 51 66 67
+f 51 67 52
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+f 60 67 66
+f 60 66 65
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_21.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f6686d37c4ebf6809e6b8df4c28c31f2b492e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.05480825 0.01894565 -0.02254332
+v -0.05480825 0.03965530 -0.02254324
+v -0.03974140 0.04245339 -0.02254323
+v -0.03974140 0.04609458 0.01959736
+v -0.05480530 0.02587555 0.01959729
+v -0.05480825 0.02585639 0.01942403
+v -0.05480825 0.04030691 -0.02199462
+v -0.04402472 0.05158357 -0.02254320
+v -0.03974140 0.05486078 -0.02254319
+v -0.03974140 0.05668896 0.01959740
+v -0.05480825 0.02593304 0.01959729
+v -0.05480825 0.04092019 -0.02140475
+v -0.04471353 0.05226967 -0.02124797
+v -0.04302616 0.05304394 -0.02202346
+v -0.04352175 0.05204736 -0.02254320
+v -0.03982990 0.05481478 -0.02254319
+v -0.03974140 0.05547022 -0.02192445
+v -0.03974140 0.05809569 0.01230035
+v -0.04177686 0.05675032 0.01352546
+v -0.03977975 0.05666597 0.01959740
+v -0.05480825 0.04235358 0.01959735
+v -0.05480825 0.04180560 -0.01947840
+v -0.05428611 0.04198193 -0.02085201
+v -0.04626963 0.05125392 -0.01947836
+v -0.04503065 0.05258397 -0.01947836
+v -0.04374300 0.05382203 -0.01947835
+v -0.04220755 0.05460397 -0.02116546
+v -0.04174146 0.05356523 -0.02254319
+v -0.04089777 0.05419001 -0.02254319
+v -0.04023552 0.05530924 -0.02178007
+v -0.03974140 0.05613333 -0.02121495
+v -0.03974140 0.05758213 -0.00234326
+v -0.04011162 0.05734832 -0.00237626
+v -0.04075028 0.05743259 0.01232098
+v -0.04177686 0.05675032 0.01316247
+v -0.04434184 0.05436619 0.01227559
+v -0.04432414 0.05434703 0.01366570
+v -0.04526075 0.05282148 0.01959738
+v -0.04514717 0.05292497 0.01959738
+v -0.04281229 0.05478397 0.01959739
+v -0.04269577 0.05486830 0.01959739
+v -0.04068685 0.05611402 0.01959740
+v -0.05470648 0.04248007 0.01959735
+v -0.05480825 0.04445410 0.00739160
+v -0.05454571 0.04472241 0.00739160
+v -0.04250402 0.05483777 -0.01947835
+v -0.04276067 0.05581890 0.01232098
+v -0.04128717 0.05393703 -0.02254319
+v -0.04073996 0.05607582 -0.01947834
+v -0.03974140 0.05671210 -0.01947834
+v -0.03974140 0.05756297 -0.00280938
+v -0.04779623 0.05037220 0.01959738
+v -0.04771068 0.05045652 0.01959738
+v -0.05003671 0.04793825 0.01959737
+v -0.04788325 0.05028404 0.01959737
+f 1 2 8
+f 1 8 15
+f 1 15 28
+f 1 28 48
+f 1 48 29
+f 1 29 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 44
+f 1 44 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
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+f 3 31 50
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+f 27 31 30
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+f 27 29 48
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+f 27 50 31
+f 32 51 33
+f 33 35 34
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+f 37 52 53
+f 37 53 38
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+f 43 54 44
+f 44 54 55
+f 44 55 45
+f 45 55 52
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_22.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..525a1ae9765affe388eab2121ab932b5c24eb899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04636036 -0.03915775 0.00459704
+v -0.05618262 -0.03915775 0.00459704
+v -0.05699167 -0.02078010 0.00459710
+v -0.05794805 -0.02078017 0.02449091
+v -0.05849603 -0.02078021 0.03426259
+v -0.04754420 -0.03915782 0.02449085
+v -0.05627568 -0.03903902 0.00459704
+v -0.06431960 -0.03915784 0.02996191
+v -0.06526822 -0.02078010 0.00459710
+v -0.05872349 -0.02078021 0.03604545
+v -0.04890898 -0.03915786 0.03670545
+v -0.04860138 -0.03915786 0.03426253
+v -0.04778717 -0.03915783 0.02690995
+v -0.04762174 -0.03915782 0.02528021
+v -0.05701235 -0.03797755 0.00459704
+v -0.06444884 -0.03915785 0.03146236
+v -0.06662008 -0.03514768 0.03023070
+v -0.06638486 -0.03472310 0.02860096
+v -0.06190280 -0.03310565 0.01049681
+v -0.05969538 -0.03380728 0.00459706
+v -0.05832026 -0.03603994 0.00459705
+v -0.07255996 -0.02078019 0.02929169
+v -0.06512864 -0.02132882 0.00459710
+v -0.05990992 -0.02078022 0.03721928
+v -0.05005146 -0.03915787 0.03822292
+v -0.06444884 -0.03915785 0.03161207
+v -0.06662008 -0.03514768 0.03077849
+v -0.07140455 -0.02489651 0.03181966
+v -0.07185173 -0.02323954 0.02999938
+v -0.06325724 -0.02663792 0.00459708
+v -0.06221557 -0.02892995 0.00459707
+v -0.06108342 -0.03119860 0.00459707
+v -0.06094901 -0.03145767 0.00459706
+v -0.07194478 -0.02365693 0.03181966
+v -0.07267370 -0.02132892 0.03181967
+v -0.07276675 -0.02078020 0.03181967
+v -0.06438680 -0.02366583 0.00459709
+v -0.06117647 -0.02078022 0.03811071
+v -0.05057876 -0.03915787 0.03841346
+v -0.06437388 -0.03915785 0.03212583
+v -0.06940391 -0.02814926 0.03426257
+v -0.07023364 -0.02628721 0.03426257
+v -0.07174058 -0.02334749 0.03338136
+v -0.06414900 -0.02526522 0.00587639
+v -0.07193185 -0.02078020 0.03375223
+v -0.07192410 -0.02132892 0.03361274
+v -0.06246888 -0.02078022 0.03853941
+v -0.05291026 -0.03867572 0.03908033
+v -0.05291026 -0.03915787 0.03908373
+v -0.06324173 -0.03915785 0.03384404
+v -0.06432218 -0.03811079 0.03330986
+v -0.06709310 -0.03082090 0.03610666
+v -0.06913509 -0.02777685 0.03561333
+v -0.06937548 -0.02078022 0.03754931
+v -0.06282299 -0.02078022 0.03863467
+v -0.06475126 -0.02078022 0.03897832
+v -0.06529924 -0.02078022 0.03907018
+v -0.05538909 -0.03867572 0.03931169
+v -0.05537616 -0.03915787 0.03915518
+v -0.06284884 -0.03915786 0.03431017
+v -0.06427824 -0.03279991 0.03807664
+v -0.06865432 -0.02078022 0.03824680
+v -0.06529924 -0.02132894 0.03909740
+v -0.05786792 -0.03619838 0.03935593
+v -0.06784786 -0.02078022 0.03858023
+v -0.05790411 -0.03873329 0.03864822
+v -0.05768957 -0.03915787 0.03853254
+v -0.06065434 -0.03915786 0.03654894
+v -0.06203721 -0.03546975 0.03822974
+v -0.06284626 -0.03366347 0.03844751
+v -0.06786595 -0.02129116 0.03850879
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+v -0.06034416 -0.03371924 0.03914499
+v -0.06041654 -0.03625775 0.03863803
+v -0.05963851 -0.03794349 0.03827396
+v -0.05832284 -0.03915787 0.03817189
+v -0.06047340 -0.03915786 0.03668844
+v -0.05976000 -0.03915787 0.03718519
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+f 1 16 8
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+f 50 60 61
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+f 50 52 51
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+f 53 62 54
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+f 58 66 59
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+f 60 69 61
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+f 66 75 67
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+f 68 77 75
+f 68 75 69
+f 69 75 74
+f 69 74 70
+f 70 74 73
+f 75 77 78
+f 75 78 76
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_23.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03e94c48f92430f0f11b8af7714857e330ff2ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_23.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.06379424 -0.02621832
+v 0.00015610 0.06170248 -0.03048782
+v -0.00149631 0.06166910 -0.03040681
+v -0.00336023 0.06132001 -0.03081593
+v -0.00336023 0.05530201 -0.02621835
+v 0.00293715 0.06372609 -0.02621832
+v 0.00904477 0.06191249 -0.03073807
+v 0.00657010 0.06187912 -0.03070071
+v -0.00014829 0.06151055 -0.03081593
+v -0.00120576 0.06146187 -0.03081593
+v -0.00336023 0.05217411 -0.03081597
+v 0.01102727 0.05024090 -0.03081598
+v 0.01400202 0.04990154 -0.03081598
+v 0.01683248 0.05302527 -0.02621836
+v 0.00409147 0.06370384 -0.02621832
+v 0.01152340 0.06353694 -0.02621832
+v 0.01152340 0.06186103 -0.03068541
+v 0.00904477 0.06184435 -0.03081593
+v 0.00657010 0.06178732 -0.03081593
+v 0.01683248 0.04958722 -0.03081598
+v 0.01683248 0.06296949 -0.02621832
+v 0.01407713 0.06341733 -0.02621832
+v 0.01317779 0.06177481 -0.03058189
+v 0.01152340 0.06173725 -0.03081593
+v 0.01683248 0.06031029 -0.03081594
+v 0.01648065 0.06305572 -0.02621832
+v 0.01333789 0.06148552 -0.03081593
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 14
+f 1 14 21
+f 1 21 26
+f 1 26 22
+f 1 22 16
+f 1 16 15
+f 1 15 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 4
+f 4 10 9
+f 4 9 19
+f 4 19 18
+f 4 18 24
+f 4 24 27
+f 4 27 25
+f 4 25 20
+f 4 20 13
+f 4 13 12
+f 4 12 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 15 16
+f 8 19 9
+f 13 20 14
+f 14 20 25
+f 14 25 21
+f 16 22 17
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+f 17 23 24
+f 17 24 18
+f 21 25 23
+f 21 23 26
+f 22 26 23
+f 23 27 24
+f 23 25 27
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_24.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0adbfdd3f626ded225c65d702f8403b5667a8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_24.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01683248 0.04958802 -0.03081598
+v 0.03740206 0.03699465 -0.03081602
+v 0.01683248 0.05302303 -0.02621836
+v 0.01683248 0.06031006 -0.03081594
+v 0.03740206 0.04146957 -0.02621840
+v 0.03740206 0.05050335 -0.03081597
+v 0.01683248 0.06296704 -0.02621832
+v 0.01863856 0.05992105 -0.03081594
+v 0.03740206 0.05247384 -0.02621836
+v 0.03561209 0.05205178 -0.03081597
+v 0.03558994 0.05209500 -0.03078942
+v 0.03740206 0.05119747 -0.02959039
+v 0.01875534 0.06249412 -0.02621832
+v 0.02015672 0.05950661 -0.03081594
+v 0.01896072 0.06243818 -0.02621832
+v 0.03716850 0.05150767 -0.02925193
+v 0.03639936 0.05319593 -0.02621835
+v 0.03547719 0.05212551 -0.03081597
+v 0.02061981 0.05941507 -0.03072593
+v 0.03235229 0.05414940 -0.03001436
+v 0.02371250 0.06067872 -0.02621833
+v 0.02639645 0.05929811 -0.02621833
+v 0.02820656 0.05827599 -0.02621834
+v 0.03372346 0.05491725 -0.02621835
+v 0.02069834 0.05928794 -0.03081594
+v 0.02145540 0.06169575 -0.02621832
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 25
+f 1 25 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 17
+f 3 17 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 26
+f 3 26 15
+f 3 15 13
+f 3 13 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 15
+f 8 15 14
+f 9 12 16
+f 9 16 11
+f 9 11 17
+f 10 18 11
+f 11 16 12
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 17
+f 14 19 25
+f 14 15 26
+f 14 26 19
+f 18 25 19
+f 19 26 21
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_25.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4b52c12c1d884d7d3110f356f95b753638e290
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_25.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03740441 0.03699318 -0.03081602
+v 0.03740441 0.04146757 -0.02621840
+v 0.03740441 0.05050434 -0.03081597
+v 0.04814570 0.02037446 -0.03081609
+v 0.03740441 0.05247445 -0.02621836
+v 0.05185761 0.02037445 -0.02621848
+v 0.03740441 0.05119561 -0.02959039
+v 0.03824493 0.05006445 -0.03081598
+v 0.06009377 0.02037446 -0.03081609
+v 0.04162345 0.04953342 -0.02621837
+v 0.06138742 0.02037445 -0.02621848
+v 0.04000815 0.04928206 -0.02972228
+v 0.03856423 0.04983821 -0.03081598
+v 0.05996699 0.02081750 -0.03081608
+v 0.06011960 0.02037446 -0.03079134
+v 0.04443379 0.04746275 -0.02621838
+v 0.06021586 0.02037446 -0.03047313
+v 0.06006090 0.02080493 -0.03072787
+v 0.05985664 0.02205864 -0.03048167
+v 0.06124186 0.02092118 -0.02621847
+v 0.04564996 0.04650440 -0.02621838
+v 0.04740614 0.04500247 -0.02621838
+v 0.04246631 0.04678720 -0.03023673
+v 0.04121727 0.04742191 -0.03081599
+v 0.05932133 0.02249226 -0.03081608
+v 0.06038960 0.02328092 -0.02621846
+v 0.05768021 0.02631937 -0.03081606
+v 0.05747595 0.02721488 -0.03060947
+v 0.05834229 0.02815122 -0.02621845
+v 0.05929786 0.02602714 -0.02621845
+v 0.04811283 0.04429235 -0.02621839
+v 0.04290301 0.04566546 -0.03081599
+v 0.05270517 0.03481255 -0.03075572
+v 0.05717543 0.02738455 -0.03081606
+v 0.05523613 0.03096972 -0.03081605
+v 0.05494030 0.03202862 -0.03053204
+v 0.05676221 0.03099171 -0.02621844
+v 0.04965770 0.04251704 -0.02621839
+v 0.05035031 0.03736710 -0.03081602
+v 0.05284839 0.03451405 -0.03081603
+v 0.05259013 0.03486596 -0.03081603
+v 0.05036439 0.03735139 -0.03081602
+v 0.05428995 0.03249051 -0.03081604
+v 0.05559299 0.03307494 -0.02621843
+v 0.05102178 0.04058463 -0.02621840
+v 0.05118144 0.04033955 -0.02621840
+v 0.05304561 0.03735138 -0.02621841
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 24
+f 1 24 32
+f 1 32 39
+f 1 39 42
+f 1 42 41
+f 1 41 40
+f 1 40 43
+f 1 43 35
+f 1 35 34
+f 1 34 27
+f 1 27 25
+f 1 25 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 20
+f 2 20 26
+f 2 26 30
+f 2 30 29
+f 2 29 37
+f 2 37 44
+f 2 44 47
+f 2 47 46
+f 2 46 45
+f 2 45 38
+f 2 38 31
+f 2 31 22
+f 2 22 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 7 8
+f 4 9 15
+f 4 15 17
+f 4 17 11
+f 4 11 6
+f 5 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 10 16 12
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 16 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 18 15
+f 14 25 19
+f 14 19 18
+f 15 18 17
+f 19 26 20
+f 19 25 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 26
+f 22 31 23
+f 23 32 24
+f 23 31 33
+f 23 33 32
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 31 38 33
+f 32 33 39
+f 33 40 41
+f 33 41 42
+f 33 42 39
+f 33 38 36
+f 33 36 43
+f 33 43 40
+f 35 43 36
+f 36 44 37
+f 36 38 45
+f 36 45 46
+f 36 46 47
+f 36 47 44
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_26.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d15b0f5c4034d80b5d6462778dadb46dbf09e6b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_26.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.04715530 -0.02469163 -0.03073605
+v -0.05817529 -0.02469163 -0.03073605
+v -0.04740378 -0.02469163 -0.03027893
+v -0.04569508 -0.02630542 -0.03073606
+v -0.05702499 -0.02806320 -0.03073606
+v -0.05940098 -0.02876387 -0.02622055
+v -0.05969693 -0.02778927 -0.02622054
+v -0.05894309 -0.02469163 -0.02925991
+v -0.05051127 -0.02469164 -0.02622053
+v -0.03306411 -0.04130894 -0.03073611
+v -0.05689935 -0.02835295 -0.03073606
+v -0.05862760 -0.03073765 -0.02622055
+v -0.06048427 -0.02469164 -0.02622053
+v -0.03651780 -0.04262949 -0.02622060
+v -0.03196406 -0.04262948 -0.03073612
+v -0.05733770 -0.03324526 -0.02622056
+v -0.05440331 -0.03288878 -0.03073608
+v -0.04856525 -0.04262949 -0.02622060
+v -0.04564483 -0.04262948 -0.03073612
+v -0.05705570 -0.03372992 -0.02622056
+v -0.05206920 -0.03594427 -0.03073609
+v -0.05535259 -0.03608125 -0.02622057
+v -0.05089099 -0.04062059 -0.02622059
+v -0.04576209 -0.04262948 -0.03055486
+v -0.05233444 -0.03930005 -0.02622058
+v -0.05360480 -0.03812878 -0.02622058
+v -0.04906502 -0.03979173 -0.03016316
+v -0.04810457 -0.04020791 -0.03073611
+v -0.05153035 -0.03728763 -0.02999869
+v -0.05034375 -0.03789873 -0.03073610
+v -0.04960387 -0.03869421 -0.03073610
+f 1 2 8
+f 1 8 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 28
+f 1 28 31
+f 1 31 30
+f 1 30 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 16
+f 6 16 20
+f 6 20 22
+f 6 22 26
+f 6 26 25
+f 6 25 23
+f 6 23 18
+f 6 18 14
+f 6 14 9
+f 6 9 13
+f 6 13 7
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 11 17 16
+f 14 18 24
+f 14 24 19
+f 14 19 15
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 24
+f 19 24 23
+f 19 23 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 21 29 22
+f 21 30 29
+f 22 29 26
+f 26 29 27
+f 27 29 30
+f 27 30 31
+f 27 31 28
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_27.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05286ffef026718ded234ff236124237c69cb305
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_27.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04814567 0.02037446 -0.03081609
+v 0.05185871 0.02037445 -0.02621848
+v 0.06009430 0.02037446 -0.03081609
+v 0.05232520 0.00024250 -0.03081616
+v 0.05527335 0.00024249 -0.02621855
+v 0.06138572 0.02037445 -0.02621848
+v 0.06012002 0.02037446 -0.03079134
+v 0.06014232 0.02020695 -0.03081609
+v 0.06187108 0.00024250 -0.03081616
+v 0.06560813 0.00024249 -0.02621855
+v 0.06451222 0.01059815 -0.02621851
+v 0.06021607 0.02037446 -0.03047313
+v 0.06013546 0.02037446 -0.03074318
+v 0.06509362 0.00841272 -0.02621852
+v 0.06056593 0.01794664 -0.03081609
+v 0.06530457 0.00729143 -0.02621852
+v 0.06187965 0.00053415 -0.03081616
+v 0.06554811 0.00097753 -0.02650076
+v 0.06551209 0.00024249 -0.02646295
+v 0.06566301 0.00097753 -0.02621855
+v 0.06093810 0.01524491 -0.03081610
+v 0.06543148 0.00593367 -0.02636121
+v 0.06548808 0.00593367 -0.02621853
+v 0.06188994 0.00097754 -0.03081616
+v 0.06554982 0.00345462 -0.02649985
+v 0.06566473 0.00345462 -0.02621854
+v 0.06138915 0.01096864 -0.03081612
+v 0.06550180 0.00575631 -0.02621853
+v 0.06152464 0.00962861 -0.03081612
+v 0.06181105 0.00345463 -0.03081615
+v 0.06159667 0.00841273 -0.03081613
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 27
+f 1 27 29
+f 1 29 31
+f 1 31 30
+f 1 30 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 26
+f 2 26 28
+f 2 28 23
+f 2 23 16
+f 2 16 14
+f 2 14 11
+f 2 11 6
+f 3 7 8
+f 4 9 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 11
+f 7 11 14
+f 7 14 8
+f 8 14 16
+f 8 16 15
+f 9 17 18
+f 9 18 19
+f 10 19 20
+f 11 13 12
+f 15 16 22
+f 15 22 21
+f 16 23 22
+f 17 24 18
+f 18 25 26
+f 18 26 20
+f 18 20 19
+f 18 24 25
+f 21 22 27
+f 22 23 28
+f 22 28 26
+f 22 26 25
+f 22 25 29
+f 22 29 27
+f 24 30 25
+f 25 30 31
+f 25 31 29
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_28.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9215d11103162a3d681210c9c956a3564b90d35e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00336248 0.06561508 -0.02254315
+v -0.00830177 0.06546810 -0.02254315
+v -0.00336248 0.05739811 -0.02254318
+v -0.00336248 0.06420885 -0.02563530
+v -0.00582310 0.06435980 -0.02583550
+v -0.00830177 0.06451275 -0.02603164
+v -0.01078043 0.06459617 -0.02616052
+v -0.01078043 0.06521785 -0.02436602
+v -0.01325910 0.06518210 -0.02436602
+v -0.01078043 0.06539064 -0.02254315
+v -0.00336248 0.05214061 -0.03082270
+v -0.02639895 0.05154869 -0.02254320
+v -0.02639895 0.04532591 -0.03082272
+v -0.00336248 0.06131495 -0.03082266
+v -0.01325910 0.06459220 -0.02618078
+v -0.01573551 0.06447899 -0.02604056
+v -0.01573551 0.06493581 -0.02436602
+v -0.01325910 0.06522777 -0.02254315
+v -0.02639895 0.06115602 -0.02254317
+v -0.02639895 0.05593429 -0.03082268
+v -0.00715152 0.06111236 -0.03082267
+v -0.00957831 0.06095743 -0.03082267
+v -0.01078043 0.06082634 -0.03082267
+v -0.01195323 0.06069724 -0.03082267
+v -0.01314182 0.06050457 -0.03082267
+v -0.01422440 0.06032184 -0.03082267
+v -0.01573551 0.06334486 -0.02726122
+v -0.01754658 0.06431611 -0.02581037
+v -0.01573551 0.06492388 -0.02254315
+v -0.01830890 0.06442138 -0.02428983
+v -0.01954710 0.06420289 -0.02342500
+v -0.01954710 0.06420288 -0.02298003
+v -0.02446834 0.06210742 -0.02254316
+v -0.02472546 0.06186511 -0.02436603
+v -0.02639895 0.06098721 -0.02387405
+v -0.02639895 0.05998418 -0.02610218
+v -0.02447060 0.06172806 -0.02563693
+v -0.02598170 0.05621634 -0.03082268
+v -0.01617981 0.05985310 -0.03082267
+v -0.01846001 0.05929100 -0.03082267
+v -0.02069058 0.06259804 -0.02655444
+v -0.02316924 0.06205779 -0.02601625
+v -0.01919977 0.06409961 -0.02505334
+v -0.01889529 0.06430021 -0.02254315
+v -0.02050113 0.06374606 -0.02428984
+v -0.02316924 0.06262385 -0.02436603
+v -0.02316924 0.06265959 -0.02254316
+v -0.02247007 0.06295355 -0.02254316
+v -0.02000494 0.06396057 -0.02254316
+v -0.02639895 0.06085810 -0.02433524
+v -0.02559378 0.05639311 -0.03082268
+v -0.02073569 0.05843891 -0.03082268
+v -0.02180699 0.05800194 -0.03082268
+v -0.02319405 0.05741601 -0.03082268
+f 1 2 10
+f 1 10 18
+f 1 18 29
+f 1 29 44
+f 1 44 49
+f 1 49 48
+f 1 48 47
+f 1 47 33
+f 1 33 19
+f 1 19 12
+f 1 12 3
+f 1 3 11
+f 1 11 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 12 13
+f 3 13 11
+f 4 14 5
+f 5 14 6
+f 6 14 7
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+f 7 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 13 20
+f 11 20 38
+f 11 38 51
+f 11 51 54
+f 11 54 53
+f 11 53 52
+f 11 52 40
+f 11 40 39
+f 11 39 26
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 22
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+f 11 21 14
+f 12 19 35
+f 12 35 50
+f 12 50 36
+f 12 36 20
+f 12 20 13
+f 14 21 15
+f 15 22 16
+f 15 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 29 18
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 17 32 29
+f 19 33 34
+f 19 34 35
+f 20 36 37
+f 20 37 38
+f 26 39 28
+f 26 28 27
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 30
+f 28 39 40
+f 29 32 44
+f 30 43 31
+f 31 43 45
+f 31 45 46
+f 31 46 33
+f 31 33 32
+f 32 33 47
+f 32 47 48
+f 32 48 49
+f 32 49 44
+f 33 46 34
+f 34 46 37
+f 34 37 35
+f 35 37 50
+f 36 50 37
+f 37 46 43
+f 37 43 42
+f 37 42 38
+f 38 42 51
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 51
+f 41 51 42
+f 43 46 45
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_29.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3462702a51914358711a9e77d0cd40a63bbb76de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02167447 -0.06005615 -0.02622944
+v 0.02167447 -0.05904026 -0.02901238
+v 0.02974327 -0.05784323 -0.02622943
+v 0.02167447 -0.05077607 -0.02622941
+v 0.02167447 -0.05893254 -0.02926473
+v 0.02167447 -0.05829853 -0.03063184
+v 0.02167447 -0.05824223 -0.03075182
+v 0.03096905 -0.05745646 -0.02622943
+v 0.03821526 -0.03993667 -0.02622937
+v 0.03821526 -0.03505060 -0.03075174
+v 0.02167447 -0.04738324 -0.03075178
+v 0.02347186 -0.05765963 -0.03075182
+v 0.03138520 -0.05729979 -0.02622943
+v 0.03821526 -0.05232561 -0.02622941
+v 0.03821526 -0.04916533 -0.03075179
+v 0.02507493 -0.05721655 -0.03030511
+v 0.03230980 -0.05688120 -0.02622943
+v 0.02476403 -0.05700358 -0.03075182
+v 0.03787522 -0.05267811 -0.02622941
+v 0.03770034 -0.04992174 -0.03058355
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_3.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23720e75f4fe200484e2f6604202282828ea355
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_30.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86627034985a7c081f1c26844233efad4ce5aa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_30.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_31.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970b400e1002969d7bef1568eef99a23a4610774
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_31.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_32.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0df24cf823194d004b3d3d60169c5671adce120
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_32.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_33.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0beaa35b17629c8a994db07e9741b7ec781390
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_33.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_34.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abfffc18ffe1bc5cc6170109b7baef5f684b2b67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_34.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_35.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e89e2804dbfcb24fddacb344c4fc5f58f07224
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_35.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_36.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34adace86ebfa80cc7e97a5d0943ec61dedbc7f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_36.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_37.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b34c271c10d0728281bf4f3e926072712b10e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_37.obj
@@ -0,0 +1,274 @@
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_38.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2fe1a541e23d245872e824933429c8c8c53b46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_38.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.04246364 -0.04108686 -0.00120554
+v 0.04246943 -0.04116819 -0.00120554
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_39.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8ffc2b4e0d1cb1b31f37dfae4f960f2620b3e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_39.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.05480825 0.04209292 0.01895924
+v -0.05480825 0.04445598 0.00738926
+v -0.05578732 0.04345624 0.00738926
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+v -0.05692634 0.04221847 0.00738926
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+v -0.06099808 0.00024664 0.01895909
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+v -0.05480825 0.01894324 -0.02254332
+v -0.05480825 0.04092022 -0.02140574
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_4.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e7cee7f66754fcbf9d6aa0dc84e415de11bf5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_4.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.03195698 -0.04263123 -0.03073612
+v -0.04564311 -0.04263123 -0.03073612
+v -0.03651272 -0.04263124 -0.02622060
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_40.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4c08c73226f86042e54768b7a1ef2d14cbfaf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.05961219 0.00008406
+v -0.00336023 0.05966955 0.00249291
+v -0.00336023 0.06708165 0.00008409
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+v -0.00088598 0.06719899 0.00008409
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_41.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6213cf5b3cd7fdc11e164edf28f07f3303e31a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_41.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.02691057 -0.05952146 -0.02622021
+v -0.02691057 -0.05284999 -0.01439553
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_42.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c7cdb116fe57dca1a0db553f8ef9299f6527cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_42.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.06028000 0.01961487
+v -0.00336023 0.06025017 0.02936556
+v -0.00336023 0.06858733 0.01961490
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_43.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b748848b3876ddb9354d5052d384d355c3824118
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_43.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_44.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf73e8a1e0a942bb8aa0de39001a3a51d754b63d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_44.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.03382801 -0.05850094 0.03932157
+v 0.02272424 -0.06217250 0.03897962
+v 0.03135213 -0.06097952 0.03914042
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_45.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec6cb0c893e42390e18d373ac90282cbf09ac42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_45.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.00023714 -0.06825855 0.01957667
+v -0.00023714 -0.06057653 0.01957670
+v 0.00406025 -0.06834175 0.01957667
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+v -0.00023714 -0.06095746 0.03426499
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_46.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35520895c317b1895084966b23be3e8ec343eec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_46.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_47.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b342a1e2867e2b8e87a4fb8c47fdbe9dc491a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_47.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+f 32 34 43
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+f 37 47 48
+f 37 48 38
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+f 39 49 50
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+f 39 41 40
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+f 46 55 56
+f 46 56 57
+f 46 57 54
+f 47 58 48
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+f 49 59 60
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+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 50 63 53
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+f 52 62 64
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+f 56 65 67
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+f 58 68 59
+f 59 68 60
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+f 61 72 73
+f 61 73 62
+f 62 73 74
+f 62 74 75
+f 62 75 76
+f 62 76 77
+f 62 77 78
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+f 64 78 79
+f 66 67 80
+f 67 81 80
+f 69 82 70
+f 70 82 83
+f 70 83 84
+f 70 84 71
+f 71 73 72
+f 71 84 73
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 88
+f 73 88 89
+f 73 89 74
+f 74 89 76
+f 74 76 75
+f 76 79 78
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+f 76 88 87
+f 76 87 86
+f 76 86 85
+f 76 85 84
+f 76 84 83
+f 76 83 91
+f 76 91 90
+f 80 81 91
+f 81 90 91
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_48.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51868c9c5dec568b75bf2f4862ff8e444051ef3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.04118235 0.04368241 0.00452078
+v 0.04239781 0.04368234 0.02375832
+v 0.05218182 0.04368241 0.00452078
+v 0.05465616 0.02492622 0.00452071
+v 0.05465616 0.02492622 0.00453954
+v 0.05582822 0.02492615 0.02340423
+v 0.05402672 0.04368234 0.02375832
+v 0.05585233 0.02492615 0.02375825
+v 0.05340934 0.04368239 0.01163317
+v 0.05985806 0.03691803 0.01348610
+v 0.05295837 0.04262846 0.00452078
+v 0.06431477 0.02492622 0.00452071
+v 0.05352751 0.04368238 0.01234121
+v 0.05616585 0.04073166 0.02375831
+v 0.05983636 0.03689231 0.01540872
+v 0.05985806 0.03691803 0.01378174
+v 0.06581722 0.02492615 0.02375825
+v 0.06056467 0.03590815 0.01464418
+v 0.06197789 0.03385718 0.01472138
+v 0.06260009 0.03243601 0.01290421
+v 0.06243610 0.02964694 0.00588784
+v 0.05936127 0.03367911 0.00452074
+v 0.05914422 0.03399860 0.00452074
+v 0.05803004 0.03562725 0.00452075
+v 0.05612726 0.03828231 0.00452076
+v 0.05397849 0.04123483 0.00452077
+v 0.06403260 0.02569006 0.00452071
+v 0.06480915 0.02492622 0.00572964
+v 0.05807345 0.03801049 0.02375830
+v 0.06541689 0.02492619 0.01472135
+v 0.06526013 0.02575980 0.01472135
+v 0.06487668 0.02722871 0.01332600
+v 0.06489115 0.02727278 0.01472136
+v 0.06449323 0.02851218 0.01472136
+v 0.06362745 0.03071555 0.01472137
+v 0.06563394 0.02535581 0.02375825
+v 0.06303178 0.03023076 0.02375827
+v 0.06270138 0.03261779 0.01472138
+v 0.05895852 0.03664992 0.02375829
+v 0.06485497 0.02492622 0.00603282
+v 0.06283161 0.02809907 0.00452072
+v 0.06137016 0.03059990 0.00452073
+v 0.06119893 0.03088266 0.00452073
+v 0.06388068 0.02601873 0.00452072
+f 1 2 7
+f 1 7 13
+f 1 13 9
+f 1 9 3
+f 1 3 11
+f 1 11 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 43
+f 1 43 42
+f 1 42 41
+f 1 41 44
+f 1 44 27
+f 1 27 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 17
+f 2 17 36
+f 2 36 37
+f 2 37 39
+f 2 39 29
+f 2 29 14
+f 2 14 7
+f 3 9 10
+f 3 10 11
+f 4 12 28
+f 4 28 40
+f 4 40 30
+f 4 30 17
+f 4 17 8
+f 4 8 6
+f 4 6 5
+f 7 14 15
+f 7 15 16
+f 7 16 10
+f 7 10 13
+f 9 13 10
+f 10 16 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 12 27 28
+f 14 29 15
+f 15 29 19
+f 15 19 18
+f 15 18 16
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 19 37 38
+f 19 38 20
+f 19 29 39
+f 19 39 37
+f 20 38 35
+f 20 35 40
+f 20 40 28
+f 20 28 21
+f 21 28 41
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 27 44 28
+f 28 44 41
+f 30 40 31
+f 31 40 32
+f 32 40 35
+f 32 35 34
+f 32 34 33
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_49.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f9616a5cc67474043e0092b8dd39f563775e8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_49.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.04246943 -0.04295943 0.01852886
+v 0.04246943 -0.05409529 0.01852882
+v 0.04246943 -0.04134028 0.00250722
+v 0.02272424 -0.05594920 0.01852881
+v 0.04133490 -0.05505932 0.01852882
+v 0.04246943 -0.05576871 0.00739248
+v 0.04246943 -0.04115240 0.00006360
+v 0.02272424 -0.05488623 0.00250717
+v 0.02272424 -0.06445992 0.01852878
+v 0.04074540 -0.05549932 0.01852882
+v 0.04005927 -0.05728398 0.00865388
+v 0.04136582 -0.05653006 0.00739247
+v 0.04012305 -0.05732352 0.00601515
+v 0.04246943 -0.05541770 0.00526373
+v 0.04246943 -0.04116724 -0.00120554
+v 0.04246364 -0.04108567 -0.00120554
+v 0.02272424 -0.05473297 0.00010411
+v 0.02272424 -0.06580955 0.01465762
+v 0.02287113 -0.06443273 0.01852878
+v 0.03998582 -0.05596898 0.01852881
+v 0.04012498 -0.05732353 0.00739247
+v 0.02555575 -0.06491225 0.01395061
+v 0.02569684 -0.06499136 0.01227774
+v 0.03593280 -0.05766957 -0.00120560
+v 0.03879524 -0.05597880 -0.00120560
+v 0.04163834 -0.05397409 -0.00120559
+v 0.02330214 -0.06499625 0.00006351
+v 0.02454104 -0.06438569 0.00006351
+v 0.04246943 -0.05324983 -0.00120559
+v 0.02272424 -0.05469589 -0.00120559
+v 0.02272424 -0.06633606 0.01227774
+v 0.02394768 -0.06421520 0.01852878
+v 0.03512104 -0.05870783 0.01852880
+v 0.03039347 -0.06108826 0.01852880
+v 0.02660717 -0.06295207 0.01852879
+v 0.02554415 -0.06346128 0.01852879
+v 0.02391676 -0.06584910 0.01227774
+v 0.02280541 -0.06475895 -0.00120563
+v 0.02272424 -0.06523355 0.00006351
+v 0.02272424 -0.06477872 -0.00120563
+v 0.02274550 -0.06477378 -0.00120563
+f 1 2 6
+f 1 6 14
+f 1 14 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 32
+f 1 32 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 17
+f 4 17 30
+f 4 30 40
+f 4 40 39
+f 4 39 31
+f 4 31 18
+f 4 18 9
+f 4 7 8
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 19
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 23
+f 11 23 21
+f 12 21 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 21 23
+f 13 23 27
+f 13 27 28
+f 13 28 24
+f 14 26 29
+f 15 29 26
+f 15 26 25
+f 15 25 24
+f 15 24 38
+f 15 38 41
+f 15 41 40
+f 15 40 30
+f 15 30 16
+f 16 30 17
+f 18 31 22
+f 18 22 32
+f 18 32 19
+f 20 33 22
+f 22 34 35
+f 22 35 36
+f 22 36 32
+f 22 31 37
+f 22 37 23
+f 22 33 34
+f 23 37 27
+f 24 28 38
+f 27 37 39
+f 27 39 38
+f 27 38 28
+f 31 39 37
+f 38 39 41
+f 39 40 41
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_5.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2fc22a84a227a1269ef4c5817741499648cdb10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03821956 -0.05232703 -0.02622941
+v 0.03821956 -0.04916235 -0.03075179
+v 0.04049292 -0.04773182 -0.03075179
+v 0.04292445 -0.04534417 -0.03075178
+v 0.04369117 -0.04653285 -0.02622939
+v 0.03821956 -0.03993594 -0.02622937
+v 0.03821956 -0.03504741 -0.03075174
+v 0.04512006 -0.04260660 -0.03075177
+v 0.04515491 -0.04264777 -0.03067517
+v 0.05218677 -0.03724468 -0.02622936
+v 0.05526706 0.00024249 -0.02622922
+v 0.05525634 0.00024249 -0.02624561
+v 0.05260766 0.00024250 -0.03075161
+v 0.04519244 -0.04250883 -0.03075177
+v 0.05027533 -0.03538189 -0.03075174
+v 0.05437702 -0.03446595 -0.02622935
+v 0.05306877 -0.03614348 -0.02622935
+v 0.06560441 0.00024249 -0.02622922
+v 0.06190484 0.00024250 -0.03075161
+v 0.05233154 -0.03234072 -0.03075173
+v 0.05506600 -0.03339562 -0.02622934
+v 0.06551326 0.00024249 -0.02646298
+v 0.06548645 -0.00150708 -0.02622923
+v 0.06187803 -0.00085356 -0.03075161
+v 0.05767714 -0.02311430 -0.03075169
+v 0.05525634 -0.03306629 -0.02622934
+v 0.06543015 -0.00150708 -0.02637268
+v 0.06164212 -0.00398221 -0.03075162
+v 0.06186194 -0.00150707 -0.03075162
+v 0.06530683 -0.00280383 -0.02622923
+v 0.05991029 -0.01814860 -0.03075168
+v 0.06000412 -0.01807656 -0.03067287
+v 0.05551102 -0.03251569 -0.02622934
+v 0.06104965 -0.00989473 -0.03075165
+v 0.06114616 -0.00893761 -0.03075164
+v 0.06026952 -0.01637330 -0.03075167
+v 0.06062607 -0.01389817 -0.03075166
+v 0.06512186 -0.00376609 -0.02622923
+v 0.06007382 -0.01753625 -0.03075167
+v 0.05996122 -0.01798908 -0.03075168
+v 0.06507628 -0.00398222 -0.02622923
+v 0.06472777 -0.00527381 -0.02622924
+v 0.06066092 -0.01966662 -0.02622929
+v 0.05997999 -0.02154484 -0.02622930
+v 0.05749753 -0.02786903 -0.02622932
+v 0.05683000 -0.02950540 -0.02622933
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 16
+f 1 16 21
+f 1 21 26
+f 1 26 33
+f 1 33 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 38
+f 1 38 30
+f 1 30 23
+f 1 23 18
+f 1 18 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 19
+f 2 19 24
+f 2 24 29
+f 2 29 28
+f 2 28 35
+f 2 35 34
+f 2 34 37
+f 2 37 36
+f 2 36 39
+f 2 39 40
+f 2 40 31
+f 2 31 25
+f 2 25 20
+f 2 20 15
+f 2 15 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 22
+f 11 22 19
+f 11 19 13
+f 11 13 12
+f 15 20 16
+f 16 20 21
+f 18 23 22
+f 19 22 24
+f 20 25 21
+f 21 25 26
+f 22 23 27
+f 22 27 28
+f 22 28 29
+f 22 29 24
+f 23 30 27
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 27 34 35
+f 27 35 28
+f 27 30 36
+f 27 36 37
+f 27 37 34
+f 30 38 39
+f 30 39 36
+f 31 40 32
+f 32 40 39
+f 32 39 38
+f 32 38 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_50.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19051517cd6e0e405dab779082c366c5724bb90a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.05900790 -0.01703672
+v -0.00336023 0.05961221 0.00008406
+v -0.00336023 0.06714823 -0.01703669
+v 0.02327504 0.05464453 -0.01703674
+v -0.00336023 0.06708179 0.00008409
+v 0.02327504 0.05526959 0.00008404
+v -0.00336023 0.06744003 -0.01459326
+v 0.00409118 0.06814814 -0.01703669
+v 0.02327504 0.06341275 -0.01703671
+v -0.00335762 0.06709700 0.00008409
+v -0.00336023 0.06709700 0.00007906
+v 0.02327504 0.06397004 0.00008407
+v -0.00336023 0.06845651 -0.00482288
+v -0.00334458 0.06845927 -0.00482288
+v 0.00409118 0.06839845 -0.01459326
+v 0.00657064 0.06836942 -0.01703669
+v 0.02327504 0.06364786 -0.01636803
+v 0.01886624 0.06571130 -0.01703670
+v 0.01778947 0.06668216 -0.01590883
+v -0.00336023 0.06845236 -0.00480780
+v -0.00088598 0.06719934 0.00008409
+v -0.00086512 0.06872343 -0.00482288
+v 0.02327504 0.06421483 -0.00031645
+v 0.02279009 0.06410972 0.00008408
+v 0.00657064 0.06859069 -0.01459326
+v 0.00904749 0.06858654 -0.01459326
+v 0.00904749 0.06835559 -0.01703669
+v 0.02265191 0.06415957 -0.01572114
+v 0.02327504 0.06469892 -0.01202079
+v 0.01876717 0.06575693 -0.01703670
+v 0.01648847 0.06675408 -0.01703669
+v 0.01617821 0.06687440 -0.01703669
+v 0.01629553 0.06690067 -0.01684732
+v 0.01400119 0.06754653 -0.01703669
+v 0.01400119 0.06781068 -0.01459326
+v 0.01790158 0.06669182 -0.01120464
+v 0.02143695 0.06557574 -0.00970808
+v 0.02327504 0.06488562 -0.00976506
+v 0.02327504 0.06474871 -0.01147278
+v -0.00086512 0.06719934 0.00008409
+v 0.00161433 0.06877322 -0.00482288
+v 0.02327504 0.06439324 -0.00063655
+v 0.02116580 0.06452462 0.00008408
+v 0.00409118 0.06858375 -0.00482288
+v 0.01152434 0.06832792 -0.01459326
+v 0.01152434 0.06807484 -0.01703669
+v 0.01790158 0.06669182 -0.01067171
+v 0.02327504 0.06482751 -0.00237946
+v 0.00161433 0.06718828 0.00008409
+v 0.00409118 0.06705274 0.00008409
+v 0.02143695 0.06519815 -0.00237946
+v 0.01647804 0.06541665 0.00008408
+v 0.01893925 0.06496856 0.00008408
+v 0.00678965 0.06677615 0.00008409
+v 0.00884152 0.06651199 0.00008408
+v 0.00657064 0.06815225 -0.00482288
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 46
+f 1 46 34
+f 1 34 32
+f 1 32 31
+f 1 31 30
+f 1 30 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 24
+f 2 24 43
+f 2 43 53
+f 2 53 52
+f 2 52 55
+f 2 55 54
+f 2 54 50
+f 2 50 49
+f 2 49 40
+f 2 40 21
+f 2 21 10
+f 2 10 5
+f 3 7 8
+f 4 9 17
+f 4 17 29
+f 4 29 39
+f 4 39 38
+f 4 38 48
+f 4 48 42
+f 4 42 23
+f 4 23 12
+f 4 12 6
+f 5 10 11
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 14 15
+f 9 18 19
+f 9 19 17
+f 10 20 11
+f 10 21 22
+f 10 22 14
+f 10 14 20
+f 12 23 24
+f 13 20 14
+f 14 22 15
+f 15 25 16
+f 15 22 25
+f 16 25 26
+f 16 26 27
+f 17 28 29
+f 17 19 28
+f 18 30 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 29
+f 19 29 28
+f 19 30 31
+f 21 40 41
+f 21 41 22
+f 22 41 25
+f 23 42 43
+f 23 43 24
+f 25 41 26
+f 26 41 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 32 34 33
+f 34 46 35
+f 35 46 45
+f 35 45 47
+f 35 47 36
+f 36 47 37
+f 37 48 38
+f 37 47 48
+f 40 49 41
+f 41 49 50
+f 41 50 44
+f 42 48 51
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 44 50 54
+f 44 54 55
+f 44 55 52
+f 44 52 51
+f 44 51 56
+f 44 56 45
+f 45 51 47
+f 45 56 51
+f 47 51 48
+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_51.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7b8602ac742540858130c1408e1dbf70d6d21d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_51.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_52.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445789cf7016d3e7d5ba3bc1c62fd46e040a9ae9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_52.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_53.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eae6e60e2d56f401eea7bf534785f012b663df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_53.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_54.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1916d821486de697d8c52cbf82859e9d7eecb9af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_54.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_55.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791a0a36fe74f259b4eaee4048caa0e080a93c75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_55.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02272199 -0.05509177 0.00518525
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_56.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33c0cb8d23262e72cb055667ffc3b07743efe8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_56.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_6.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036c92688946ae6b4a6dd69e1abb55e084f48543
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_6.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_7.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8416e88847f6d39a4606e22fb1342b480690e9f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_7.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06686299 0.00024247 -0.02254339
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+
diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_8.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712b772339064ca97372de42c6f6ff9148eb1728
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.06544723 0.02492625 -0.00239079
+v 0.06486783 0.02714431 -0.00381400
+v 0.06486783 0.02714431 -0.00321824
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_9.obj b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e106df84c08746f74533a2e6e17e6349f51bc168
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..523e9d8f3c68cbef0e41d5aa99cb6900f2b069fb
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/textures/material_0.png b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/video.mp4 b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a0558567a20846a3a6e559812aab07139393cd0
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+++ b/dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/video.mp4
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