diff --git a/.gitattributes b/.gitattributes
index c34ff3406618d0e4f044eb380464e279c4551fa1..aa6a8a211e1ae3160bcec3556d05e22dd6d4f51a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2722,3 +2722,5 @@ dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/glasses_case_0
 dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/mesh/glasses_case_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.urdf b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c670a78ecdcef3bf8ef0424412ad9da75e62134c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_027">
+   <link name="basket_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_027.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>26625bbe5eb1511cb67e3eae14e8d3ae</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>woven basket</name>
+         <color>green,brown</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>shallow round woven basket with green bands and tan rim</description>
+         <min_height>0.0522</min_height>
+         <max_height>0.0522</max_height>
+         <real_height>0.0522</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132205</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074722 -0.074998 -0.025010</min>
+            <max>0.075278 0.075074 0.027189</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.usd b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3aaf614124b2c5268911e6142b3671ca989455dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c19fcc569b193af51d6a3b875de2b003a4bc3ccf764ffc4913e101244a5efef
+size 4955387
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.glb b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0fb3df8bb7f3b581daf7b05cff7e114bdaea68f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2376e5544a10a2126e2f864e7a4bd5a59347b35517f1c0c2b209f447f52b315b
+size 18619700
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.mtl b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea6ccf84a848c598d708659d61609c73f51ab5c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.mtl
@@ -0,0 +1,6 @@
+newmtl basket_027_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429d9a345363ad5ffa40210af2f89ab50ae4328e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.obj
@@ -0,0 +1,116876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027_collision.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880c6b891d99237e0e9c861f6ade7beeb28b7200
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027_collision.obj
@@ -0,0 +1,17175 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 15197208
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/material.mtl b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0dfb0c4b1e2256fe56e8fcbfc80d93cbd8b7a4c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl basket_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/material_0.png b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:421026aa5c9f64ecaada6c2c5eac6fdbf0fd776b090725b19d38d7c400088604
+size 15197208
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/basket_027.xml b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/basket_027.xml
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index 0000000000000000000000000000000000000000..ca1a1234f7e6e9e33d3b363d899a4411c123c9c4
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+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/basket_027.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86b7e65d2c22ca6d464b2c50c0388b8041ca196
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027.obj
@@ -0,0 +1,116876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1213e46e6d6bf950038f2daf8084fdb9e372e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision.obj
@@ -0,0 +1,17175 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_0.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46162dfdc64faaa590db075345062a42fc3c8e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_1.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f804ecfd1220c716e9362094e276bed4cdda2914
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_10.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cd247757876decb267770946a17b43484529db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_10.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_11.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04fe2a880541c6b85503bee597fd098767851c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_11.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_12.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564100cc9733742cc096d5b52b23fd0f1382879c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_13.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9626d7c3c0a0dc1c7d0f19189f4db64656c0cc01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_13.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_14.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70183dd1e15d4e3110d4dd5dd6864ec1cbc1a66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_14.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_15.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151fd1228fbaa1af3dcf3ba82ffbb2c1687cddbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_15.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_16.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf0c39425cc1f975ee92f3b5510f32b9aeaccfa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_17.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9599db46afd191c7f7d2985ee4ff2ab19251d31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_17.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_18.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3725aa99c23135dfb9ed625ff027be01b780c566
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_19.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39dcbbd96707a1db63ea84425a92dfb0936fbb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_2.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc0c4526f91528823ea7532522f5729c93451d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_20.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d79f410b4398265f01b448efd5cb50dc48177f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_21.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b91fae638b46d74d7f3d9e06da653d43abdaec7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_21.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_22.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f132dc972eb70e2123cc55bf518cd860abd4305
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_22.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_23.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4b388e20e2080f14b603831fc855d81055f334
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_23.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_24.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce59a08a248d46da13bbb76409753b69aa8b9ffb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_24.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_25.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b41a2c4557f0c408552b0a1b315553d29d6d1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_25.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_26.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e925a1d26e1b15f622597af1b43b0d430806d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_26.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_27.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba9cd38584e302f10d91d78f6f5c888d123e482
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v 0.05997409 -0.02467943 -0.01769450
+v 0.05845424 -0.02467946 -0.00837878
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_28.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df0e939e3bd25a766f0b1c2319d4dab36e7a1b5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_28.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.06154730 0.04306980 0.02140505
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+v 0.06111508 0.04306979 0.02358336
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_29.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f69fbaff9d5abac597306d66f673a8f24a838e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_29.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00024309 0.06327680 -0.00695785
+v -0.00024309 0.06494578 0.01423477
+v -0.00024309 0.06876979 -0.00695783
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+v 0.02460531 0.05972693 0.01423475
+v -0.00024309 0.06974769 0.01423479
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_3.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522ed268e32532347207ba60b3e4d70954d459c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_30.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3536940dfa7eb509f7fb3bb9c87998b89a2517
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_31.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779641394083b7564beab95bd2e7a4ff29423563
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_31.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_32.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b298a746466f57336fec0b550b8933f7b64716
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_32.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.02355186 -0.06468514 -0.00496887
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_33.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c1526be7ee2ee30abc9444f037a7c4bdbb0f47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_33.obj
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_34.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae0633f1cf8faa273bf2ff1765a8f08f429da79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_34.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_35.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922c41e8c6a17841618c7f2a6d06ae10e98a516a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_35.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_36.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e52d9233b61748977272609e3c06db5397847d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_37.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d216bef014678c4fa9b81bc487792093eac2ce92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_37.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_38.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea93a7f935a7b6a8d31cc03c78b5401686a11593
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_38.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_39.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9758fe095056d10dd171dc8f1103ce02833c2a12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_39.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_4.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e55f14402cce70e3a91fc3adce7f0d58ccaf972
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_40.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0383f56a4ba6c81749e8badc7cf6814d02e29f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_40.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02411854 -0.05228980 -0.01769551
+v 0.02411854 -0.05829058 -0.00907228
+v 0.02411854 -0.06020625 -0.01769554
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_41.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ec05b79bcfc65b16e30c29e2f8e6ff7d7a072d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.02355186 -0.05977352 0.02140469
+v -0.02355186 -0.06024092 0.01438804
+v -0.02355186 -0.06028220 0.02381365
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+v -0.02355186 -0.06304858 0.02650417
+v -0.02323850 -0.06304858 0.02647038
+v 0.00051794 -0.06686131 0.02606866
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_42.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1930121d73aab2765d8ccc29abd367d63f1064fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_42.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06016502 0.02367560 0.02140506
+v 0.06076956 0.02367559 0.02368520
+v 0.06017259 0.02367560 0.02122720
+v 0.06480284 0.00006083 0.02140497
+v 0.06542556 0.00006082 0.02380012
+v 0.06086804 0.02367559 0.02386068
+v 0.06029077 0.02367561 0.01913203
+v 0.06518769 0.00006085 0.01503528
+v 0.06601949 0.00006082 0.02463606
+v 0.06120289 0.02367559 0.02428873
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+v 0.06058320 0.02367562 0.01503537
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+v 0.06242256 0.02367559 0.02550054
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+v 0.06630433 0.02367562 0.01503537
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+v 0.07563603 0.00127439 0.02140497
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_43.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f0b03069c66e394a516f44fd5511a4a2effa92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_43.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.05641772 -0.04526923 0.01620395
+v 0.05625332 -0.04565828 0.01620395
+v 0.05535858 -0.04526920 0.00703297
+v 0.04627206 -0.04526923 0.01620395
+v 0.05609208 -0.04585503 0.01620395
+v 0.05535226 -0.04526920 0.00698898
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+v 0.02411854 -0.06024738 0.00372178
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+v 0.05591819 -0.04605179 0.01620395
+v 0.05498235 -0.04526919 0.00463698
+v 0.05384732 -0.04829662 0.01620394
+v 0.05305375 -0.04780917 0.00703296
+v 0.05285773 -0.04760122 0.00463698
+v 0.05409393 -0.04627310 0.00463698
+v 0.05477368 -0.04526918 0.00372183
+v 0.02411854 -0.06644972 0.00372176
+v 0.02411854 -0.06811104 0.01620387
+v 0.05371769 -0.04843301 0.01620394
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_44.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666c224fc74b9e1ea11dbf44ee7461cee414d4d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_44.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_45.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c50c60c21e370db7442f05155553e42d451212
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_45.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_5.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc0a3885db2429761b4b84f2f0dd06f558753a68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_5.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_6.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9a4f7276898dc74f7c5dc15b2ddd4679b38100
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_6.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_7.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72bbf0ff5fb1a14c1e4ffee2246aa9a78a515c2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_7.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_8.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe0cc98f21f8c8e63cdacace9c49367bbf5de0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.02411854 -0.06552126 0.02717379
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+
diff --git a/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_9.obj b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d68dff6c9da2a1bfe025817677999b1dda778a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mjcf/mesh/basket_027_collision_9.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.07101448 0.02523849 0.02140432
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