diff --git a/.gitattributes b/.gitattributes
index 7649a05065ea2d6a7107979bc1199d83760910a1..65b31ee28e052402a698c4e4819908bdda237327 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2737,3 +2737,6 @@ dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_b
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/mesh/remote_holder_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/remote_holder_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.urdf b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..600cdf75f3c8cdad4e25be214b3db99b4f2bda23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gray_basket">
+   <link name="gray_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.365865</scale>
+         <version>v0.1.7</version>
+         <category>gray basket</category>
+         <description>woven gray basket with two vertical handles</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260117183517</generate_time>
+         <gs_model>mesh/gray_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.902899742126465</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd
new file mode 100644
index 0000000000000000000000000000000000000000..90a24ce35a0529fd304d0c2740b634e0cea103b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc2e6e2b8532dde95b8fbedb7c19224fa40d5a442496127ec727b3e817613b0
+size 764215
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a51c327db3ebbe887e148851668d873cb6dde98f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3579dac6a116b481de50c32762fb720bd7801d4f7670a32015b0869841d0ae23
+size 4306356
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89233c938ac8cad48d691de109a48e8f00959565
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.obj
@@ -0,0 +1,50652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317f654396a9429bcbd208d23271c10165da5d76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2dba93c684a7bddeac5602c45245b91c62123945
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a947b188cf365cf773e25a0cc32bf403cb15bfeef4cf696340d201bc78a79091
+size 4018025
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material.mtl b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Ks 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material_0.png b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:40d1cc9f22f9bf16a646c4b7d721e12998f12f310435e960c57600856365230d
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/3dfa72ce7ea15b4c994668be86284dba.xml b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/3dfa72ce7ea15b4c994668be86284dba.xml
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+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46646619fbfc87430287d604d919673202875f70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket.obj
@@ -0,0 +1,50652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d1428c1e186a81aaeb2c28a711607b76a9cc7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision.obj
@@ -0,0 +1,17372 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_0.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c536bd9f06517fc41ae0fe772d4b17e155e8962b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_1.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8611941af17337589fcd2142c87d58ef76edf36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_1.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_10.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37591978c57a25ab6d4d73ab699c2e4338280bcd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_10.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_11.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9c39f4f952399f4449b387fb64112e668ac841
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_11.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_12.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7e0b1cc07852aef6922bc71a4b9489b44865a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_12.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_13.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3cdc0904f57d1ed02bf04ff044f683cf0a08ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_13.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_14.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40cf649c072311a9ca697760dc38d7b7ce35e6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_15.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d79ebb78a66fd9f3bc7ed8461f21c9b72e584ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_16.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a2080fbd4f9fc3bff3c3590a34277c081264ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_16.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_17.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dde820c6c6349dcf75a2aa90618de84d2baf463
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_17.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.08153925 0.12958439 0.00948927
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_18.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af77bd0f80a0d09c2abc580c7427b54d0f798d16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_18.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_19.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754ab1342fcf69d69e75674ac7689ff50f244a4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_19.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_2.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7180816af78e6f2e66ebe3e74994c8c071bd51dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_2.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.04364981 -0.14193778 0.05709750
+v -0.04359150 -0.14254649 0.06913104
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_20.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8298a23f22bc8d62a06f52157a49b45f3ca2c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_21.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4508694987d5aa213fb4d580acaca46b39498605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_21.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.04998034 0.10161653 -0.11927208
+v -0.02594791 0.11173346 -0.11982361
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_22.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc69ef078d121e1178dc45a5817de35a7e814fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.09291901 -0.12134308 -0.02834778
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_23.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666b8e047872661ca723d28bf89b6847042cda4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00660178 0.13310666 -0.02676002
+v 0.00660178 0.13436799 -0.00910342
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_24.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717c22ffd24df12daa11b37fb79f6d77a35b5dba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_25.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1d6f976de5c51d6699206201c77f15fe3049d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_25.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_26.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe26a2fa87dfc59a227e9c559ab7c69c4cfb3c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_26.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.04018807 0.14768652 0.05709393
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_27.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516065547501182a71067b9fc36631be096de19c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_28.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fdcad99fa836899959f46b8e6cd12091ae3817
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_28.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_29.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34733ec6c489e9eda9291153c41cac63c4278115
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_29.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_3.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203d9daa0243cc2e51f2f27db9b6ce3ab7ea24e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_30.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02bcdc8745dcabc1b7d2e49d2340eb685a831da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_30.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_31.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c873686ce68f4857623732b009b3adac62ee1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_31.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_32.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c6e9998733b9aaf41ff9a70a443e45cd75a582
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_32.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_33.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01be4b4d708dac4b5495cea44198232c916b44bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_33.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_34.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2f44bbb170317a5227a98bff714ac9736f8586
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_34.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02594791 0.07907675 -0.14218639
+v -0.02594791 0.03279762 -0.14500878
+v -0.02594791 0.07907669 -0.12450380
+v -0.00305374 0.07907677 -0.14588174
+v -0.02594791 0.00287619 -0.14594180
+v -0.02594791 0.07527979 -0.12452301
+v -0.02119093 0.07527979 -0.12451234
+v -0.02119093 0.07907669 -0.12449525
+v 0.00298546 0.03907007 -0.14626189
+v -0.00305374 0.06924623 -0.14595650
+v 0.00298546 0.07907677 -0.14587107
+v 0.06944608 0.05717895 -0.14612732
+v -0.02594791 -0.00223410 -0.14595462
+v -0.00305374 0.06321259 -0.14600135
+v -0.00305374 0.05717895 -0.14604407
+v -0.00305374 0.05114531 -0.14608038
+v 0.00298546 0.03304439 -0.14630033
+v -0.02594791 -0.00223418 -0.12500791
+v -0.02119093 0.06321251 -0.12458284
+v -0.02119093 0.06924615 -0.12454652
+v 0.00298546 0.05717887 -0.12467466
+v 0.00298546 0.06321251 -0.12464688
+v 0.00902467 0.07907669 -0.12462975
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+v 0.07404645 0.06321259 -0.14601203
+v 0.07404645 -0.00223410 -0.14598879
+v 0.00298546 0.02701075 -0.14630462
+v -0.00305374 -0.00223410 -0.14611901
+v -0.02119093 -0.00223418 -0.12500364
+v -0.02027086 -0.00223418 -0.12500577
+v 0.01599374 -0.00223418 -0.12510184
+v 0.02203294 -0.00223418 -0.12512319
+v 0.03319128 -0.00223418 -0.12516802
+v 0.05736767 -0.00223418 -0.12527049
+v 0.06340688 -0.00223418 -0.12530464
+v 0.02715207 0.07907669 -0.12475143
+v 0.04155024 0.07907676 -0.14558927
+v 0.07404645 0.07366399 -0.14488267
+v 0.07404645 0.07058349 -0.14537156
+v 0.07404645 0.06929398 -0.14554875
+v 0.07404645 -0.00223418 -0.12538150
+v 0.06432695 -0.00223418 -0.12531105
+v 0.07036616 -0.00223418 -0.12535375
+v 0.03094982 0.07907669 -0.12478132
+v 0.07404645 0.07907675 -0.14283111
+v 0.07404645 0.07650570 -0.14388571
+v 0.07404645 0.07907669 -0.12516131
+v 0.03319128 0.07907669 -0.12480053
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+f 37 46 38
+f 41 47 48
+f 41 48 44
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_35.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2655c5f580b2875f14e95d79f4b0458e2019a35c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_35.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00306084 0.11173588 -0.09450858
+v 0.00297780 0.10019220 -0.12410699
+v 0.00898323 0.10039367 -0.12410699
+v 0.00140033 0.11173588 -0.09493163
+v -0.00555158 0.11173588 -0.09583566
+v -0.01911223 0.10149157 -0.12410699
+v -0.01424147 0.10035971 -0.12410699
+v -0.00821943 0.10020918 -0.12410699
+v -0.00306084 0.10017296 -0.12410699
+v 0.01506615 0.10177114 -0.12410699
+v 0.00297780 0.11173588 -0.09533439
+v -0.00917698 0.11173589 -0.09807835
+v -0.02594791 0.10549155 -0.12410697
+v 0.03059725 0.10545759 -0.12410697
+v 0.03059725 0.11173597 -0.11947089
+v -0.01026736 0.11173590 -0.09942281
+v -0.02594791 0.11173597 -0.11982149
+v -0.02594791 0.11173599 -0.12410695
+v -0.01394258 0.11173591 -0.10418927
+v 0.03059725 0.11173599 -0.12410695
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+f 10 14 11
+f 11 14 15
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+f 13 17 18
+f 13 16 19
+f 13 19 17
+f 14 20 15
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_36.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb409bd8a79bbb1d32ad28d1d59cffcf010a57c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.08193890 -0.08214198 -0.12258653
+v -0.02173083 -0.11077510 -0.12258664
+v -0.08193890 -0.09896423 -0.12258659
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+v -0.08152631 -0.11666938 -0.02620458
+v -0.06996212 -0.12010750 -0.02620459
+v -0.06149821 -0.11488117 -0.04879280
+v -0.05754329 -0.11549127 -0.05097236
+v -0.05141344 -0.11780125 -0.05123656
+v -0.02173083 -0.12133889 -0.12258668
+v -0.02173083 -0.12002283 -0.09300686
+v -0.06827052 -0.11688391 -0.12258666
+v -0.07322155 -0.11577499 -0.11530257
+v -0.07377559 -0.11681487 -0.11140577
+v -0.08193890 -0.10069097 -0.11856714
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+f 30 39 41
+f 33 41 39
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_37.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b986dfdc190513b0f381ec8f00c2fa695678aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_37.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.08650714 0.08615316 -0.11927213
+v -0.08701113 0.08491636 -0.11927214
+v -0.07773591 0.06363062 -0.12505997
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+v -0.11628864 0.08615317 -0.12295216
+v -0.11828610 0.08131399 -0.12344450
+v -0.11919236 0.08131398 -0.11927215
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+v -0.10278732 0.08434545 -0.14452158
+v -0.09977727 0.08615325 -0.14538927
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+f 3 20 24
+f 3 24 13
+f 3 13 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 23
+f 3 23 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 43
+f 3 43 55
+f 3 55 48
+f 3 48 37
+f 3 37 21
+f 3 21 7
+f 5 14 15
+f 5 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 21 22
+f 7 22 17
+f 13 24 25
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+f 15 31 16
+f 16 31 23
+f 17 32 19
+f 17 19 18
+f 17 22 33
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+f 19 34 20
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+f 20 34 36
+f 20 36 25
+f 20 25 24
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+f 26 39 27
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+f 41 55 42
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+f 41 56 57
+f 41 57 50
+f 41 50 54
+f 42 55 43
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+f 45 58 59
+f 45 59 60
+f 45 60 47
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+f 48 50 49
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+f 50 61 58
+f 50 58 62
+f 50 62 51
+f 51 62 52
+f 52 62 58
+f 53 63 56
+f 56 63 64
+f 56 64 57
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+f 58 61 59
+f 59 61 64
+f 59 64 65
+f 59 65 60
+f 63 65 64
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_38.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c96c4d35076b945850cbf6b41777b72adaba74e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_38.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03059725 0.11173372 -0.12410985
+v 0.07007004 0.11173372 -0.12410985
+v 0.03059725 0.10545560 -0.12410987
+v 0.03059725 0.11173370 -0.11946690
+v 0.07023110 0.11173371 -0.12358126
+v 0.07389737 0.10743312 -0.12374557
+v 0.07389737 0.10728084 -0.12410987
+v 0.03169925 0.10395311 -0.12410988
+v 0.05429025 0.11173349 -0.06382295
+v 0.03788317 0.11173363 -0.09965936
+v 0.03545877 0.11173365 -0.10538805
+v 0.07163827 0.11173369 -0.11741685
+v 0.07389737 0.10897195 -0.11741686
+v 0.07389737 0.08851466 -0.12410993
+v 0.03451359 0.10074586 -0.12410989
+v 0.05791413 0.11012645 -0.06383724
+v 0.05754962 0.11173348 -0.06020144
+v 0.04217249 0.09630889 -0.12410991
+v 0.07389737 0.11173364 -0.10454517
+v 0.06500507 0.08924203 -0.12410993
+v 0.07389737 0.10565995 -0.06928736
+v 0.06029191 0.10844214 -0.06621586
+v 0.07389737 0.11152887 -0.05152270
+v 0.07389737 0.11173345 -0.05113698
+v 0.06018595 0.09016261 -0.12410993
+v 0.06341142 0.10812391 -0.06565871
+v 0.07389737 0.11075151 -0.05345131
+f 1 2 7
+f 1 7 14
+f 1 14 20
+f 1 20 25
+f 1 25 18
+f 1 18 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 17
+f 1 17 24
+f 1 24 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 19
+f 6 19 24
+f 6 24 23
+f 6 23 27
+f 6 27 21
+f 6 21 14
+f 6 14 7
+f 8 15 9
+f 9 16 17
+f 9 15 18
+f 9 18 16
+f 12 19 13
+f 14 21 20
+f 16 22 17
+f 16 18 22
+f 17 22 23
+f 17 23 24
+f 18 25 22
+f 20 21 26
+f 20 26 22
+f 20 22 25
+f 21 27 26
+f 22 26 27
+f 22 27 23
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_39.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0806ac1424a05593000f723bb74d18b31e8f478
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_39.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05990315 -0.09347261 -0.12465005
+v 0.05990315 -0.09850322 -0.12242460
+v 0.05990315 -0.12133999 -0.12465016
+v -0.00305979 -0.10134860 -0.12465008
+v 0.05990315 -0.12134000 -0.12242469
+v -0.02172494 -0.11098147 -0.12242465
+v -0.02172494 -0.12133999 -0.12465016
+v -0.00910039 -0.10239345 -0.12465009
+v -0.02172494 -0.12134000 -0.12242469
+v -0.02172494 -0.10597815 -0.12465010
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 6 10 7
+f 6 7 9
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_4.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7144ec8df42214ad46698de850288eb6ce686ac3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.04547753 -0.14193871 0.04511422
+v 0.05447958 -0.13952851 0.02429736
+v 0.05447958 -0.13863803 0.02429736
+v 0.04332806 -0.13772481 0.04511423
+v 0.04529989 -0.14796908 0.04511420
+v 0.05504359 -0.14169760 0.02054095
+v 0.05916047 -0.13590311 0.00459512
+v 0.05517683 -0.13747355 0.02098523
+v 0.04328809 -0.13769944 0.04511423
+v 0.05343149 -0.13325202 0.01721694
+v 0.05480822 -0.13252137 0.01320271
+v 0.04317706 -0.15187601 0.04511418
+v 0.05440408 -0.14500580 0.01824426
+v 0.05390668 -0.14354959 0.02225452
+v 0.05614498 -0.14193859 0.01496387
+v 0.05701987 -0.14229120 0.00459510
+v 0.05899171 -0.13560629 0.00459512
+v 0.05598954 -0.13552007 0.01511065
+v 0.03923783 -0.13528425 0.04511424
+v 0.05681558 -0.13185919 0.00459514
+v 0.05547882 -0.13210021 0.00894652
+v 0.03712832 -0.13231596 0.03720479
+v 0.04315486 -0.15191660 0.04511418
+v 0.05443517 -0.14502861 0.01496386
+v 0.03627120 -0.15704882 0.03008460
+v 0.05440408 -0.14500070 0.01167552
+v 0.04278181 -0.15136593 0.00459506
+v 0.03917566 -0.13527156 0.04511424
+v 0.05556320 -0.13169429 0.00459514
+v 0.03319798 -0.13125802 0.03301604
+v 0.03768790 -0.13195062 0.03301604
+v 0.03319798 -0.13213837 0.03751815
+v 0.03319798 -0.13459165 0.04511425
+v 0.03923783 -0.15366964 0.04511418
+v 0.03627120 -0.15704882 0.02989420
+v 0.03319798 -0.15715537 0.03042970
+v 0.03936218 -0.15247204 0.00459506
+v 0.05132198 -0.13139238 0.00459514
+v 0.05132198 -0.13155476 0.00894653
+v 0.03319798 -0.13176286 0.02699866
+v 0.02953410 -0.13249097 0.02699865
+v 0.02900561 -0.13219417 0.03301603
+v 0.02942751 -0.13245803 0.03683193
+v 0.02742459 -0.13703474 0.04511424
+v 0.03304254 -0.15264725 0.04511418
+v 0.02968509 -0.15717060 0.03048920
+v 0.03319798 -0.15715537 0.02963241
+v 0.02342319 -0.15486187 0.00459505
+v 0.05023392 -0.13161056 0.00459514
+v 0.03013364 -0.13285375 0.02390071
+v 0.01546924 -0.14247640 0.00459510
+v 0.02598569 -0.13406899 0.03301603
+v 0.02256162 -0.13765881 0.03793463
+v 0.02739350 -0.13706012 0.04511424
+v 0.02726027 -0.14902192 0.04511419
+v 0.02277479 -0.15199014 0.03699846
+v 0.02746456 -0.15561799 0.03270258
+v 0.02205978 -0.15276136 0.03301596
+v 0.01681932 -0.15294392 0.00459506
+v 0.02123818 -0.15476800 0.00459505
+v 0.02968509 -0.15717060 0.02961654
+v 0.02111383 -0.14039608 0.00459510
+v 0.01379051 -0.14796893 0.00459508
+v 0.01800509 -0.14455936 0.03617343
+v 0.01888442 -0.14153528 0.03301600
+v 0.02190434 -0.13708544 0.03301602
+v 0.02440467 -0.13950576 0.04511423
+v 0.02340543 -0.14606889 0.04511420
+v 0.02338322 -0.14603591 0.04511420
+v 0.01800509 -0.14527985 0.03617343
+v 0.01903541 -0.14832674 0.03301598
+v 0.01614872 -0.15243906 0.00459506
+v 0.02338322 -0.14252221 0.04511422
+f 1 2 3
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+f 1 4 9
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+f 1 28 33
+f 1 33 44
+f 1 44 54
+f 1 54 67
+f 1 67 73
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+f 1 55 45
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+f 46 60 61
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+f 51 66 52
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+f 64 69 73
+f 64 73 67
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_40.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ebb672fd23b065be8237e171aa4558464ac48e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.11510685 -0.00585029 -0.12464994
+v 0.11514197 -0.00316067 -0.12464993
+v 0.11663495 -0.02920697 -0.12465003
+v 0.14454499 -0.00224245 -0.03804751
+v 0.11532348 -0.00261958 -0.12464993
+v 0.13606718 -0.02920697 -0.12465003
+v 0.13411752 -0.02920715 -0.07720719
+v 0.14520073 -0.00477107 -0.03681109
+v 0.14517732 -0.00224246 -0.03631823
+v 0.11545228 -0.00224213 -0.12464993
+v 0.14526514 -0.01853559 -0.12464999
+v 0.13641262 -0.02920698 -0.12369893
+v 0.13987868 -0.02920720 -0.06279363
+v 0.14558130 -0.00536760 -0.03631824
+v 0.14537637 -0.00448337 -0.03631824
+v 0.17491405 -0.00224246 -0.03631823
+v 0.14904737 -0.00224213 -0.12464993
+v 0.13656484 -0.02920698 -0.12327526
+v 0.14648295 -0.01643193 -0.12464998
+v 0.15719145 -0.01241737 -0.10268810
+v 0.15576287 -0.01633437 -0.09936789
+v 0.15274177 -0.01995045 -0.09936790
+v 0.15197479 -0.02920730 -0.03631833
+v 0.17491405 -0.00224245 -0.03741632
+v 0.17319859 -0.00919483 -0.03631825
+v 0.14931669 -0.00322930 -0.12464993
+v 0.15604976 -0.00224219 -0.11016720
+v 0.14182834 -0.02920704 -0.10723617
+v 0.14693962 -0.01522833 -0.12464998
+v 0.15651814 -0.00919457 -0.10701993
+v 0.15763642 -0.00919458 -0.10401098
+v 0.15910598 -0.00919460 -0.09936786
+v 0.16929341 -0.00680072 -0.06661525
+v 0.15771252 -0.01332009 -0.09936788
+v 0.14840919 -0.01115035 -0.12464996
+v 0.16347370 -0.01860707 -0.06687469
+v 0.15814579 -0.02920722 -0.05649905
+v 0.16336245 -0.02920730 -0.03631833
+v 0.17324542 -0.00316094 -0.05123329
+v 0.17293512 -0.00224240 -0.05129381
+v 0.17188125 -0.00919477 -0.05123331
+v 0.16949832 -0.01827461 -0.03631829
+v 0.15115511 -0.00666327 -0.12071583
+v 0.14905907 -0.00891472 -0.12464995
+v 0.15702751 -0.00464147 -0.10825635
+v 0.15749591 -0.00224220 -0.10657895
+v 0.14985534 -0.00888305 -0.12300714
+v 0.16929341 -0.00576077 -0.06661525
+v 0.16946320 -0.01270526 -0.05480429
+v 0.16471492 -0.01521271 -0.06904493
+v 0.16769503 -0.00896508 -0.06888927
+v 0.16982620 -0.01327011 -0.05123333
+v 0.16935195 -0.01851744 -0.03656903
+v 0.16936367 -0.01854120 -0.03631829
+v 0.17130161 -0.00224238 -0.05725118
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 44
+f 1 44 35
+f 1 35 29
+f 1 29 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 18
+f 3 18 28
+f 3 28 37
+f 3 37 38
+f 3 38 23
+f 3 23 13
+f 3 13 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 16
+f 4 16 24
+f 4 24 40
+f 4 40 55
+f 4 55 46
+f 4 46 27
+f 4 27 17
+f 4 17 10
+f 4 10 5
+f 6 11 12
+f 7 13 8
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+f 8 15 9
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+f 11 18 12
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+f 13 23 14
+f 16 25 24
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+f 18 22 28
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+f 21 37 22
+f 22 37 28
+f 24 39 40
+f 24 25 41
+f 24 41 39
+f 25 42 41
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+f 26 45 43
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+f 30 45 31
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+f 33 45 48
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+f 38 52 53
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+f 39 55 40
+f 39 48 46
+f 39 46 55
+f 41 52 49
+f 41 42 53
+f 41 53 52
+f 42 54 53
+f 43 47 44
+f 43 45 47
+f 45 46 48
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_41.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4685a9e2b111eb38d6e5dae1fc861edda22cf279
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_41.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.07405282 0.07907111 -0.14283251
+v 0.07405282 0.07650147 -0.14388494
+v 0.07405282 0.07907105 -0.12516239
+v 0.07549851 0.07907112 -0.14332989
+v 0.07405282 0.07366132 -0.14488211
+v 0.07405282 0.02150733 -0.12537404
+v 0.08328742 0.07907105 -0.12410997
+v 0.09587195 0.07907113 -0.14748671
+v 0.07405282 0.07058449 -0.14537229
+v 0.08372686 0.07739739 -0.12410998
+v 0.07405282 0.02150739 -0.14171542
+v 0.12457566 0.02150733 -0.12411018
+v 0.11988831 0.02326551 -0.12411017
+v 0.11346866 0.02868096 -0.12411015
+v 0.10852018 0.03563481 -0.12411013
+v 0.11477424 0.07907105 -0.12410997
+v 0.07405282 0.06320800 -0.14601147
+v 0.07405282 0.06929403 -0.14554770
+v 0.09961038 0.07907113 -0.14668178
+v 0.10571796 0.06924332 -0.14761651
+v 0.11175548 0.05717832 -0.14834459
+v 0.11779937 0.04511333 -0.14865700
+v 0.07405282 0.02691157 -0.14346464
+v 0.07555583 0.02687776 -0.14384188
+v 0.08154240 0.02473638 -0.14433445
+v 0.07550488 0.02150739 -0.14196051
+v 0.13707104 0.02150733 -0.12411018
+v 0.13666345 0.05090625 -0.12411007
+v 0.11458954 0.07907105 -0.12555164
+v 0.07405282 0.05717832 -0.14595382
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_42.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68229bb0a49626bf8846ca6f082015c80a150ce4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_42.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_43.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2551be9f0ac34126e832e55e13373f7efd7fcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_43.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v 0.11203307 -0.03332759 -0.12464927
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_44.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff987f0f22a1ce5e986fc424eea8dda8d9edfd8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_44.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.11502086 0.11173076 -0.01512134
+v -0.11785753 0.10564409 -0.02714435
+v -0.11822542 0.10537862 -0.02714435
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+v -0.13892441 0.09025595 -0.01774607
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_45.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8547a41ed8255529dfced5aedb93b1cdd21b6787
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_45.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_46.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d782f1f395662c716ea8254f2ca6c962ec917b06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_46.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_47.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4fac7919cdfa4a7459bb1ea702f41eeadbb107
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_47.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_48.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3094b42a5faa0f0089b7c1c43d4c4e5057f3d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_48.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_49.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37045f71bae92b446ed570df5b96e7db2ec5ed69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_49.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_5.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af617f94676a522081db5c1c0261e05a33e4d694
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_5.obj
@@ -0,0 +1,451 @@
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+f 125 137 149
+f 125 149 138
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+f 143 150 151
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_50.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d849d46bd655a56677b4b7d905823648163bf4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_50.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.07773590 0.08615325 -0.14383527
+v -0.07773590 0.07207665 -0.14528315
+v -0.07773590 0.08615318 -0.12429729
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+v -0.07773590 0.06536575 -0.14569257
+v -0.07773590 0.06363062 -0.12505859
+v -0.03328319 0.06363062 -0.12465985
+v -0.02724058 0.06363062 -0.12461295
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+v -0.02594791 0.06924803 -0.12456602
+v -0.02594791 0.07527992 -0.12452334
+v -0.02594791 0.08131400 -0.12449134
+v -0.02594791 0.08615318 -0.12448919
+v -0.04417205 0.08615326 -0.14599740
+v -0.07599713 0.06363070 -0.14567338
+v -0.07773590 0.06363069 -0.14551773
+v -0.03932580 0.08131408 -0.14607844
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+v -0.02594791 0.08615324 -0.14234482
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+v -0.06989876 0.06363069 -0.14549002
+v -0.03393206 0.08615325 -0.14521273
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+v -0.02594791 0.08131406 -0.14235124
+v -0.03091076 0.08615325 -0.14429372
+v -0.03150893 0.08615325 -0.14447709
+v -0.02594791 0.08002655 -0.14230007
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+f 1 6 3
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_51.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3681d6a370654e8af519a6f3020e7a14d724391e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_51.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.16614520 -0.00224259 -0.00084241
+v 0.16614520 -0.00919496 -0.00095355
+v 0.17218801 -0.00919496 -0.00101258
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+v 0.17218801 -0.00224259 -0.00096742
+v 0.16010617 -0.00224258 -0.00286344
+v 0.16010617 -0.02920742 -0.00229751
+v 0.16423196 -0.02920742 -0.00154744
+v 0.16614520 -0.02125998 -0.00122446
+v 0.17218801 -0.01522879 -0.00127306
+v 0.17807548 -0.01522878 -0.00396430
+v 0.17823082 -0.00316112 -0.00360657
+v 0.16614520 -0.02729380 -0.00137380
+v 0.17831417 -0.00224258 -0.00370728
+v 0.15632894 -0.00224257 -0.00533245
+v 0.15503324 -0.02920741 -0.00474915
+v 0.15823839 -0.02920742 -0.00308926
+v 0.16614520 -0.02920742 -0.00153008
+v 0.17218801 -0.02125997 -0.00163770
+v 0.17882942 -0.00974923 -0.00418305
+v 0.17769662 -0.02125996 -0.00420393
+v 0.18124654 -0.01213003 -0.00610686
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+v 0.18136400 -0.00316111 -0.00596445
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+v 0.17900369 -0.00224257 -0.00422122
+v 0.15381332 -0.00224256 -0.00910713
+v 0.15019141 -0.02920739 -0.01040250
+v 0.15218043 -0.02920740 -0.00755152
+v 0.17027098 -0.02920742 -0.00216556
+v 0.17218801 -0.02729380 -0.00230098
+v 0.17704120 -0.02729379 -0.00465886
+v 0.18071993 -0.02125995 -0.00692295
+v 0.18109499 -0.01522877 -0.00634996
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+v 0.18242100 -0.00224256 -0.00833622
+v 0.14517910 -0.00224246 -0.03631823
+v 0.14896012 -0.02920737 -0.01512520
+v 0.17218801 -0.02920742 -0.00267950
+v 0.17549924 -0.02920741 -0.00428730
+v 0.17673811 -0.02920741 -0.00489153
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+v 0.17319577 -0.00919483 -0.03631825
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+v 0.16936551 -0.01854120 -0.03631829
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_52.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63799121e1ca084e4a78a1c7d4425b1768cd1dca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_52.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.12576746 -0.00224215 -0.11927246
+v -0.12633047 0.00286905 -0.11927244
+v -0.15700005 -0.00224215 -0.11927246
+v -0.09938583 -0.00224213 -0.12520539
+v -0.09938583 0.02104780 -0.12513586
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+v -0.15747775 -0.00108632 -0.11927245
+v -0.15674983 -0.00224215 -0.11974464
+v -0.09938583 -0.00224205 -0.14598454
+v -0.09938583 0.02104786 -0.14170418
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+v -0.15747775 -0.00099741 -0.11927245
+v -0.15718772 -0.00021545 -0.12047791
+v -0.15500962 -0.00224214 -0.12252501
+v -0.09938583 0.00250211 -0.14600118
+v -0.12996442 -0.00224205 -0.14632896
+v -0.12996442 0.02104788 -0.14764822
+v -0.09938583 0.00805785 -0.14516511
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+v -0.14131551 0.00287597 -0.14101818
+v -0.13903506 -0.00224206 -0.14366247
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_53.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f96e9590113f4c4570cd4a9253ff539a950d6ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_53.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.10762224 0.08824154 -0.00910650
+v 0.11002407 0.08824152 -0.00394830
+v 0.10898231 0.08824161 -0.02594455
+v 0.13488732 0.04939178 -0.02594469
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+v 0.16005153 0.04939178 -0.02594469
+v 0.11921468 0.08252527 0.00092332
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_54.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506cf5f051310186ab2707fe927c663c71cd682c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_54.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_55.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33e873c36b3877bf4ee45fce549fa5d91415692
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_55.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.10781099 0.04510986 -0.12411009
+v 0.10781793 0.04757597 -0.12411009
+v 0.10801905 0.04178008 -0.12411011
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_56.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b7f9d20043d9a6933edbf4d92fb106df6f105b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_56.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.16846066 0.03304680 -0.02334739
+v -0.16786538 0.02098271 -0.02334743
+v -0.16806947 0.03907885 -0.02334737
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_57.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27dc9c2abe4e08a051d86680be9c43d40d3d4b32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_57.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00339105 -0.15822057 0.14133363
+v 0.00339105 -0.15744090 0.14500673
+v 0.00297885 -0.15744090 0.14500987
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+v -0.01386703 -0.15741296 0.14007249
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_58.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ced1b999a59cbb30d0a1c640ea3faf473e4620
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_58.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01736854 -0.15951203 0.13531410
+v 0.01736854 -0.15815103 0.14119839
+v 0.01531762 -0.15823150 0.14181126
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+v 0.01736854 -0.15757619 0.12328477
+v 0.01736854 -0.15670034 0.14425951
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_59.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53415f49f5921e8104769f068b1affa51e5413e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_59.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.10571996 0.11148254 0.00678809
+v 0.10969501 0.11148254 0.00616513
+v 0.10596840 0.11173321 0.00672808
+v 0.10569235 0.11173321 0.00676523
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+v 0.13904551 0.09050674 0.00000975
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_6.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59586e940620659fa0299b43d79454bec0579a55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_6.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_60.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b148ac9ab3c78debc310eda3f04572a3cb91b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_60.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_61.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2800e33798d48cd3021af2430d24ef7e689659
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_61.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v -0.07553123 0.09520682 -0.11926656
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_62.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2271486f22ca5e1e0287f5ec734648b27f9b9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_62.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_63.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90dc289477d3642ab4e80c2244894dc83d58b3e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_63.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.12295423 -0.08294090 -0.01512514
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_64.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d525fb047800e2387bc335c79077277f4805fabf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_64.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_65.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb745b59db5e0869ff8e5fce53dc6d64e0c2fce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_65.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+f 6 54 42
+f 6 42 27
+f 6 27 16
+f 6 16 8
+f 6 8 7
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+f 9 18 19
+f 9 19 10
+f 9 13 17
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 17
+f 14 24 25
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 17 23 18
+f 18 32 24
+f 18 23 32
+f 20 31 21
+f 21 33 22
+f 21 31 30
+f 21 30 29
+f 21 29 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 25
+f 23 25 32
+f 24 32 25
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+f 28 43 44
+f 28 44 29
+f 29 44 33
+f 33 44 34
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+f 34 45 46
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+f 44 52 45
+f 45 48 46
+f 48 51 49
+f 52 54 53
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_66.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3f74ffbf4456fdc522c45698ae5e7ad74215b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_66.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.15503023 -0.06549884 -0.04267103
+v 0.15391435 -0.06667504 -0.04267103
+v 0.15239042 -0.06775734 -0.04521483
+v 0.15491364 -0.06549884 -0.04325682
+v 0.13191316 -0.06549884 -0.04267103
+v 0.15264025 -0.06801342 -0.04267104
+v 0.15128287 -0.06673816 -0.05494063
+v 0.15452226 -0.06549883 -0.04521482
+v 0.13390342 -0.08293704 -0.04267109
+v 0.12779106 -0.08293695 -0.06830161
+v 0.11808122 -0.08293704 -0.04267109
+v 0.08710302 -0.06549854 -0.12465016
+v 0.08203991 -0.06957513 -0.12465018
+v 0.09047564 -0.08293690 -0.08131748
+v 0.10678084 -0.08293700 -0.05348020
+v 0.14581172 -0.06702660 -0.07400703
+v 0.14692760 -0.06549873 -0.07480948
+v 0.15264025 -0.06549880 -0.05382520
+v 0.15404759 -0.06549883 -0.04743763
+v 0.11854756 -0.08293684 -0.09936476
+v 0.11550804 -0.06549854 -0.12465016
+v 0.08158190 -0.06997801 -0.12465018
+v 0.07597751 -0.07559614 -0.12465020
+v 0.07090608 -0.08159666 -0.12465022
+v 0.06995674 -0.08293674 -0.12465022
+v 0.14419618 -0.06586061 -0.08132544
+v 0.11659893 -0.08293681 -0.10542333
+v 0.14490402 -0.06549871 -0.08029027
+v 0.13009777 -0.06549861 -0.10641831
+v 0.10606467 -0.08293674 -0.12465022
+v 0.14270557 -0.06549869 -0.08568279
+v 0.14450431 -0.06549870 -0.08132544
+v 0.11590775 -0.08293681 -0.10670726
+v 0.14186449 -0.06549868 -0.08749635
+v 0.13046417 -0.06549861 -0.10592079
+f 1 2 3
+f 1 3 4
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+f 1 8 19
+f 1 19 18
+f 1 18 17
+f 1 17 28
+f 1 28 32
+f 1 32 31
+f 1 31 34
+f 1 34 35
+f 1 35 29
+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 11
+f 1 11 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 12 13
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+f 5 14 15
+f 5 15 11
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 10 16
+f 9 11 15
+f 9 15 14
+f 9 14 25
+f 9 25 30
+f 9 30 33
+f 9 33 27
+f 9 27 20
+f 9 20 10
+f 10 20 16
+f 12 21 30
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+f 12 25 24
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+f 12 23 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 16 26 17
+f 16 20 27
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+f 17 26 28
+f 21 29 30
+f 26 31 32
+f 26 32 28
+f 26 27 31
+f 27 33 34
+f 27 34 31
+f 29 35 30
+f 30 35 34
+f 30 34 33
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_67.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22cad86eb78682000475fbb41a5e82239aa2903
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_67.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.11766531 -0.00223974 -0.12411027
+v 0.11849023 0.00287666 -0.12411025
+v 0.14929122 -0.00223974 -0.12411027
+v 0.12619867 -0.00223985 -0.09464229
+v 0.12643906 0.00080123 -0.09529730
+v 0.12368564 0.02223748 -0.12411018
+v 0.14795275 0.00281435 -0.12411025
+v 0.15709253 -0.00011176 -0.10842170
+v 0.15709253 -0.00061501 -0.10842170
+v 0.15604908 -0.00223980 -0.11017110
+v 0.13051453 -0.00223990 -0.08129423
+v 0.13238290 0.00125648 -0.07722830
+v 0.13163992 0.00311135 -0.08111848
+v 0.13686266 0.02223732 -0.08159769
+v 0.13708664 0.02223748 -0.12411018
+v 0.14584946 0.00703208 -0.12411023
+v 0.14546704 0.02223738 -0.09762974
+v 0.16867977 0.00498048 -0.05725012
+v 0.17040065 0.00196336 -0.05725013
+v 0.17293553 -0.00224001 -0.05129106
+v 0.17130207 -0.00223999 -0.05725015
+v 0.15749679 -0.00223981 -0.10657646
+v 0.13657311 -0.00223997 -0.06325718
+v 0.13845242 0.00119651 -0.05917527
+v 0.14427608 0.00205917 -0.04251215
+v 0.14962992 0.02223719 -0.04542773
+v 0.16113523 0.02223718 -0.04251208
+v 0.16908951 0.00580005 -0.05395105
+v 0.17100159 0.00342517 -0.05165848
+v 0.17272247 0.00278290 -0.04251215
+v 0.17305571 -0.00224002 -0.05031651
+v 0.14357680 -0.00224004 -0.04251217
+v 0.15121423 0.02223718 -0.04251208
+v 0.17029685 0.00784896 -0.04251213
+v 0.17144410 0.00550285 -0.04251214
+v 0.17336165 -0.00069434 -0.04251216
+v 0.17347091 -0.00224004 -0.04251217
+f 1 2 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
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+f 1 22 21
+f 1 21 20
+f 1 20 31
+f 1 31 37
+f 1 37 32
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+f 1 11 4
+f 1 4 5
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+f 25 34 27
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+f 25 33 26
+f 27 34 28
+f 28 34 29
+f 29 34 35
+f 29 35 30
+f 30 36 31
+f 31 36 37
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_68.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab368b5b10b433a482173b0890edb14ef132acf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_68.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.14357674 -0.00224004 -0.04250002
+v 0.14427412 0.00205917 -0.04250000
+v 0.17347341 -0.00224004 -0.04250002
+v 0.14454597 -0.00224006 -0.03804386
+v 0.14878541 0.02223705 -0.00881639
+v 0.14762705 0.02223708 -0.01507999
+v 0.15122032 0.02223718 -0.04249993
+v 0.17336309 -0.00069434 -0.04250001
+v 0.18240538 -0.00224013 -0.02004433
+v 0.15381284 -0.00224017 -0.00910800
+v 0.15111788 0.01827573 -0.00622183
+v 0.15062539 0.02223704 -0.00581369
+v 0.16114123 0.02223718 -0.04249993
+v 0.17272481 0.00278290 -0.04250000
+v 0.18169224 0.00782731 -0.01882405
+v 0.18217292 0.00287627 -0.01965700
+v 0.18261026 -0.00224013 -0.01935716
+v 0.15591680 -0.00224018 -0.00595121
+v 0.15633050 -0.00224018 -0.00533485
+v 0.15076723 0.02223704 -0.00565543
+v 0.17029383 0.00784896 -0.04249998
+v 0.17636931 0.02223709 -0.01930293
+v 0.17144825 0.00550285 -0.04249999
+v 0.17864663 0.02223708 -0.01517995
+v 0.18123126 0.01184613 -0.01807024
+v 0.18230294 0.00946646 -0.01568808
+v 0.18351645 0.00287626 -0.01512588
+v 0.18382378 -0.00224014 -0.01512590
+v 0.15458114 0.01493987 -0.00396462
+v 0.16010501 -0.00224019 -0.00286522
+v 0.15365130 0.02223703 -0.00359394
+v 0.17866238 0.02223707 -0.01386392
+v 0.17913518 0.02097415 -0.01512581
+v 0.18078998 0.01546474 -0.01568805
+v 0.18173951 0.01380161 -0.01405553
+v 0.18173951 0.01380160 -0.01079045
+v 0.18223596 0.00891047 -0.00976597
+v 0.18272846 -0.00224017 -0.00903304
+v 0.16614503 -0.00224020 -0.00084537
+v 0.16293787 0.01130686 -0.00001656
+v 0.16059357 0.00914288 -0.00127845
+v 0.15977405 0.01493986 -0.00095776
+v 0.16046355 0.02223702 -0.00064538
+v 0.17860723 0.02223705 -0.00903295
+v 0.17907215 0.02097412 -0.00910791
+v 0.18052206 0.01546471 -0.00891636
+v 0.18089636 0.00891045 -0.00675911
+v 0.18235416 0.00264617 -0.00862488
+v 0.18130219 0.00048218 -0.00604282
+v 0.18242113 -0.00224017 -0.00833755
+v 0.17218503 -0.00224020 -0.00096615
+v 0.16943886 0.01114870 0.00000010
+v 0.16614503 0.01088030 0.00002925
+v 0.16279603 0.01493986 0.00000844
+v 0.16287483 0.01898745 -0.00002486
+v 0.16603470 0.02223702 -0.00041633
+v 0.17818171 0.02223705 -0.00811673
+v 0.17634566 0.02223704 -0.00498909
+v 0.18112488 0.00450579 -0.00629685
+v 0.17654267 0.02097411 -0.00480585
+v 0.17734642 0.01493988 -0.00423532
+v 0.18134945 -0.00224018 -0.00598453
+v 0.17787833 0.00891044 -0.00395215
+v 0.17875695 0.00264616 -0.00423953
+v 0.17900516 -0.00224018 -0.00421872
+v 0.17831173 -0.00224019 -0.00370647
+v 0.17174770 0.00904942 -0.00084950
+v 0.16943886 0.01289331 0.00000011
+v 0.16600712 0.01491830 0.00003759
+v 0.16389923 0.01898745 -0.00002486
+v 0.16792984 0.01691692 -0.00017063
+v 0.17218503 0.02097410 -0.00206552
+v 0.17228747 0.02223703 -0.00240702
+v 0.17174770 0.01491830 -0.00104938
+f 1 2 7
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+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 28
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+f 1 50 62
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+f 1 51 39
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+f 10 18 11
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+f 13 22 21
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+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 19 29 20
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+f 21 22 23
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+f 29 30 31
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+f 32 44 36
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+f 33 36 35
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+f 37 47 48
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+f 38 48 49
+f 38 49 50
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+f 44 57 45
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+f 47 59 48
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+f 48 59 49
+f 49 62 50
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+f 49 64 65
+f 49 65 62
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+f 53 69 54
+f 54 69 55
+f 55 69 70
+f 55 70 56
+f 56 70 71
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+f 56 68 72
+f 56 72 73
+f 58 73 60
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+f 61 74 63
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+f 63 74 66
+f 64 66 65
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+f 67 74 68
+f 68 74 72
+f 68 71 70
+f 68 70 69
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_69.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5078fff4264fea1533511e7325ae5ad81a28fe1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_69.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03266133 -0.11074706 -0.12242443
+v 0.04671956 -0.10805073 -0.09520403
+v 0.04490362 -0.10346268 -0.12242440
+v 0.03266133 -0.12134271 -0.12242447
+v 0.03266133 -0.12013548 -0.08744645
+v 0.05132475 -0.10588196 -0.09936534
+v 0.05132475 -0.10009328 -0.12242439
+v 0.04693555 -0.12015798 -0.05303347
+v 0.05488197 -0.10886462 -0.08571317
+v 0.05990049 -0.12134271 -0.12242447
+v 0.03266133 -0.12134285 -0.08346839
+v 0.03266133 -0.12014443 -0.08741591
+v 0.05891118 -0.10850464 -0.08379667
+v 0.05736723 -0.10456728 -0.09936533
+v 0.05990049 -0.09850359 -0.12242438
+v 0.04606358 -0.12134297 -0.05214013
+v 0.05157008 -0.12134299 -0.04728398
+v 0.05157008 -0.11963032 -0.05110934
+v 0.05990049 -0.12134300 -0.04464212
+v 0.05736723 -0.11867114 -0.05123150
+v 0.05990049 -0.10845546 -0.08369741
+v 0.05990049 -0.10439736 -0.09936533
+v 0.05273804 -0.12134299 -0.04657389
+v 0.05374868 -0.12062305 -0.04756649
+v 0.05990049 -0.12100538 -0.04539038
+v 0.05806054 -0.12134300 -0.04442832
+v 0.05736723 -0.12134300 -0.04442069
+v 0.05990049 -0.11867785 -0.05123150
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 4 10 19
+f 4 19 26
+f 4 26 27
+f 4 27 23
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+f 4 17 16
+f 4 16 11
+f 5 12 8
+f 6 9 13
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+f 7 14 15
+f 8 12 11
+f 8 11 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 13
+f 10 15 22
+f 10 22 21
+f 10 21 28
+f 10 28 25
+f 10 25 19
+f 13 18 20
+f 13 20 21
+f 13 21 14
+f 14 22 15
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+f 17 23 24
+f 17 24 18
+f 18 24 20
+f 19 25 26
+f 20 24 27
+f 20 27 28
+f 20 28 21
+f 23 27 24
+f 25 28 26
+f 26 28 27
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_7.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47aa1f29c278c2b9216869bfa1446e9afbb0d04b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_7.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.02172494 -0.00224206 -0.14593846
+v -0.02172494 -0.00308392 -0.14594063
+v -0.02172494 -0.00224214 -0.12500460
+v -0.00305688 -0.00224206 -0.14611906
+v 0.00181523 -0.08042840 -0.14643920
+v -0.00305688 -0.08042840 -0.14638698
+v -0.02172494 -0.00316046 -0.14594063
+v -0.02172494 -0.00316054 -0.12500241
+v 0.11543088 -0.00224214 -0.12465211
+v 0.12987979 -0.00224206 -0.14687843
+v 0.00298721 -0.08042840 -0.14644573
+v -0.00389402 -0.08042840 -0.14618245
+v -0.02172494 -0.08042842 -0.14146085
+v -0.00740997 -0.08042841 -0.14530123
+v -0.02172494 -0.00919901 -0.12499809
+v 0.07195021 -0.08042848 -0.12465240
+v 0.14905012 -0.00224214 -0.12465211
+v 0.13357992 -0.00224207 -0.14519215
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diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_70.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81267c1650a210dc5ef215d984a77d508735611a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_70.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.08096760 -0.12134304 -0.03457239
+v 0.05990315 -0.12134301 -0.04464179
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_71.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21bcf005122f1b86a6894df9af82c57a41125de2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_71.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_72.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d088ab5dba8770893e2bd1aa38ee46edc9e4a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_72.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.16560218 -0.04539394 -0.03919567
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+v -0.16559637 -0.04539396 -0.03318106
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+v -0.13842043 -0.05233106 -0.02703551
+v -0.13138708 -0.06364544 -0.03919573
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+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_73.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164f87699f3af2b6eb27a71ee271fbd876093aae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_73.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00298206 -0.12134291 -0.06947566
+v 0.00542561 -0.12134291 -0.06982291
+v 0.00901906 -0.12059804 -0.07188571
+v 0.00298206 -0.12040316 -0.07143479
+v -0.00097873 -0.12134291 -0.06968816
+v 0.00901906 -0.12134291 -0.07050188
+v 0.01204821 -0.12081597 -0.07228998
+v 0.03266133 -0.11074787 -0.12241926
+v 0.00298206 -0.10836838 -0.12241925
+v -0.00306027 -0.10824530 -0.12241925
+v -0.00306027 -0.12059291 -0.07177687
+v -0.00306027 -0.12134291 -0.06996285
+v 0.01090895 -0.12134291 -0.07100981
+v 0.01261252 -0.12134291 -0.07172505
+v 0.03266133 -0.12134286 -0.08346957
+v 0.03266133 -0.12013516 -0.08745523
+v 0.03266133 -0.12134272 -0.12241930
+v -0.02172494 -0.11098248 -0.12241926
+v -0.00623316 -0.12078007 -0.07220187
+v -0.00710091 -0.12134291 -0.07133115
+v -0.02172494 -0.12134272 -0.12241930
+v -0.02172494 -0.12002488 -0.09301133
+v -0.01319647 -0.12134289 -0.07719823
+v -0.01229146 -0.12075698 -0.07808450
+v -0.01026315 -0.12131469 -0.07407292
+v -0.01022056 -0.12134290 -0.07395890
+v -0.02172494 -0.12134284 -0.08890647
+v -0.01030574 -0.12134290 -0.07403664
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 26
+f 1 26 28
+f 1 28 23
+f 1 23 27
+f 1 27 21
+f 1 21 17
+f 1 17 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
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+f 4 12 5
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+f 8 18 10
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+f 22 27 23
+f 23 28 25
+f 23 25 24
+f 25 28 26
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_74.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd2e2721e16126953c71d474b3ccdb8a3aed6c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_74.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.15654579 -0.06364544 -0.03919573
+v -0.15462179 -0.06499111 -0.03919574
+v -0.14562050 -0.07036721 -0.02703558
+v -0.15532705 -0.06364546 -0.03346174
+v -0.15601993 -0.06364539 -0.05123430
+v -0.15462179 -0.06476272 -0.05123431
+v -0.15166467 -0.06682104 -0.04521971
+v -0.15162136 -0.06677364 -0.05577100
+v -0.14545965 -0.07036720 -0.02917765
+v -0.13207834 -0.07036721 -0.02703558
+v -0.15374332 -0.06364548 -0.02703555
+v -0.15589620 -0.06364538 -0.05336701
+v -0.13901954 -0.07036710 -0.05750150
+v -0.13997845 -0.07036711 -0.05442404
+v -0.14116006 -0.07036713 -0.04979382
+v -0.14338100 -0.07036716 -0.04086077
+v -0.15551884 -0.06364537 -0.05744535
+v -0.15383612 -0.06491997 -0.05756695
+v -0.15082949 -0.06637156 -0.05977449
+v -0.11713804 -0.07036686 -0.12258649
+v -0.11873415 -0.07036688 -0.11787209
+v -0.09334491 -0.07036686 -0.12258649
+v -0.13569742 -0.06364548 -0.02703555
+v -0.13919276 -0.06364524 -0.09331785
+v -0.12427721 -0.06364513 -0.12258646
+v -0.13025952 -0.06364517 -0.11223160
+v -0.12614552 -0.06364514 -0.11989251
+v -0.12608366 -0.06364514 -0.12000476
+v -0.09393263 -0.06985689 -0.12258649
+v -0.13262275 -0.06364545 -0.03535124
+v -0.10631791 -0.06364513 -0.12258646
+v -0.09849823 -0.06715372 -0.12258648
+v -0.13257326 -0.06364545 -0.03549155
+v -0.13137926 -0.06364544 -0.03919573
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+f 1 23 30
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+f 29 32 33
+f 29 33 30
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_8.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f09862244d5e1fa09355cb9ba939b4ffdb57fe4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_8.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.02594790 0.11173288 -0.14966219
+v -0.02594790 0.11173279 -0.12411239
+v -0.02265568 0.11173288 -0.14975649
+v -0.02594790 0.11155386 -0.14974629
+v -0.02594790 0.10548929 -0.12411241
+v 0.07006383 0.11173279 -0.12411239
+v 0.00299336 0.11173288 -0.15013882
+v -0.02594790 0.07907675 -0.14218650
+v 0.09586439 0.07907677 -0.14748812
+v -0.00305386 0.07907677 -0.14588235
+v -0.02594790 0.07907669 -0.12450503
+v -0.01910173 0.10149000 -0.12411243
+v 0.09838522 0.09727651 -0.12411244
+v 0.06847970 0.11173281 -0.12935285
+v 0.00657486 0.11173288 -0.15014902
+v 0.00902681 0.11173288 -0.15010569
+v 0.01339349 0.11173288 -0.14996550
+v 0.02423441 0.11173288 -0.14949651
+v 0.05736328 0.10544781 -0.14812779
+v 0.09361907 0.08131778 -0.14746008
+v 0.09956987 0.08129540 -0.14618310
+v 0.09959742 0.07907677 -0.14668268
+v -0.01423916 0.10035830 -0.12411243
+v 0.08327405 0.07907669 -0.12411251
+v 0.10199427 0.09524010 -0.12411245
+v 0.09769647 0.09694085 -0.12721951
+v 0.06642723 0.11173282 -0.13277343
+v 0.03292643 0.11173288 -0.14895360
+v 0.03320193 0.11148353 -0.14904026
+v 0.03924916 0.11148353 -0.14848716
+v 0.04526883 0.11148352 -0.14774035
+v 0.05736328 0.10997139 -0.14606575
+v 0.06345183 0.10571635 -0.14663161
+v 0.06944396 0.09941531 -0.14756451
+v 0.08757185 0.08735029 -0.14738359
+v 0.10357840 0.07926857 -0.14530630
+v 0.10367482 0.07907676 -0.14534453
+v 0.10173254 0.07907677 -0.14617546
+v 0.09321959 0.08717126 -0.14593839
+v 0.09748985 0.08503894 -0.14519922
+v 0.11477746 0.07907669 -0.12411251
+v 0.10651246 0.09234053 -0.12411246
+v 0.10863382 0.09026256 -0.12615665
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+v 0.03893233 0.11173288 -0.14839795
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+v 0.04526883 0.11173287 -0.14757722
+v 0.05106811 0.11173287 -0.14644552
+v 0.05542100 0.11173286 -0.14403685
+v 0.06944396 0.10366715 -0.14566814
+v 0.07507793 0.09937375 -0.14607342
+v 0.08181390 0.09377601 -0.14658578
+v 0.11006642 0.08624090 -0.12807086
+v 0.11109954 0.07907672 -0.13208790
+v 0.08757185 0.09180674 -0.14572172
+v 0.09094673 0.09062387 -0.14479648
+v 0.11458462 0.07907669 -0.12555007
+v 0.11425402 0.08107474 -0.12411250
+v 0.11063120 0.08814304 -0.12411248
+v 0.11082405 0.08779457 -0.12411248
+v 0.07999560 0.09733413 -0.14546935
+v 0.11123730 0.08152232 -0.12982959
+v 0.11236685 0.07907671 -0.12973785
+f 1 2 6
+f 1 6 14
+f 1 14 27
+f 1 27 47
+f 1 47 52
+f 1 52 51
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+f 1 50 49
+f 1 49 48
+f 1 48 28
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+f 1 18 17
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+f 1 7 3
+f 1 3 4
+f 1 4 8
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+f 1 11 5
+f 1 5 2
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+f 3 7 4
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+f 5 11 12
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+f 11 23 12
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+f 33 55 34
+f 34 55 35
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+f 36 56 37
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+f 39 55 58
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+f 40 58 59
+f 40 59 43
+f 41 60 61
+f 42 62 43
+f 43 62 63
+f 43 63 56
+f 43 59 44
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+f 45 64 53
+f 45 53 46
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+f 54 64 58
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+f 56 63 61
+f 56 61 60
+f 56 60 65
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+f 57 65 66
+f 58 64 59
+f 60 66 65
+
diff --git a/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_9.obj b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd0c8d546a0c7ba17916e7cd912238688be6f7a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_9.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03194470 0.11173608 -0.14900086
+v 0.03194470 0.11262974 -0.14863925
+v 0.03292454 0.11173608 -0.14895265
+v 0.03194470 0.11173597 -0.11924023
+v 0.03194470 0.11648442 -0.14680707
+v 0.03893275 0.11173608 -0.14839817
+v 0.03546151 0.11173592 -0.10537846
+v 0.03194470 0.11412161 -0.10809054
+v 0.03319799 0.11634634 -0.14672269
+v 0.03194470 0.11714029 -0.14567402
+v 0.04492577 0.11173607 -0.14763879
+v 0.03194470 0.12646792 -0.06610740
+v 0.03194470 0.11650341 -0.09921899
+v 0.03788454 0.11173590 -0.09965295
+v 0.04883756 0.11478881 -0.06216587
+v 0.03924418 0.11573265 -0.14614411
+v 0.03194470 0.11910404 -0.14156368
+v 0.04993134 0.12093738 -0.13289707
+v 0.05108589 0.11173607 -0.14643343
+v 0.03194470 0.12738076 -0.06320244
+v 0.05429128 0.11173576 -0.06382929
+v 0.05104032 0.11317791 -0.06381723
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