diff --git a/.gitattributes b/.gitattributes
index eff2a155c5d67b5102efd0e77157184479e30e7d..3b26140c08ff6ba6afcb2a08eb4071ade651c03e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2849,5 +2849,4 @@ dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_orga
 dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/mesh/storage_box_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/storage_box_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d769955178b458758cf90118a910ca5f/mesh/remote_holder_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d769955178b458758cf90118a910ca5f/remote_holder_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.urdf b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb7854e0d1252b1f92de4f82883c2f1bf2f19dc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>basket</category>
+         <description>woven wooden basket with a handle and cylindrical shape</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>1.5</max_mass>
+         <generate_time>20251005235727</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.104063391685486</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.usd b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bf50837c16c1517e3bd816d761cf61bbe45ab873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:714e93f52e96a808019e6f4f1c0aca8f8a40596845dff281770e22b0fb4dd94a
+size 677474
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.glb b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..967dfb77bf4bb644b5c7ed1499feac9a41120587
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2c8116c557deaac9eff04ece5713b89f6ed2a620d4a37c8f7eee15931ed987
+size 3070284
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168ea0287025e9618f302cd6fa11df3e842f3463
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket.obj
@@ -0,0 +1,42115 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59fa0f9e1c882c2bb8645087e5d3f7bb9f803789
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fa146578caeecc07c1e018c3f8076d01b93a546d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 55726186
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/material.mtl b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/material_0.png b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mesh/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/d9fd0907a1d55cc9bd40f335fcf56c88.xml b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/d9fd0907a1d55cc9bd40f335fcf56c88.xml
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+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/d9fd0907a1d55cc9bd40f335fcf56c88.xml
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+    <mesh name="collision_mesh_0_19" file="mesh/basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/basket_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_55" file="mesh/basket_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/basket_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/basket_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/basket_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/basket_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/basket_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/basket_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/basket_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/basket_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/basket_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/basket_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/basket_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/basket_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/basket_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" 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/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3024de32a02f73e4bdea511e6c9054216d7f8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket.obj
@@ -0,0 +1,42115 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511180a54bca214394d6cbdcca6a9f2f7d580936
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,17805 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f64a86436949dbcf52c7e25076d6c40a15ee2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9dd2d67e39d050de54e6fb50687f4ef1dcefd2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a15deec9c3d8ddc252124cd25e418d7eb3909f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1a7aaa3cb660a6f2b97e3dc40094a3b68cf2a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa23e8c4cceb6cd5966b2395c9a1a7193cd42dbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e39d12c579feaf7fa35171a19a138ec4f9aedcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5519919e372af00fc23d22b82e2af63a9a619
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1db7ef34043ef0fe8bde34b888d335c3f417fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87656998f0aeca08680c0cb50ce574aeb3900690
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e1d29cc392ec284c3f33c4f077a8ff809c2c912
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..570744224b8250ff261067bfbe4af0053d9fb699
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5876dd274195b41c9d97f8aa125df1762768ad35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04224979 0.10873021 -0.10695224
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+v -0.04224979 0.10975714 -0.10417603
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbaad37197c9f2f3bea9e2c1e11e24bf35a7913
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00226629 0.11593269 -0.10738487
+v 0.00071637 0.11477918 -0.11347832
+v 0.00071637 0.11581017 -0.10738487
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2128be051348c34c1e276245a9cb75ed4d2816d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.11504900 -0.03161230 -0.09575584
+v 0.11469899 -0.03160540 -0.09696746
+v 0.11492172 -0.03160541 -0.09616500
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd15ff37c621552a541d99d63f0db5e4ee2cc10d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d568c437f25da0db522d18c52e9918750f39b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.06103111 0.09693138 -0.11091280
+v -0.06226319 0.09797085 -0.10695415
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60684166a5e10af3cb30abad3773b7cdf68faf5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51e0ba1d370161162ac99b34aeddddd89716813
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c57b4d023a1aec65930079f778552ae77bf49e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.11406423 0.01344588 -0.10738525
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a9a36b304ae61ad2386aee6f5971b70eeae15de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a66aca1d5f23cfc9ffc34b795df657fdf1dba1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd09cd795021c7e4c31df35208ebea5d407c250
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b84e3b04d8f530b952854fcb9e6900136d2f20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.12724786 -0.00191387 -0.06139917
+v 0.10383490 0.00681340 -0.09691464
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+v 0.11651428 0.01344561 -0.03665666
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+v 0.13024577 0.01344558 -0.02675814
+v 0.12590101 0.01344569 -0.05646145
+v 0.13060388 0.01344556 -0.02180500
+v 0.11949952 0.01344581 -0.09017371
+v 0.12104603 -0.03160550 -0.07130554
+v 0.11925867 -0.00490363 -0.09926742
+v 0.12068475 -0.00686605 -0.09110250
+v 0.12110307 -0.00191377 -0.09110248
+v 0.10121410 -0.03158775 -0.10082312
+v 0.10125529 -0.03160539 -0.10066059
+v 0.11625125 0.01344585 -0.10082295
+v 0.11925867 -0.00331608 -0.09926741
+v 0.11635265 0.01294754 -0.10082295
+v 0.11775337 -0.03160544 -0.08615720
+v 0.11365580 -0.03160539 -0.10043615
+v 0.11351319 -0.03160539 -0.10082312
+v 0.11811782 -0.00653968 -0.10082302
+v 0.11846007 -0.00201075 -0.10082301
+v 0.11651428 -0.03160543 -0.09110259
+v 0.10156904 -0.03160539 -0.10082312
+v 0.11846007 -0.00188727 -0.10082301
+f 1 2 6
+f 1 6 16
+f 1 16 24
+f 1 24 13
+f 1 13 3
+f 1 3 12
+f 1 12 23
+f 1 23 36
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+f 19 34 20
+f 20 34 30
+f 22 26 37
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+f 22 44 43
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+f 22 35 23
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+f 32 42 43
+f 32 43 44
+f 32 44 47
+f 32 47 38
+f 32 38 34
+f 32 40 45
+f 32 45 41
+f 35 46 36
+f 38 47 39
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1ae951ec94869f5f246bfd0a6635fa87d5b027
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00071165 0.11592824 -0.10695408
+v 0.00071165 0.09966707 -0.10695414
+v 0.00071165 0.11477870 -0.11347843
+v 0.00037926 0.11471108 -0.11415044
+v -0.00064811 0.11471108 -0.11415044
+v -0.01755747 0.11486220 -0.10695409
+v 0.00071165 0.09938067 -0.10749251
+v -0.05332819 0.08404236 -0.10695420
+v 0.00071165 0.11448832 -0.11446291
+v -0.00193535 0.11025203 -0.12618264
+v 0.00071165 0.11024805 -0.12618264
+v -0.00231004 0.11025203 -0.12618264
+v -0.02052477 0.10974685 -0.12388613
+v -0.01912270 0.11466331 -0.10695409
+v 0.00071165 0.09298845 -0.12618270
+v -0.04959943 0.07965889 -0.12280764
+v -0.05438579 0.08384744 -0.10695420
+v -0.06102745 0.07529527 -0.12618276
+v -0.01724321 0.10874444 -0.12618264
+v -0.02252512 0.11290118 -0.11091275
+v -0.02179992 0.10822335 -0.12618264
+v -0.02234382 0.10814777 -0.12618264
+v -0.04559268 0.10017631 -0.12618267
+v -0.04348354 0.10441659 -0.11789642
+v -0.04561685 0.10505302 -0.11459659
+v -0.04238969 0.10871653 -0.10695411
+v -0.02276081 0.11391151 -0.10695409
+v -0.04857810 0.07882755 -0.12618275
+v -0.05729265 0.08349342 -0.10695420
+v -0.05828376 0.08340193 -0.10695420
+v -0.06102745 0.08327464 -0.10695420
+v -0.06102745 0.09095183 -0.12618271
+v -0.04665631 0.10575310 -0.11091277
+v -0.04724856 0.10677935 -0.10695412
+v -0.06102745 0.09537508 -0.11507852
+v -0.06102745 0.09693038 -0.11091280
+v -0.06102745 0.09829475 -0.10695415
+v -0.06102745 0.09821518 -0.10719133
+f 1 2 7
+f 1 7 15
+f 1 15 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 27
+f 1 27 26
+f 1 26 34
+f 1 34 37
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+f 1 29 17
+f 1 17 8
+f 1 8 2
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+f 6 13 14
+f 7 8 16
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+f 10 11 15
+f 10 15 28
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+f 10 18 32
+f 10 32 23
+f 10 23 22
+f 10 22 21
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+f 10 19 12
+f 12 19 13
+f 13 20 14
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 20
+f 14 20 27
+f 15 16 28
+f 16 18 28
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 37
+f 18 37 38
+f 18 38 36
+f 18 36 35
+f 18 35 32
+f 20 26 27
+f 23 32 25
+f 23 25 24
+f 25 33 34
+f 25 34 26
+f 25 32 35
+f 25 35 36
+f 25 36 33
+f 33 36 34
+f 34 36 38
+f 34 38 37
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62122f32400c3b2c7e9ca3f6c8a6dbe9eb431c8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04081526 -0.11212101 -0.09575613
+v 0.04081526 -0.09863128 -0.09575608
+v 0.03878047 -0.11302283 -0.09575614
+v 0.04081526 -0.11055532 -0.10099592
+v 0.04081526 -0.08545457 -0.12815580
+v 0.01721563 -0.08691377 -0.12815581
+v 0.01897651 -0.09805196 -0.10241048
+v 0.00083950 -0.10318735 -0.09575610
+v 0.03660090 -0.11393404 -0.09575614
+v 0.03508264 -0.11357080 -0.09924510
+v 0.04081526 -0.10906166 -0.10555693
+v 0.04081526 -0.10084500 -0.12815586
+v 0.00083950 -0.09127570 -0.12815583
+v 0.00083950 -0.11682425 -0.09575615
+v 0.03628394 -0.11405930 -0.09575614
+v 0.03619003 -0.11401546 -0.09606062
+v 0.02714696 -0.10581755 -0.12576435
+v 0.03500438 -0.10862952 -0.11395581
+v 0.03969613 -0.10352857 -0.12346480
+v 0.03211654 -0.11455091 -0.09575614
+v 0.00728430 -0.11744111 -0.09575615
+v 0.00995301 -0.11342984 -0.10862089
+v 0.04081526 -0.10322796 -0.12255767
+v 0.04081526 -0.10248270 -0.12456858
+v 0.03708221 -0.10245763 -0.12815587
+v 0.00083950 -0.10644068 -0.12815588
+v 0.00231472 -0.11699960 -0.09575615
+v 0.00083950 -0.10674755 -0.12723289
+v 0.02699827 -0.10501593 -0.12815588
+v 0.03002697 -0.10448360 -0.12815587
+v 0.03248046 -0.10474351 -0.12617033
+v 0.03708221 -0.10401705 -0.12454955
+v 0.03708221 -0.10298682 -0.12702671
+v 0.00728430 -0.11734718 -0.09606063
+v 0.00875170 -0.11342984 -0.10862089
+v 0.00728430 -0.11094355 -0.11586206
+v 0.03437829 -0.10339703 -0.12809243
+v 0.03433524 -0.10338137 -0.12815587
+v 0.00488169 -0.10624966 -0.12815588
+v 0.00728430 -0.10924323 -0.12030890
+v 0.00717082 -0.11272529 -0.11053030
+v 0.00543734 -0.11332964 -0.10831323
+v 0.03152176 -0.10414855 -0.12815587
+v 0.03417872 -0.10342521 -0.12815587
+v 0.00728430 -0.11577837 -0.10101179
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+f 1 20 15
+f 1 15 9
+f 1 9 3
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+f 1 4 11
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+f 1 23 24
+f 1 24 12
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+f 8 28 14
+f 9 15 16
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+f 19 24 23
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+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 29
+f 25 33 37
+f 25 37 38
+f 26 39 40
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+f 26 36 41
+f 26 41 28
+f 27 28 42
+f 27 42 34
+f 28 41 42
+f 29 36 40
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+f 30 43 31
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+f 34 45 35
+f 34 42 45
+f 35 45 41
+f 35 41 36
+f 37 44 38
+f 41 45 42
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfabcef1697d6e09e8a0364446d50e04733d3514
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.08288768 -0.06847570 -0.09575280
+v 0.08831689 -0.05754997 -0.09575276
+v 0.09741391 -0.06847570 -0.09575280
+v 0.10347514 -0.06847611 0.01610954
+v 0.11914627 -0.03434899 0.01610966
+v 0.10312287 -0.03289040 -0.08614976
+v 0.10270843 -0.03224069 -0.09109904
+v 0.10273433 -0.03160541 -0.09393501
+v 0.10253746 -0.03160541 -0.09575267
+v 0.10908049 -0.03406723 -0.04391670
+v 0.10883700 -0.03375681 -0.04654463
+v 0.10068283 -0.06481935 -0.09575279
+v 0.10364092 -0.06322760 -0.09224887
+v 0.10424187 -0.06395311 -0.08895300
+v 0.10064656 -0.06847573 -0.08614989
+v 0.12021865 -0.06847611 0.01610954
+v 0.11957108 -0.03361627 0.01610967
+v 0.10302961 -0.03160542 -0.09169032
+v 0.11397092 -0.03160541 -0.09575267
+v 0.12073670 -0.03160582 0.01610967
+v 0.10314359 -0.06174051 -0.09575278
+v 0.10477028 -0.05992497 -0.09488774
+v 0.10523652 -0.06148787 -0.09080351
+v 0.10364610 -0.06847577 -0.07624040
+v 0.10224218 -0.06847575 -0.08120062
+v 0.10935505 -0.06423833 -0.06972530
+v 0.13519040 -0.03605264 0.01610966
+v 0.12010985 -0.06847610 0.01455468
+v 0.11650938 -0.03160543 -0.09109904
+v 0.11505365 -0.03160902 -0.09575267
+v 0.13580171 -0.03160582 0.01610967
+v 0.10375489 -0.06084898 -0.09575277
+v 0.11387766 -0.03676328 -0.09575269
+v 0.11454596 -0.03988906 -0.08976320
+v 0.10742272 -0.05639858 -0.09109913
+v 0.10456305 -0.05947379 -0.09575277
+v 0.10442319 -0.06847578 -0.07338252
+v 0.11930169 -0.03951015 -0.06969236
+v 0.12337359 -0.03644579 -0.05689213
+v 0.11440090 -0.06445498 -0.04500084
+v 0.11315239 -0.06752301 -0.04159548
+v 0.11181581 -0.06847589 -0.04377448
+v 0.10887845 -0.06838922 -0.05644330
+v 0.11673732 -0.03659006 -0.08614977
+v 0.13500390 -0.03582884 0.01284664
+v 0.13567219 -0.03307486 0.01610967
+v 0.11939493 -0.06847607 0.00503937
+v 0.11930687 -0.06847606 0.00399915
+v 0.11650938 -0.03163431 -0.09109904
+v 0.11775271 -0.03160544 -0.08614976
+v 0.11503811 -0.03186529 -0.09575267
+v 0.13581206 -0.03162748 0.01610967
+v 0.13541317 -0.03160581 0.01287950
+v 0.11441126 -0.03492608 -0.09575268
+v 0.11524533 -0.03676329 -0.09129615
+v 0.10869713 -0.06847584 -0.05672800
+v 0.12414549 -0.03469884 -0.05553436
+v 0.13412838 -0.03445360 -0.00059961
+v 0.11472209 -0.06504695 -0.04159547
+v 0.11225615 -0.06847590 -0.04159548
+v 0.11446825 -0.06847594 -0.03047057
+v 0.10892507 -0.06847584 -0.05583012
+v 0.10876966 -0.06847584 -0.05644330
+v 0.11775271 -0.03163432 -0.08614976
+v 0.11897532 -0.06847605 0.00110842
+v 0.11775789 -0.03160544 -0.08612786
+v 0.13412838 -0.03335273 -0.00059960
+v 0.13541835 -0.03163469 0.01284665
+v 0.13347564 -0.03160575 -0.00208877
+v 0.12104235 -0.03163438 -0.07130195
+v 0.12389165 -0.03163443 -0.05820608
+v 0.11687202 -0.06630671 -0.02180933
+v 0.11462367 -0.06847594 -0.02945225
+v 0.12104235 -0.03160550 -0.07130195
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+v 0.12389165 -0.03160555 -0.05819513
+v 0.13346528 -0.03160575 -0.00215446
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+f 30 49 51
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+f 33 55 34
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+f 40 59 41
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+f 42 62 43
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+f 49 54 51
+f 50 66 64
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+f 57 64 70
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+f 58 65 72
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+f 59 73 61
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+f 67 75 76
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+f 68 76 69
+f 69 76 78
+f 70 74 71
+f 71 74 77
+f 75 78 76
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec86eca82361b2581774ad07486a07ed3962b9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05951849 -0.07515687 -0.12809833
+v -0.05951849 -0.07527055 -0.12774452
+v -0.05906391 -0.07525635 -0.12809833
+v -0.05951849 -0.08991475 -0.12809838
+v -0.05951849 -0.08606376 -0.09611420
+v -0.05411632 -0.07690835 -0.12809833
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+v -0.03251817 -0.10791632 -0.10576119
+v -0.03251817 -0.10649523 -0.11091498
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+f 49 52 50
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24265457171790ee6ef18f02449603e99a300fb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.06087750 -0.07222341 -0.12815576
+v 0.04739990 -0.07791788 -0.12815578
+v 0.05396491 -0.08815085 -0.09575604
+v 0.05667496 -0.08720958 -0.09575604
+v 0.05697542 -0.08713147 -0.09575604
+v 0.06087750 -0.08665107 -0.09575604
+v 0.06087750 -0.09097844 -0.12815582
+v 0.04081526 -0.08545192 -0.12815580
+v 0.04081526 -0.09862977 -0.09575608
+v 0.06087750 -0.10197692 -0.09575609
+v 0.06087750 -0.09151742 -0.12669997
+v 0.05402382 -0.09831723 -0.11779363
+v 0.04540271 -0.10391797 -0.11453305
+v 0.04081526 -0.10248064 -0.12456858
+v 0.05926129 -0.09179081 -0.12815583
+v 0.04081526 -0.10084415 -0.12815586
+v 0.04081526 -0.11212385 -0.09575613
+v 0.05890191 -0.10319549 -0.09575610
+v 0.05853861 -0.10301582 -0.09701212
+v 0.06087750 -0.10192615 -0.09591151
+v 0.06087750 -0.09165022 -0.12632888
+v 0.05742120 -0.09528641 -0.12126989
+v 0.04454453 -0.10841735 -0.10350161
+v 0.04704249 -0.10449602 -0.11070154
+v 0.04081526 -0.10322664 -0.12255767
+v 0.04176574 -0.10045359 -0.12815586
+v 0.04081526 -0.11055376 -0.10099592
+v 0.04206621 -0.11156925 -0.09575613
+v 0.04639050 -0.10943676 -0.09575612
+v 0.06087750 -0.10028185 -0.10083094
+v 0.05685563 -0.09743455 -0.11603012
+v 0.06032567 -0.09417721 -0.11992189
+v 0.06087750 -0.09369681 -0.12037861
+v 0.06087750 -0.09184941 -0.12576430
+v 0.04081526 -0.10906177 -0.10555693
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+f 23 29 28
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+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bfc44cb8be21f24c2c0551c708fca04fa39b51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.07774517 0.09440708 -0.00306342
+v -0.07774517 0.11062052 -0.00306336
+v -0.07648749 0.09493009 -0.00306342
+v -0.07599303 0.09523153 0.00295776
+v -0.07774517 0.09456687 0.00295776
+v -0.07106626 0.11559642 -0.00306335
+v -0.07774517 0.11091109 -0.00180942
+v -0.07623668 0.09503905 -0.00306342
+v -0.07227377 0.09736719 -0.00306341
+v -0.04114374 0.11570175 -0.00306335
+v -0.04114374 0.11583613 -0.00067972
+v -0.04114374 0.11754675 0.02275733
+v -0.04225809 0.11818956 0.03540596
+v -0.04412130 0.11724523 0.03540596
+v -0.07555230 0.10002938 0.02770903
+v -0.07774517 0.10044340 0.03540590
+v -0.07120242 0.11569812 -0.00199393
+v -0.07034605 0.11607949 -0.00306334
+v -0.07774517 0.11203700 0.00326283
+v -0.04114374 0.12792358 -0.00306330
+v -0.04114374 0.11885786 0.03540597
+v -0.07718620 0.10071580 0.03540590
+v -0.07767709 0.10047608 0.03540590
+v -0.07774517 0.11434323 0.03540595
+v -0.06697794 0.11842216 -0.00240060
+v -0.07471744 0.11452857 0.00531886
+v -0.07240992 0.11575984 0.00338335
+v -0.06701377 0.11828051 -0.00306334
+v -0.07774517 0.11216774 0.00454690
+v -0.04239425 0.12798896 -0.00306330
+v -0.04114374 0.12805434 -0.00199388
+v -0.04114374 0.13150828 0.03540601
+v -0.06998058 0.11967507 0.03540597
+v -0.07774517 0.11418706 0.03265707
+v -0.06515413 0.11963888 -0.00101862
+v -0.06804928 0.11853110 0.00295785
+v -0.07774517 0.11244377 0.00775895
+v -0.06974767 0.11948623 0.02984419
+v -0.06909913 0.11905405 0.01780559
+v -0.06462383 0.11951177 -0.00306333
+v -0.04239425 0.12932551 0.01083551
+v -0.04114374 0.13102524 0.02770914
+v -0.04114374 0.12959064 0.01307604
+v -0.04628908 0.12707005 -0.00306330
+v -0.04736043 0.12818142 0.00790964
+v -0.04520340 0.12944898 0.01414547
+v -0.04114374 0.13143201 0.03265713
+v -0.04239425 0.13128309 0.03540601
+v -0.06880890 0.12035063 0.03540597
+v -0.04736043 0.12689935 -0.00199388
+v -0.04745359 0.12670321 -0.00306330
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+v -0.04736043 0.12754220 0.00295788
+v -0.06689194 0.12067756 0.02275734
+v -0.06661604 0.12045239 0.01780559
+v -0.06763006 0.12059038 0.02799905
+v -0.04705945 0.12873710 0.01264299
+v -0.04561546 0.12957608 0.01780563
+v -0.04239425 0.13120682 0.03265713
+v -0.04502067 0.13058574 0.03540601
+v -0.06722517 0.12121869 0.03540598
+v -0.06722517 0.12109157 0.03265709
+v -0.04809855 0.12870803 0.01780562
+v -0.04855360 0.12881335 0.02275737
+v -0.04607052 0.12976494 0.02275738
+v -0.04665456 0.13006636 0.03265713
+v -0.04642882 0.12994289 0.02770914
+v -0.04713111 0.13001914 0.03540601
+v -0.04932756 0.12910023 0.03540600
+v -0.04891550 0.12891865 0.02770913
+v -0.04849628 0.12945616 0.03540601
+f 1 2 6
+f 1 6 18
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+f 1 40 51
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+f 1 30 20
+f 1 20 10
+f 1 10 9
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775f3068f7e95f491ef54a56e642249ceed3907e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00083950 -0.11669642 -0.09611431
+v 0.00083950 -0.10674674 -0.12723114
+v 0.00083950 -0.10311791 -0.09611426
+v -0.01279940 -0.11754739 -0.09611431
+v -0.01259042 -0.11624625 -0.10101135
+v -0.01259042 -0.11480329 -0.10596474
+v -0.01259042 -0.11369332 -0.10944652
+v 0.00083950 -0.10646000 -0.12809844
+v -0.01259042 -0.10804787 -0.12707146
+v 0.00083950 -0.09133370 -0.12809839
+v -0.01935273 -0.09804599 -0.09715376
+v -0.02049556 -0.09829266 -0.09611424
+v -0.01726298 -0.11739015 -0.09611431
+v -0.01755358 -0.11603043 -0.10101135
+v -0.01628341 -0.11367790 -0.10938703
+v -0.01259042 -0.10770563 -0.12809845
+v -0.01635198 -0.10876318 -0.12435366
+v -0.02252001 -0.08605215 -0.12809837
+v -0.02252001 -0.09812308 -0.09611424
+v -0.01754705 -0.11727299 -0.09611431
+v -0.02067842 -0.11381666 -0.10479370
+v -0.01959762 -0.11323700 -0.10809702
+v -0.01778542 -0.11431922 -0.10625280
+v -0.01770378 -0.10706431 -0.12809844
+v -0.01966293 -0.10829454 -0.12294467
+v -0.01782460 -0.10782588 -0.12590982
+v -0.02748970 -0.08622480 -0.12809837
+v -0.03251817 -0.08682603 -0.12808899
+v -0.03251817 -0.09983119 -0.09611425
+v -0.03250838 -0.11057006 -0.09611429
+v -0.03251817 -0.11056697 -0.09612368
+v -0.02145881 -0.11443023 -0.10101134
+v -0.03251817 -0.11055464 -0.09617378
+v -0.03251817 -0.10649706 -0.11091498
+v -0.03251817 -0.10238707 -0.12576264
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+v -0.03245613 -0.08681987 -0.12809837
+v -0.03251817 -0.08720218 -0.12809837
+v -0.03251817 -0.11053615 -0.09611429
+f 1 2 8
+f 1 8 10
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+f 1 3 12
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+f 1 19 29
+f 1 29 39
+f 1 39 30
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+f 1 20 13
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+f 21 36 22
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+f 28 36 35
+f 28 35 34
+f 28 34 33
+f 28 33 31
+f 28 31 39
+f 28 39 29
+f 30 39 31
+f 31 33 32
+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee6e7b926f48c97b18509f945f5fc6d016774eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07149381 -0.11702457 0.03749211
+v 0.07149381 -0.10267629 0.03749216
+v 0.06955732 -0.11849139 0.03749210
+v 0.07149381 -0.11630907 0.02275627
+v 0.07149381 -0.09954475 -0.00197856
+v 0.00083950 -0.12138549 0.03749209
+v 0.06732343 -0.12015235 0.03749210
+v 0.07149381 -0.11464802 -0.00197861
+v 0.00083950 -0.11958057 -0.00197863
+v 0.00083950 -0.11979634 0.01285767
+v 0.00083950 -0.12107269 0.03265871
+v 0.00083950 -0.13485296 0.03749204
+v 0.06211565 -0.12276603 0.03749209
+v 0.06635519 -0.11952673 0.02275626
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8b0692d86fd995b2c4c2b4a373e6595e0008532
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2901698773ea0f2acf68768175c30671671f63f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18378aa36febb62492373f923d765088659a4c23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc9198dbd7f454749aca43277ceaaad3dc4ff6de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.08787651 0.01344602 -0.14764348
+v -0.08787651 -0.02828458 -0.14851676
+v -0.08787651 0.01344596 -0.13122419
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+v 0.00230594 0.00304306 -0.12586681
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95225577a3523c5e01576b70bffe5680a8da5d86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.14554694 -0.01027622 0.06254139
+v -0.14554423 -0.01027620 0.05741217
+v -0.14468869 -0.02667811 0.06235793
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+v -0.11976964 -0.03044085 0.06399075
+v -0.12162193 -0.03160601 0.06677720
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d380e8f00dde8cca0ac266886bcfd00bc101c05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.03742251 0.12688790 0.07322521
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+v -0.04238974 0.12688790 0.07300679
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b18b5e0c1f4cf3d332bd34279a7eb5d56f879d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.09599259 0.02274867 -0.10738522
+v 0.09909661 0.02576920 -0.09327558
+v 0.09616816 0.02780557 -0.10738520
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+v 0.12139354 0.03909683 -0.06635072
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119e6d7e9b256f90c943efbe4136381ccf544e97
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05261009 0.10574381 -0.10738492
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d0ccc3ca3a39ceb3876810ccbb07c821d43cfb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8addd35c5ae264a8ae3971528b0f56cbc46dccf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.13361111 -0.03160583 0.01775213
+v -0.12076986 -0.03160583 0.01775213
+v -0.13361111 -0.03163402 0.01775213
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46a44c1beed7c7c2e27a9036669b71c4d0ac6c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2209e1bffb18bd8582688ab1965fcc3c1bfea2dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b86fe0b82534cabad0762855b5fdf47a80d4e16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00071165 0.12526986 0.03540599
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1029431982a2022a670d780e6803c9945e36b24d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f53abf1d5d842e49c9939a7ebae84af86a0f37d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247bca380382e30a7ba4e90f6ddb1bc692e921f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7fe10f91e6b61b8f0951c9762dee63e47f7509
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad0a4dd60eb9bf1b4a3d98ce028faee518444dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7c3f1b15735579720db2b2964ea92ccf21c827
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a7d05aa944de9f2db22ac939bc2d8456f0791d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00083950 -0.10319175 -0.09575293
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a0dfba9384e9848cd9e3bd3072a5b0a39e7396
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.07149381 -0.07878263 -0.09575284
+v 0.07281032 -0.07686230 -0.09575283
+v 0.07149381 -0.09627335 -0.09575290
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39db2a46fb756b440025d41239c842f063a738f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.08650334 -0.05882186 -0.09611410
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+v -0.07485477 -0.05681834 -0.12809826
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bce01d4e06cc8bace6836b4aae8bde4c2b1204
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.10346676 0.06386628 0.06235836
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+v -0.10378549 0.06386628 0.06339637
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9983e3b647a9d8248b9364f91cbdc47f079f22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e9c8fc15db5037b9138568249ab25515c16941
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb1bf16a0396e771da8741bc35e134ae901cd86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca85b8da544787521b5b1c51ba56e29738442c8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196dfe46745d6f32e83fa60ca7b6e863b48dbe97
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b136c5985e3f5cf1ad756e29cc0d594f67e5ea65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16507fff45418cb82ca6293537813da78252974
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233e60cabebb9655be07130cc317b0dd66b40068
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5fc82f7300067365a5e4ca409e761a5c909750
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c27428d3674a69798f05a2c729b765c25d6a86e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237005f398269a899024c0773e60631cab196a94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf1831247ded8f4384bf86ac5d52e5a5aa274aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5908ab3509b243ac3b5d008125d6056d8fe7261
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72221f4530fd6f8714a00ff54b6d8272caadfb2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57494b7fdef36570e8824fb77f5c1dcd51d6d353
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_70.obj
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e59ea50be962a77e68a00eae9546ee99e5e692a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.11690363 -0.03160597 0.05741208
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+v 0.11881768 -0.02324282 0.06059730
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b17fdc1b14b9230ed1dfb80ab8074b6a842ae5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03245817 -0.13162606 0.03759484
+v -0.03245817 -0.12821628 0.00576658
+v -0.03245817 -0.11994249 0.03759488
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9011193659c1b97cafda3a3d8df4b07cd922aa2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5127bd641318c823bad6d32325b5358dca0627cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85583230dc0691f9c3eabc0ef11be8341e5696ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98317fc826aa56578f1428a8392738abc7d9d93f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_9.obj b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/basket_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/textures/material_0.png b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/video.mp4 b/dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/video.mp4
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