diff --git a/.gitattributes b/.gitattributes
index 9045f3a8f16927931c60721bf7b78757878fddb9..f2a4524ccf2d15f29c89b679fe52d70332f6b31f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2844,9 +2844,5 @@ dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_c
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/cff021edb0e75957a9281f8372adc476.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/glasses_case_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mesh/glasses_case_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mesh/glasses_case_015.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.urdf b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ae7fa24d79efec3c572068e8707c59050d362
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_017">
+   <link name="basket_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>d65f2795147f5290911b7912e17694f0</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>woven basket</name>
+         <color>beige,green</color>
+         <shape>cuboid</shape>
+         <material>wicker</material>
+         <description>rectangular woven basket with open top and thick braided rim</description>
+         <min_height>0.0757</min_height>
+         <max_height>0.0757</max_height>
+         <real_height>0.0757</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131744</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074865 -0.051113 -0.030395</min>
+            <max>0.075135 0.050460 0.045272</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.usd b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..81d8b7bc4a13806943ac855a45256555cf840e5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/basket_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58229723635947ccb4f7b4b41ed2745da3fb1b2a9d9dbfa176f72eb0d6b3653c
+size 5049043
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.glb b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..03b6d4ec5fe8f2abc1da67cc9f62bc80853db91c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c65e5c7b7ad5809ede7c888bac0c3c28508bc90d07b4e6fff5e5c7a791eab3b
+size 20121676
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.mtl b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db51c5c7434b380da1863977c5dc4a8d73f885e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.mtl
@@ -0,0 +1,6 @@
+newmtl basket_017_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/d65f2795147f5290911b7912e17694f0/mesh/basket_017.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab8d58a4b5efedfa16381cf14deedf4f177859d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017.obj
@@ -0,0 +1,116130 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_017_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_collision.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d590ea18478142483ee3bd673d555f1f8ebc48e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_collision.obj
@@ -0,0 +1,7292 @@
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b79949efe1315cd8b9ffd05dcce684ffd1c815cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/basket_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f853ddda04521be1d1316903fd5f4d9c894318f888a03262df73aee5b0e9b465
+size 16585843
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material.mtl b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8d128b6d66ac04cca3e3343ca12d7786d90a83e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_017_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material_0.png b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b79949efe1315cd8b9ffd05dcce684ffd1c815cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f853ddda04521be1d1316903fd5f4d9c894318f888a03262df73aee5b0e9b465
+size 16585843
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/basket_017.xml b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/basket_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b591d9387d7121e80571f2bea1c3996c0d4420d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/basket_017.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_017">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_017_geometry_Looks_material_0" type="2d" file="mesh/basket_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_017_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_017_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_017_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_017_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_017_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_017_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_017_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_017_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_017">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de8fbb795a7004403fe7e30dc4c90d292236ec76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017.obj
@@ -0,0 +1,116130 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_017_geometry_Looks_material_0
+v 0.070625 -0.001894 0.027431
+v 0.070625 -0.001894 0.027431
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809cfe8832a0cb3207ef566ff9c05f7eca2bb3a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision.obj
@@ -0,0 +1,7292 @@
+# https://github.com/mikedh/trimesh
+
+o basket_017_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_0.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338d61dbe0f6931e508a91c1cbb3217470506e3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_1.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8402b368f0b1ad382f82e762f915dfaa7dbd6c86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_1.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_10.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c441db72425644e2f5127f97ab4c68449098df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_10.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_11.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b59ae587847ac71a0f8d615c6da11eed6e2bdd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_11.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_12.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4827cbcfc5d13122728ed9b0c9e3925e6839fa8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_13.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cdab07e53807729f209d3c9c399cd08360deed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_13.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_14.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8da12ab8f83f9325a1dde0a689595661c0127a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_15.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13741d17660f1fc8096e18e9cea570fdd9f399e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_15.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_16.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efada8a8b5bfb343682a54386594d9095e08a1da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_16.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_17.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08cad65bdadd11de47528fc364a005e82016315a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_18.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57f22acad6552578b6299a2ce575093c67388f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_19.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5228f13730e20d4dfdb8f2c030f64022eb482b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_19.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_2.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1fc2ed940876ace4388e58038308983aadd7b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_2.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.07123595 -0.03676509 -0.01991575
+v -0.07129392 -0.03603938 -0.01991574
+v -0.05924788 -0.03676509 -0.01991575
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+
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_20.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f13f7f04a246ac923b1bb358c7918cd9795d29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_20.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.07529289 0.03639694 0.03942863
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_3.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bfe14fb86e30ef51c1ac007edd59ddfbdd91f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_3.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_4.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab6cf310486ef5462536037b5edfeb08edf59ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_4.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_5.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a381e79e624fe62c3898aba33c6fd71ddc6d4b50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_6.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f824f4ec5b0aca73cb47d8787247c4f8330175d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_7.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aef902e20ec477f2dd9bae16acc959bb9e57605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_7.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_8.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f7057750d180016b8dc4c93462d6a4e42abf24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_8.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_9.obj b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d39ec863ffc293ae66368cfa521d5b1d0b216e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/mjcf/mesh/basket_017_collision_9.obj
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