diff --git a/.gitattributes b/.gitattributes
index 1e3dc4978a98a1d4a0332a723e681a322a39f6a3..78fc141b47c11b02f76c8c7650c0340d94f8cbda 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2827,3 +2827,6 @@ dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/mesh/storage_b
 dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/storage_box_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.urdf b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6aaff85489b3952fdba9c4ebfe502d64101f274
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.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="0.6000" />
+         <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>0.311730</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>decorative basket with flowers, ribbons, and a curved handle</description>
+         <min_height>0.250</min_height>
+         <max_height>0.350</max_height>
+         <real_height>0.300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116160319</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.38040018081665</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4f598dab8a9bea65f71b78ac9287cc85cf591f0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e7dbf4117a97025d4cfca96991457d8bd34ad349aa2d55282e162a2b083717
+size 655473
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f9d84974c6d7a44a5df3dfe4993d9aadb7301160
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214f3313a0fbefb767f6b7a4cc93105ca4de3e6c3451643bf3868fb01cbc55a3
+size 4483848
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767dbdf1a313b4c7ccfafc97c8b161decb2c0286
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.obj
@@ -0,0 +1,45590 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4344a9f4c5434c1c9a6be46089452202c7d0f3ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e947e94f0b80b575fdc401425609ac196554492c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3986d28de0e31854a9b0adbe1f36d9cc305de380e7515aa5d074501ce26db0
+size 2719273
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material.mtl b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material_0.png b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9257562a9e428148299dee8ab113b7a53c40c1b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be71499b08ea5b9df57e97065dafbe0aeaa926315f1dc2d67a4c55ca5f5d1f86
+size 3992266
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/c343f0ebe1905a908752d9df7c4df490.xml b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/c343f0ebe1905a908752d9df7c4df490.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c1378a578b74b4a9dbcb4758ca906f5be18af95c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/c343f0ebe1905a908752d9df7c4df490.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+  </asset>
+  <worldbody>
+    <body name="basket">
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b36955c21b0d018d26a1d55202c2b30f66576ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket.obj
@@ -0,0 +1,45590 @@
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51f7d83050b7ac5000c707dccc5c079a47019b72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision.obj
@@ -0,0 +1,16038 @@
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_0.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c21cb06fe1474f9ec7506d95f4c827480f81fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_0.obj
@@ -0,0 +1,115 @@
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_1.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8590d1f3575dfabf5fb38244fef7c5597e5740cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_1.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_10.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5edd327eb35995de19fa8439e13dea43a938019
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_11.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c72ae208d5b11f0348e7fb93c260a815c15fdc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_11.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_12.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65cb39e6ca060fe2dc3c1f500faf818ecefd1606
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_13.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63610c74e79089bc0d2952c264cae6b589c54f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_14.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa34e62e653cd7934e144a6b33ecf8c163952207
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 49 60 61
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+f 49 62 59
+f 50 62 51
+f 50 59 62
+f 51 62 52
+f 56 60 63
+f 56 63 57
+f 57 63 60
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_15.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c564c62462a1124e1b80d8d3bc05ba69883a8f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_15.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01136874 0.06412758 -0.15088215
+v 0.01136874 0.06580761 -0.15085153
+v 0.01351288 0.06429013 -0.15096380
+v 0.02688072 0.05618539 -0.15098425
+v 0.01136874 0.06193737 -0.15065761
+v 0.01136874 0.06756596 -0.15047387
+v 0.01817637 0.06420708 -0.15058615
+v 0.02401089 0.05948495 -0.15082093
+v 0.02881458 0.05618539 -0.15073929
+v 0.02187088 0.05618539 -0.15067804
+v 0.01136874 0.06101430 -0.15043308
+v 0.01136874 0.06830631 -0.14927968
+v 0.01351288 0.06732747 -0.15033097
+v 0.01618480 0.06693119 -0.15001457
+v 0.02250587 0.06243094 -0.15042286
+v 0.02881458 0.05771238 -0.15049433
+v 0.03033196 0.05618539 -0.15049433
+v 0.02034937 0.05618539 -0.15032080
+v 0.01136874 0.05618538 -0.14684030
+v 0.01159553 0.06830631 -0.14921844
+v 0.01136874 0.06830609 -0.09041721
+v 0.01391284 0.06830630 -0.14777927
+v 0.01688989 0.06724560 -0.14738122
+v 0.01944223 0.06586218 -0.14738123
+v 0.02590763 0.06144261 -0.14916743
+v 0.03145763 0.05664811 -0.15004522
+v 0.03164318 0.05618539 -0.15012688
+v 0.01136874 0.05618532 -0.12978478
+v 0.01136874 0.06810083 -0.09095817
+v 0.04309369 0.05618501 -0.04672205
+v 0.03475630 0.06830593 -0.04672201
+v 0.01413962 0.06830630 -0.14738122
+v 0.03238538 0.06830616 -0.10995298
+v 0.03234828 0.05618538 -0.14735063
+v 0.03540366 0.06830613 -0.09987890
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+v 0.01136874 0.06625590 -0.09624530
+v 0.05348861 0.05618501 -0.04672205
+v 0.01136874 0.06086704 -0.11169837
+v 0.04609960 0.06830593 -0.04672201
+v 0.04991367 0.05618507 -0.06379799
+f 1 2 3
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+f 1 19 28
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+f 1 37 40
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+f 1 21 12
+f 1 12 6
+f 1 6 2
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+f 4 39 30
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+f 10 18 11
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+f 12 20 13
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+f 12 31 41
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+f 12 22 20
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+f 14 25 15
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+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 21 29 30
+f 21 30 31
+f 22 32 23
+f 23 32 33
+f 23 33 24
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+f 28 30 37
+f 29 38 30
+f 30 39 41
+f 30 41 31
+f 30 38 40
+f 30 40 37
+f 34 36 42
+f 36 41 39
+f 36 39 42
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_16.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae1c3f0196fb3adfb72f0da08821d5efe3087aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_16.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01564014 0.13424258 -0.03185798
+v 0.01564014 0.13424257 -0.03104123
+v 0.01652224 0.13424258 -0.03185798
+v 0.01390005 0.11008184 -0.04283511
+v 0.01261788 0.10973395 -0.04283511
+v 0.01136944 0.10912515 -0.04283511
+v 0.01136944 0.12916343 -0.03160079
+v 0.01652224 0.13424257 -0.03104123
+v 0.01136944 0.12916342 -0.03103457
+v 0.01136944 0.12849808 -0.02964156
+v 0.01136944 0.12492787 -0.02590517
+v 0.04691846 0.11851808 -0.03663169
+v 0.01661382 0.10891641 -0.04283511
+v 0.01136944 0.08982174 -0.04283518
+v 0.01167311 0.12493223 -0.02592020
+v 0.03297842 0.11487826 -0.02577325
+v 0.04778127 0.11456953 -0.03096113
+v 0.04904900 0.11621768 -0.03425154
+v 0.04691846 0.11851808 -0.03632769
+v 0.01136944 0.12457128 -0.02583837
+v 0.05216285 0.11442606 -0.03692567
+v 0.04885619 0.11604809 -0.03699080
+v 0.02382485 0.10552886 -0.04283512
+v 0.01136944 0.08982167 -0.02577334
+v 0.03497881 0.08982174 -0.04283518
+v 0.03128172 0.11523485 -0.02577325
+v 0.03352793 0.11446515 -0.02577325
+v 0.03569703 0.11253002 -0.02577326
+v 0.04299964 0.10453296 -0.02577329
+v 0.05982698 0.09033917 -0.03014444
+v 0.05840502 0.09417463 -0.03056701
+v 0.05118435 0.11187777 -0.03217375
+v 0.05216285 0.11442605 -0.03560782
+v 0.01136944 0.12106197 -0.02581500
+v 0.02891017 0.11547402 -0.02577325
+v 0.06060785 0.08982170 -0.03267660
+v 0.05355589 0.08982173 -0.03988215
+v 0.04989253 0.08982173 -0.04089432
+v 0.03373037 0.10011921 -0.04283514
+v 0.01136944 0.10197164 -0.02577330
+v 0.04521211 0.08982167 -0.02577334
+v 0.04445534 0.10042354 -0.02577330
+v 0.05978841 0.08982169 -0.03010605
+v 0.06060785 0.08982169 -0.03048018
+v 0.01341803 0.10813360 -0.02577327
+v 0.01440135 0.11039487 -0.02577326
+v 0.05430784 0.08982168 -0.02847084
+v 0.04505304 0.09526177 -0.02577332
+f 1 2 8
+f 1 8 3
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_17.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de8fff2f9ad8d7895d73384738a52ec04d017b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00331123 0.07216109 0.07215027
+v 0.00340439 0.07217681 0.07215027
+v -0.00140843 0.07442447 0.07215027
+v -0.00042869 0.08657461 0.00713810
+v 0.00331123 0.08535386 0.00713809
+v 0.00804543 0.07459212 0.07215027
+v 0.00776883 0.08629431 0.00713810
+v -0.00215088 0.07601983 0.07215028
+v -0.00307967 0.09043072 0.00713811
+v -0.00305929 0.09039143 0.00713811
+v -0.00046217 0.08660605 0.00713810
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+v 0.01010100 0.07977641 0.07215029
+v 0.01136462 0.08899778 0.00713811
+v -0.00350768 0.07977641 0.07215029
+v -0.00349313 0.07977643 0.06903842
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+v -0.00271136 0.09483434 0.00713813
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+v 0.00782270 0.08472228 0.07215031
+v 0.01100941 0.08729749 0.04658708
+v 0.01100941 0.08761970 0.04658708
+v 0.01136462 0.09480030 0.00713813
+v 0.01136462 0.09144712 0.01446282
+v -0.00260217 0.08205287 0.07215030
+v -0.00259199 0.08493713 0.06388378
+v -0.00308259 0.08493714 0.05872913
+v -0.00270118 0.09488675 0.00713813
+v 0.00758249 0.08895568 0.05872915
+v 0.00331123 0.08682848 0.07215032
+v 0.00694340 0.08834004 0.06388379
+v 0.00634363 0.08785278 0.06761296
+v 0.01136462 0.09343806 0.01446282
+v 0.01096719 0.09268879 0.02531303
+v 0.00944008 0.09670215 0.00713814
+v -0.00123374 0.08471442 0.07215031
+v -0.00026127 0.08832172 0.06388379
+v -0.00077808 0.08891638 0.05872915
+v -0.00111582 0.08946653 0.05357451
+v -0.00195435 0.09009529 0.04327157
+v -0.00242020 0.09009531 0.03812328
+v -0.00066890 0.09399597 0.03296865
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+v -0.00031223 0.09357680 0.03812329
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+v 0.00003425 0.09852020 0.00720813
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+v 0.00331123 0.09759017 0.01810290
+v 0.00331123 0.09701122 0.02266572
+v 0.00070683 0.09788096 0.01530285
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_18.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b12297b898f50750d4c5faf3772317de2828749
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_18.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.00331126 0.04413370 0.13696131
+v 0.00347205 0.04413370 0.13691688
+v 0.00331126 0.04762796 0.13449957
+v -0.00002649 0.04735210 0.13426481
+v -0.00064286 0.04413370 0.13567334
+v 0.00689555 0.04413370 0.13538782
+v 0.00646276 0.04696757 0.13403006
+v 0.00331126 0.05020686 0.13239948
+v -0.00024087 0.05263111 0.12953803
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+v -0.00084652 0.04413370 0.13534341
+v 0.00943338 0.04413372 0.13087039
+v 0.00755614 0.04873560 0.13083869
+v 0.00661149 0.05221733 0.12909390
+v 0.00331126 0.05294041 0.12982354
+v 0.00331126 0.05552351 0.12726029
+v -0.00022213 0.05768443 0.12434809
+v -0.00138250 0.05419853 0.12592791
+v -0.00310430 0.04413372 0.13089577
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+v -0.00007339 0.06257891 0.11905028
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+v -0.00330663 0.04413372 0.13038818
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+v 0.00331126 0.08452684 0.07935155
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+f 105 111 106
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_19.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476c0f3dbecf285f050ab55b9e9d7798204091ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03878671 -0.04350863 -0.14738614
+v 0.03878671 -0.04244510 -0.14915361
+v 0.03878671 -0.04218342 -0.14223255
+v 0.03668496 -0.04696650 -0.14417490
+v 0.03842703 -0.04409330 -0.14738614
+v 0.03651049 -0.04674375 -0.15001573
+v 0.03878671 -0.03985588 -0.15079297
+v 0.03728893 -0.04409329 -0.15048659
+v 0.03878671 -0.03870888 -0.13372577
+v 0.03201978 -0.05317509 -0.13372583
+v 0.03666617 -0.04694421 -0.14738615
+v 0.03018108 -0.05575874 -0.13372583
+v 0.03461274 -0.04952786 -0.14738616
+v 0.03206273 -0.05262935 -0.14738617
+v 0.03177819 -0.05230082 -0.15032908
+v 0.03365178 -0.04878171 -0.15057662
+v 0.03390947 -0.04409329 -0.15108382
+v 0.03878671 -0.03889815 -0.15085703
+v 0.03878671 -0.00905821 -0.13372566
+v 0.02953954 -0.05521300 -0.14738618
+v 0.02763106 -0.05790249 -0.13372584
+v 0.02698953 -0.05762959 -0.14738619
+v 0.02671572 -0.05740686 -0.15030487
+v 0.02857323 -0.05418288 -0.15074975
+v 0.03878671 -0.03564075 -0.15085182
+v 0.02880942 -0.04925500 -0.15115309
+v 0.01351201 -0.05957845 -0.15140934
+v 0.03878671 -0.03232210 -0.15083796
+v 0.03878671 -0.00905816 -0.14657064
+v 0.03484358 -0.00905821 -0.13372566
+v 0.02644194 -0.05832567 -0.13372584
+v 0.01351201 -0.06526360 -0.14738622
+v 0.01824967 -0.06325348 -0.14738621
+v 0.02079969 -0.06186143 -0.14738621
+v 0.02371207 -0.05991256 -0.14738620
+v 0.01731825 -0.06283586 -0.15051954
+v 0.02371207 -0.05831448 -0.15071513
+v 0.01885631 -0.05986800 -0.15101809
+v 0.02371207 -0.05441672 -0.15119639
+v 0.01351201 -0.06358756 -0.15086057
+v 0.01136462 -0.06411654 -0.15080519
+v 0.01136462 -0.05942810 -0.15117217
+v 0.03878671 -0.02939880 -0.15055405
+v 0.01136462 -0.00905817 -0.14470620
+v 0.01136462 -0.00905821 -0.13449082
+v 0.01136462 -0.04614801 -0.13372580
+v 0.02371207 -0.05921658 -0.13372585
+v 0.01136462 -0.06497407 -0.14213569
+v 0.01136462 -0.06594292 -0.14738622
+v 0.01136462 -0.06306421 -0.13372586
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+f 1 25 28
+f 1 28 43
+f 1 43 29
+f 1 29 19
+f 1 19 9
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+f 5 11 6
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+f 41 48 50
+f 41 50 46
+f 41 46 45
+f 41 45 44
+f 41 44 42
+f 42 44 43
+f 47 50 48
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_2.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5fbe5f7c605586f6b6a7d14d36f5fdd9dabb9f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_2.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00178876 -0.06474246 -0.15124791
+v 0.00331096 -0.06474246 -0.15110460
+v -0.00178876 -0.06765781 -0.15033356
+v -0.00436094 -0.06642308 -0.15056759
+v -0.00436094 -0.06492540 -0.15103567
+v -0.00436094 -0.06252455 -0.15106104
+v -0.00436094 0.04870364 -0.14469091
+v 0.01136462 -0.05942629 -0.15117169
+v 0.01136462 -0.06411369 -0.15080524
+v 0.00331096 -0.06752063 -0.15018843
+v -0.00178876 -0.06806939 -0.14738728
+v -0.00436094 -0.06766924 -0.14932122
+v -0.00436094 -0.06754348 -0.15021201
+v -0.00436094 0.04870360 -0.13418115
+v 0.01136462 0.04870364 -0.14473263
+v 0.01136462 -0.06594292 -0.14738727
+v 0.00588008 -0.06732626 -0.14996707
+v 0.00331096 -0.06785217 -0.14738728
+v 0.00354186 -0.06699477 -0.13271386
+v -0.00178876 -0.06773786 -0.14374432
+v -0.00436094 -0.06761210 -0.14409628
+v -0.00436094 -0.06782931 -0.14717138
+v 0.01136462 0.04870360 -0.13394347
+v -0.00436094 -0.05010876 -0.13271379
+v 0.01136462 -0.06497117 -0.14213328
+v 0.00840915 -0.06489117 -0.13271385
+v 0.00636495 -0.06742917 -0.14448996
+v 0.00880475 -0.06674320 -0.14738728
+v 0.00625412 -0.06739487 -0.14738728
+v 0.00322015 -0.06696049 -0.13271386
+v -0.00161174 -0.06640027 -0.13271385
+v -0.00177491 -0.06636598 -0.13271385
+v -0.00193500 -0.06632025 -0.13271385
+v -0.00436094 -0.06553140 -0.13271385
+v -0.00178876 -0.04945710 -0.13271379
+v 0.01136462 -0.04825667 -0.13271379
+v 0.01136462 -0.06297048 -0.13271384
+f 1 2 3
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+f 23 24 35
+f 23 35 36
+f 25 37 26
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_20.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2721706d908c58888ed378518ae213255a8fda6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_20.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02381944 -0.08421901 0.00719418
+v 0.02381944 -0.08178665 0.00566267
+v 0.01136462 -0.08421901 0.00694311
+v 0.02381944 -0.08421876 -0.06059456
+v 0.02381944 -0.08174719 0.00558734
+v 0.01136462 -0.08223509 0.00531117
+v 0.01136462 -0.08251851 0.00561245
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+v 0.01136462 -0.08141326 -0.07354973
+v 0.01136462 -0.08008226 -0.07745385
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+v 0.02381944 -0.06197221 -0.12105201
+v 0.02381944 -0.07547969 -0.00832188
+v 0.01136462 -0.08186557 0.00415625
+v 0.01136462 -0.05438457 -0.12105198
+v 0.02381944 -0.04757183 -0.12105195
+f 1 2 3
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+f 1 8 4
+f 1 4 12
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+f 1 13 5
+f 1 5 2
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+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 11 15 16
+f 11 16 12
+f 13 16 14
+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_21.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2737f1ed2cefcdfc1f15bb78743a7e9b8f3660
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01136960 0.08982175 -0.04671173
+v 0.03384973 0.08982175 -0.04671173
+v 0.01136960 0.08283088 -0.04671176
+v 0.01136960 0.08982155 0.00900873
+v 0.03485979 0.08834097 -0.04671174
+v 0.05355342 0.08982173 -0.03988303
+v 0.05280210 0.08845658 -0.04216291
+v 0.01136960 0.08287742 -0.03916855
+v 0.02550551 0.07448089 -0.04671179
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+v 0.01972874 0.07448081 -0.02380946
+v 0.01924610 0.07448079 -0.01856248
+v 0.01845497 0.07448073 -0.00310518
+v 0.01136960 0.08577421 0.00185822
+v 0.01978347 0.07448071 0.00240359
+v 0.01979342 0.07448071 0.00242541
+v 0.02362967 0.07448071 0.00271450
+v 0.02368441 0.07448071 0.00271450
+v 0.03889009 0.07448071 0.00226725
+v 0.03900951 0.07461438 0.00226725
+v 0.02708280 0.08854200 0.00497260
+v 0.02840632 0.08982157 0.00379449
+v 0.04032807 0.08011865 -0.04671177
+v 0.06060398 0.08982170 -0.03267253
+v 0.05280210 0.08653279 -0.04216291
+v 0.04310947 0.07448089 -0.04671179
+v 0.04182575 0.07765570 -0.04671177
+v 0.06219619 0.08877345 -0.03190895
+v 0.06009147 0.07448085 -0.03453794
+v 0.01136960 0.08299154 -0.03488697
+v 0.01846493 0.07448073 -0.00291428
+v 0.01136960 0.08417789 -0.01840426
+v 0.01136960 0.08304861 -0.03406338
+v 0.01977353 0.07448071 0.00236542
+v 0.03900951 0.07448071 0.00223451
+v 0.04274625 0.07448072 0.00039644
+v 0.04270148 0.07461439 0.00039644
+v 0.03351137 0.08982158 0.00071831
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+v 0.06196731 0.08231721 -0.03142899
+v 0.04820954 0.07448074 -0.00458873
+v 0.03824326 0.08982159 -0.00335056
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_22.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c7d3aea66b13208b8889167e30c345ada4d699
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_23.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b588b7578066afa74f231095ac84354df25808be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_23.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_24.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c5f1681cef990fc405a55dcd89bf0688a48076
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_24.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_25.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3633d65144e593615d015362baf3595d5ff7aa96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_26.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b034badd509756285c4f092add0c2dd58e3a392d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 -0.08422232 -0.06430051
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_27.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa29d1097f9c2be88cedb0ce8edabb28bb96162
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_27.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00328480 0.10579060 -0.02399883
+v -0.00059117 0.10539390 -0.02399883
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+v 0.01136462 0.08577661 0.00185920
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+v 0.00940816 0.09672088 0.00713814
+v 0.00943895 0.09670169 0.00713814
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+v -0.00436094 0.09044416 0.00543739
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+v -0.00436094 0.09341937 0.00574524
+v -0.00270157 0.09488777 0.00713813
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+v -0.00308024 0.09043136 0.00713811
+v -0.00436094 0.09178140 0.00583972
+v -0.00271235 0.09483339 0.00713813
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+f 41 46 42
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_28.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57721978e02c15b64b58091f51f408b386ab068a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_28.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05778132 -0.05154576 -0.04449360
+v 0.06296049 -0.04675057 -0.04449358
+v 0.05778132 -0.00905854 -0.04449344
+v 0.05778132 -0.04684201 -0.05857576
+v 0.06912950 -0.03861572 -0.05925228
+v 0.06673878 -0.04143135 -0.04449356
+v 0.06912950 -0.03879041 -0.05427894
+v 0.06912950 -0.00905854 -0.04449344
+v 0.05778132 -0.00905837 -0.09026612
+v 0.05778132 -0.04546540 -0.06211087
+v 0.05778132 -0.04409712 -0.06479467
+v 0.05778132 -0.04123994 -0.06995170
+v 0.05778132 -0.04020437 -0.07146162
+v 0.05778132 -0.03753852 -0.07407822
+v 0.05778132 -0.03445677 -0.07585697
+v 0.05800240 -0.00905837 -0.08976879
+v 0.05972656 -0.00905839 -0.08568258
+v 0.06912950 -0.03838698 -0.05925228
+v 0.06790969 -0.03707283 -0.04449355
+v 0.06912950 -0.03805430 -0.05242850
+v 0.06912950 -0.01261855 -0.04449346
+v 0.06912950 -0.00905850 -0.05551993
+v 0.06912950 -0.01313005 -0.05613377
+v 0.06858736 -0.03358352 -0.04449353
+v 0.06912950 -0.03374570 -0.04693092
+v 0.06912950 -0.02858035 -0.04619163
+f 1 2 6
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+f 1 21 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
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+f 2 7 6
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+f 3 22 17
+f 3 17 16
+f 3 16 9
+f 4 10 5
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+f 24 25 26
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_29.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01e3a7f6a5fdb348e5e3f1d71d72480fc8efe885
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_29.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.07641849 -0.00905491 -0.05543284
+v 0.07400287 -0.00905492 -0.05106469
+v 0.07641849 -0.00905490 -0.05658488
+v 0.07394026 0.02765018 -0.05463158
+v 0.07333766 0.01837143 -0.04305991
+v 0.07337157 0.01782881 -0.04305991
+v 0.07322549 0.01289120 -0.04305993
+v 0.07319679 0.01267558 -0.04305993
+v 0.06995944 -0.00669754 -0.04306000
+v 0.06937510 -0.00905495 -0.04306001
+v 0.07470982 -0.00905490 -0.05705331
+v 0.06949249 0.00265667 -0.05996813
+v 0.06949510 0.00267465 -0.05996813
+v 0.07014727 0.00746851 -0.05996811
+v 0.07089335 0.02765020 -0.05996804
+v 0.07268549 0.02765019 -0.05780300
+v 0.07341592 0.02765017 -0.05087421
+v 0.07306898 0.01925547 -0.04305991
+v 0.05267184 -0.00905495 -0.04306001
+v 0.07308463 -0.00905490 -0.05740091
+v 0.06247257 -0.00904771 -0.05996817
+v 0.05199359 0.02765020 -0.05996804
+v 0.06906206 0.02765014 -0.04305988
+v 0.07052812 0.02533226 -0.04305989
+v 0.07210638 0.02207285 -0.04305990
+v 0.05240315 -0.00905495 -0.04432792
+v 0.05033970 -0.00290988 -0.04305999
+v 0.06268388 -0.00905489 -0.05955270
+v 0.05912827 -0.00905489 -0.05996817
+v 0.04976840 0.00235475 -0.04305997
+v 0.05232750 0.02765014 -0.04409275
+v 0.05001363 0.00235481 -0.05996813
+v 0.05255968 0.02765014 -0.04305988
+v 0.05162578 -0.00905489 -0.05996817
+v 0.05001101 -0.00280560 -0.05996815
+v 0.05110925 -0.00725091 -0.05996817
+v 0.05116664 -0.00745214 -0.05996817
+v 0.05000579 -0.00262233 -0.05996815
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+f 27 37 34
+f 30 32 38
+f 30 38 35
+f 30 33 31
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_3.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19090a807f87f904b2ada50bc58b9356a267ee2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_3.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05220877 0.00236074 -0.14738569
+v 0.05218078 0.00236068 -0.13093071
+v 0.05199288 -0.00329124 -0.14784014
+v 0.05188893 -0.00189260 -0.15011823
+v 0.05195689 0.00236075 -0.15020592
+v 0.05190493 0.00752096 -0.15014411
+v 0.05181696 0.01056089 -0.15003647
+v 0.05195290 0.00796800 -0.14701296
+v 0.05204485 -0.00044934 -0.13093072
+v 0.05181696 0.01056089 -0.14847987
+v 0.05204085 0.00371459 -0.13093071
+v 0.05181696 -0.00579472 -0.14467711
+v 0.05181696 -0.00579471 -0.14642306
+v 0.05174900 -0.00533487 -0.14985915
+v 0.05202486 -0.00081976 -0.13093072
+v 0.04871847 -0.00905177 -0.15086367
+v 0.04971399 -0.00329123 -0.15078194
+v 0.04921023 0.00236076 -0.15112074
+v 0.04921023 0.00752096 -0.15105894
+v 0.04805479 0.02300163 -0.15100508
+v 0.04959004 0.02300162 -0.14738562
+v 0.05054558 0.01784139 -0.14738563
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+v 0.04687536 0.03132949 -0.15020581
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+v 0.05174900 0.00998611 -0.14504576
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+v 0.05198887 -0.00096026 -0.13093072
+v 0.05108931 -0.00905178 -0.14772655
+v 0.05057756 -0.00905177 -0.14860151
+v 0.04498028 -0.00905177 -0.15086367
+v 0.04410871 0.02815546 -0.15128807
+v 0.04273338 0.03848228 -0.15080171
+v 0.04823870 0.02815544 -0.14738560
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+v 0.03457334 0.05350309 -0.14724200
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+v 0.01136863 0.05474199 -0.13093052
+v 0.01136863 0.05618532 -0.13093051
+v 0.03238640 0.05618537 -0.14476059
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_30.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5508e951fbe9d3a40be17058e79819e9022566f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_30.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00436094 0.07682070 -0.01038432
+v -0.00944539 0.07203526 -0.00052391
+v -0.00914585 0.07179940 -0.00310514
+v -0.00904859 0.07172080 -0.00641791
+v -0.00436094 0.07690457 -0.01114645
+v -0.00436094 0.09043780 0.00543971
+v -0.01199345 0.07130670 0.00072777
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+v -0.02472985 0.06171498 -0.01086557
+v -0.01919803 0.06635890 -0.02257568
+v -0.00436094 0.08450987 -0.02257561
+v -0.00436094 0.09177435 0.00584025
+v -0.01751748 0.07478174 0.00404890
+v -0.01709345 0.07053096 0.00187097
+v -0.02977928 0.06167824 -0.00088831
+v -0.02867059 0.06429895 0.00078338
+v -0.02990766 0.06167824 -0.00045440
+v -0.02474930 0.06171498 -0.01086557
+v -0.02206897 0.06606538 -0.02257568
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+v -0.00436094 0.09341492 0.00574568
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+v -0.01973878 0.07661622 0.00468309
+v -0.01949369 0.07661622 0.00468309
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+v -0.04237175 0.08493964 -0.01340778
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_31.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..facd8fa9623c107141e01022835e2d89ab415144
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_31.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08325683 -0.00410648 -0.03417877
+v -0.08279933 -0.01324658 -0.03342782
+v -0.08284624 -0.01324658 -0.03337138
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_32.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258237b19ddecf93e2a6a1beaeea8d64c184bfa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_32.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01944805 0.07651971 -0.05969097
+v -0.03869020 0.06317092 -0.04191974
+v -0.03869020 0.06317788 -0.05969102
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_33.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18716b558f6c6b03ec224970f996a321d100e812
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_33.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06913061 -0.06598970 -0.12271359
+v 0.06913061 -0.06903733 -0.12100032
+v 0.06913061 -0.06473970 -0.12270044
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_34.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccbab43351ab1e4b20aa0b2157e32e596c94d4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_34.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.08651139 0.00751892 -0.03732750
+v -0.08618457 0.01059364 -0.03687128
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+v -0.04384672 0.03862999 -0.00334619
+v -0.04000787 0.00505060 0.00467498
+v -0.03962582 0.02815918 0.00103983
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+v -0.04000787 0.00372032 0.00467497
+v -0.04279264 -0.00294785 0.00236075
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+v -0.03965344 0.02299697 0.00091625
+v -0.04888234 -0.00410662 0.00305928
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+v -0.05331036 0.03862998 0.00073574
+v -0.04213443 0.00214322 0.00526422
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_35.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fabfd39a61d669ba32e7f44a43fff8e81b843c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_35.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01065796 -0.09095979 0.01252376
+v 0.00879115 -0.08590216 0.01252377
+v 0.00817874 -0.09500259 0.01252374
+v 0.02135195 -0.08808439 0.00984190
+v 0.02135195 -0.08749405 0.00984190
+v 0.00330055 -0.08358393 0.01252378
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+v 0.02655535 -0.10369832 -0.01040739
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_36.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e58513c238ad78df62c4ff05c8759701e764b02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_36.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03290618 0.05618491 -0.01999241
+v 0.04099860 0.04536904 -0.00149811
+v 0.04099860 0.04536903 0.00089191
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_37.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c724e472a1f36ebefcb61688dd6be50981f80e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_37.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_38.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7becde89ca69f484373001288d79e6770e6b98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_38.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_39.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30875be9376ee5340a990394f94b17c7aba5e910
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_39.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_4.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1276eff715260d1fb13999936acc0cee1e716f33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.00978928 0.15585702 -0.08555455
+v 0.00978928 0.15291766 -0.08555456
+v 0.01003157 0.15564996 -0.08039973
+v 0.01136565 0.15608129 -0.08039973
+v 0.01351379 0.15677458 -0.08039972
+v 0.01351379 0.15681065 -0.08555140
+v 0.00988184 0.15572057 -0.09069994
+v 0.01003157 0.15322978 -0.08039974
+v 0.00988184 0.15281572 -0.09069995
+v 0.01095726 0.14944507 -0.09860652
+v 0.01095726 0.14944507 -0.09840233
+v 0.01062782 0.15500528 -0.07524805
+v 0.01351379 0.15614872 -0.07679355
+v 0.01861323 0.15589462 -0.07679355
+v 0.01861323 0.15612364 -0.08039973
+v 0.01136565 0.15522959 -0.07524805
+v 0.01351379 0.15629934 -0.09069994
+v 0.01021672 0.15533788 -0.09585476
+v 0.01062782 0.15402655 -0.07524805
+v 0.01797341 0.14078699 -0.09599930
+v 0.01036101 0.15181034 -0.09635108
+v 0.01072584 0.15203309 -0.09889550
+v 0.01452388 0.14687434 -0.10429848
+v 0.01136565 0.14893531 -0.09909655
+v 0.01549040 0.14329032 -0.10100644
+v 0.01095183 0.15462415 -0.07265338
+v 0.01136565 0.15482646 -0.07307430
+v 0.01136565 0.15467276 -0.07255600
+v 0.02169521 0.15494411 -0.07679355
+v 0.02183406 0.15499747 -0.08039973
+v 0.02156180 0.15477475 -0.08382685
+v 0.01888820 0.15547273 -0.08554825
+v 0.01658487 0.15484851 -0.09457312
+v 0.01570004 0.15452071 -0.09800652
+v 0.01380238 0.15533318 -0.09611547
+v 0.01229951 0.15488772 -0.09887351
+v 0.01136565 0.15488929 -0.09887664
+v 0.01065232 0.15488929 -0.09887664
+v 0.01743433 0.15519198 -0.09069994
+v 0.01136565 0.15363128 -0.07398214
+v 0.01095183 0.15458022 -0.07265338
+v 0.01836819 0.14078701 -0.10104730
+v 0.01819939 0.14078699 -0.09538989
+v 0.01448031 0.15012738 -0.10415085
+v 0.01874117 0.14692609 -0.10438331
+v 0.01861323 0.14324171 -0.10415087
+v 0.01559386 0.14370284 -0.10396553
+v 0.01261805 0.14738564 -0.10059494
+v 0.01838725 0.14078701 -0.10116980
+v 0.01136565 0.15423672 -0.07229214
+v 0.02232958 0.15407831 -0.07679355
+v 0.03143940 0.14951559 -0.08291277
+v 0.03143940 0.14951560 -0.08344050
+v 0.02912519 0.15054767 -0.08531898
+v 0.02344313 0.15349172 -0.08554826
+v 0.02077224 0.15442185 -0.08726339
+v 0.03103918 0.14926622 -0.08687704
+v 0.02376711 0.15058377 -0.09551551
+v 0.02210632 0.15009757 -0.09952376
+v 0.01874117 0.15122218 -0.10114779
+v 0.01712668 0.15012738 -0.10415085
+v 0.01262078 0.15166597 -0.07679356
+v 0.02035297 0.14078698 -0.09226747
+v 0.01358730 0.15101034 -0.07679357
+v 0.02208999 0.14523997 -0.10395925
+v 0.02208999 0.14348012 -0.10395925
+v 0.02376711 0.14078702 -0.10211221
+v 0.01794074 0.14861525 -0.07679357
+v 0.01851521 0.14831097 -0.07679358
+v 0.02338050 0.14820902 -0.07679358
+v 0.02381067 0.15186517 -0.07679356
+v 0.03750264 0.14078696 -0.08646242
+v 0.03731478 0.14171237 -0.08656294
+v 0.03657695 0.14443370 -0.08753986
+v 0.03657695 0.14443370 -0.08834403
+v 0.02996647 0.14846473 -0.09069996
+v 0.02749707 0.14538896 -0.09964315
+v 0.02052721 0.14867967 -0.10295716
+v 0.02550141 0.14882551 -0.09700761
+v 0.02303473 0.14078697 -0.08997435
+v 0.03152108 0.14078700 -0.09847147
+v 0.03039665 0.14078700 -0.09931961
+v 0.02490516 0.14078701 -0.10185147
+v 0.02347851 0.14078697 -0.08965081
+v 0.02902718 0.14078696 -0.08580275
+v 0.03370187 0.14078695 -0.08453682
+v 0.03760338 0.14078696 -0.08730428
+v 0.03751625 0.14078697 -0.09037016
+v 0.03730117 0.14144887 -0.09031991
+v 0.03709969 0.14078698 -0.09146017
+v 0.03625841 0.14078698 -0.09295227
+v 0.03543891 0.14299228 -0.09177743
+v 0.03203838 0.14487919 -0.09431871
+v 0.03380807 0.14564931 -0.09031990
+v 0.03089761 0.14336403 -0.09775525
+v 0.03468474 0.14078699 -0.09495640
+f 1 2 8
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+f 1 9 2
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+f 2 10 11
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+f 12 19 41
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+f 18 38 21
+f 19 40 41
+f 19 20 40
+f 20 25 42
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+f 20 49 67
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+f 20 88 87
+f 20 87 72
+f 20 72 86
+f 20 86 85
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+f 20 84 80
+f 20 80 63
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+f 20 43 40
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+f 23 44 45
+f 23 45 46
+f 23 46 47
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+f 23 48 24
+f 23 38 44
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+f 26 50 28
+f 26 28 27
+f 28 50 29
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+f 29 52 30
+f 29 50 51
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+f 30 53 31
+f 31 53 54
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+f 34 55 57
+f 34 57 58
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+f 37 61 44
+f 37 44 38
+f 40 62 50
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+f 43 63 64
+f 43 64 62
+f 44 61 45
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+f 45 66 46
+f 46 66 67
+f 46 67 49
+f 46 49 47
+f 50 62 64
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+f 50 69 70
+f 50 70 71
+f 50 71 51
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+f 54 57 55
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+f 57 76 59
+f 57 59 58
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+f 59 79 77
+f 60 78 61
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+f 77 95 81
+f 79 94 93
+f 81 95 96
+f 88 90 89
+f 91 96 95
+f 91 95 92
+f 92 95 93
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_40.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b8741db20f1faff2d39fc4beb124fcc5c85ad9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_40.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.03878673 -0.04250751 -0.12136084
+v 0.03878673 -0.04250751 -0.12264608
+v 0.03878673 -0.04183625 -0.12105315
+v 0.03878280 -0.04250752 -0.12105316
+v 0.03568433 -0.04250747 -0.13372579
+v 0.03878673 -0.04163648 -0.12525502
+v 0.03878673 -0.02063699 -0.12105308
+v 0.02767960 -0.04250752 -0.12105316
+v 0.01877784 -0.04250747 -0.13372579
+v 0.03859672 -0.03898081 -0.13372577
+v 0.03878673 -0.03870575 -0.13372577
+v 0.03878673 -0.00905822 -0.13087229
+v 0.03484409 -0.00905821 -0.13372566
+v 0.03193951 -0.03231393 -0.12105312
+v 0.03065077 -0.03489425 -0.12105313
+v 0.03878673 -0.00905821 -0.13372566
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 15
+f 3 15 8
+f 3 8 4
+f 5 9 13
+f 5 13 16
+f 5 16 11
+f 5 11 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 13
+f 12 16 13
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_41.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d94a768479a3f18fb5b2207e03e5beb73a54bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_41.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 0.10197237 -0.02576771
+v 0.01136462 0.08982167 -0.02576775
+v 0.01136462 0.10491273 -0.02345981
+v 0.01341882 0.10812930 -0.02576768
+v 0.02213595 0.11198116 -0.02577160
+v 0.02213595 0.09756306 -0.02577165
+v 0.03070730 0.08982418 -0.02577168
+v 0.01998567 0.08982167 -0.02576775
+v 0.01136462 0.08982155 0.00900788
+v 0.01136462 0.10949777 -0.01720570
+v 0.01439955 0.11038920 -0.02576767
+v 0.02890490 0.11547145 -0.02577159
+v 0.04521264 0.08982418 -0.02577168
+v 0.02213595 0.08982163 -0.01288934
+v 0.02213595 0.08982157 0.00405738
+v 0.02840460 0.08982408 0.00379744
+v 0.01136462 0.09145115 0.01446250
+v 0.01136462 0.10949777 -0.01591392
+v 0.01545978 0.11388952 -0.02182143
+v 0.03127718 0.11523292 -0.02577159
+v 0.01545978 0.11388951 -0.01966320
+v 0.02371306 0.11484117 -0.01855654
+v 0.04505361 0.09526048 -0.02577166
+v 0.04452017 0.08982416 -0.01855663
+v 0.03351030 0.08982409 0.00071765
+v 0.04395362 0.08982414 -0.01338557
+v 0.04254218 0.08982412 -0.00939603
+v 0.04240634 0.08982412 -0.00913610
+v 0.04099157 0.08982411 -0.00658798
+v 0.03845033 0.08982410 -0.00355939
+v 0.03824491 0.08982410 -0.00335066
+v 0.03584612 0.08982409 -0.00098765
+v 0.01136462 0.09344489 0.01446250
+v 0.01136462 0.10914622 -0.01433857
+v 0.03297355 0.11487635 -0.02577159
+v 0.02666846 0.11363087 -0.01552794
+v 0.01842183 0.11418831 -0.01818633
+v 0.02213595 0.11464782 -0.01845020
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+v 0.02213595 0.11430129 -0.01733958
+v 0.02371306 0.11373632 -0.01542161
+v 0.04445722 0.10042306 -0.02577164
+v 0.03581300 0.09010029 -0.00101128
+v 0.03326512 0.09010029 0.00084762
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+v 0.04202863 0.09430123 -0.00984892
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+v 0.03842051 0.09010030 -0.00358696
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+v 0.02693021 0.10858373 -0.00533553
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+v 0.03393107 0.10553037 -0.00821840
+v 0.03569373 0.11252856 -0.02577160
+v 0.03561751 0.10731320 -0.01340521
+f 1 2 9
+f 1 9 17
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+f 1 34 18
+f 1 18 10
+f 1 10 3
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+f 1 4 5
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+f 1 6 2
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+f 31 43 32
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+f 35 36 60
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+f 37 39 62
+f 37 62 40
+f 39 58 49
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+f 41 62 55
+f 41 55 54
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+f 42 64 45
+f 43 48 65
+f 43 65 50
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+f 63 68 64
+f 64 68 67
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_42.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183265f6f125be39b27dbbe1a2fa76dcf1e8d55d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_42.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05224286 -0.00905852 -0.04863538
+v 0.05049504 -0.00905863 -0.01864227
+v 0.05778132 -0.00905852 -0.04863538
+v 0.05048504 -0.03273062 -0.04863547
+v 0.05048504 -0.00905867 -0.00745947
+v 0.05778132 -0.00905870 -0.00067053
+v 0.05778132 -0.04955829 -0.04863553
+v 0.05048504 -0.05713409 -0.04863556
+v 0.05048504 -0.00905871 0.00191983
+v 0.05730561 -0.00905870 -0.00026848
+v 0.05714704 -0.04607840 0.01004116
+v 0.05778132 -0.03655835 0.00662950
+v 0.05778132 -0.07132277 -0.03566655
+v 0.05683420 -0.05093571 -0.04863554
+v 0.05048504 -0.07132277 -0.03509794
+v 0.05464210 -0.00905870 0.00078835
+v 0.05048504 -0.03894141 0.00822620
+v 0.05431139 -0.03894141 0.00845595
+v 0.05592350 -0.04607840 0.01004116
+v 0.05701276 -0.00905870 -0.00011915
+v 0.05709490 -0.04925376 0.00998371
+v 0.05778132 -0.04925375 0.00898432
+v 0.05778132 -0.04715716 0.00907048
+v 0.05778132 -0.07132289 -0.00380677
+v 0.05048504 -0.07132291 0.00389540
+v 0.05048504 -0.04800433 0.00887520
+v 0.05612635 -0.04925376 0.00998371
+v 0.05048504 -0.05224629 0.00894410
+v 0.05688705 -0.05189890 0.00979416
+v 0.05778132 -0.05332507 0.00804809
+v 0.05637349 -0.07132289 -0.00144041
+v 0.05778132 -0.07015270 -0.00268102
+v 0.05048504 -0.07075611 0.00461335
+v 0.05381997 -0.07132291 0.00173582
+v 0.05681919 -0.05189890 0.00979416
+v 0.05048504 -0.05813994 0.00870860
+v 0.05048504 -0.06318641 0.00787001
+v 0.05048504 -0.06465525 0.00746220
+v 0.05250142 -0.06883626 0.00535429
+v 0.05778132 -0.05676860 0.00616991
+v 0.05627421 -0.07132290 -0.00129107
+v 0.05778132 -0.06903735 -0.00184819
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_43.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d05512dedcc9be55df3dddf080c1697cccfdfd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_43.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_44.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b23df8e15ca3329a197248c656a4c57cdad3388
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_44.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_45.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac6ca729948cf6ce4b91da2f03b7caa445faaa2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_45.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01351291 0.15614795 -0.07679266
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_46.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e2f6aded6ee0681448198a8b98fbb7b9c5c59b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.06452554 -0.04046485 -0.05431590
+v -0.06741329 -0.04256958 -0.05431591
+v -0.08044004 -0.04699155 -0.07533337
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+v -0.06790959 -0.04260456 -0.05431591
+v -0.08061792 -0.04682202 -0.07161134
+v -0.08141947 -0.04699155 -0.07533337
+v -0.07920369 -0.03902214 -0.07533334
+v -0.06452554 -0.03893611 -0.05491461
+v -0.06452554 -0.02918227 -0.05455864
+v -0.07352041 -0.01965182 -0.05431582
+v -0.07207763 -0.04226543 -0.05431591
+v -0.08110104 -0.04682202 -0.07161134
+v -0.08141508 -0.04698616 -0.07524489
+v -0.08329487 -0.04409555 -0.07524488
+v -0.08330145 -0.04409555 -0.07533336
+v -0.07920587 -0.03893603 -0.07533334
+v -0.06452554 -0.03377390 -0.05495781
+v -0.08039174 -0.02870581 -0.07533331
+v -0.08040930 -0.02862237 -0.07533331
+v -0.08212878 -0.02360012 -0.07533329
+v -0.08217709 -0.02353283 -0.07533329
+v -0.08479474 -0.02037038 -0.07533327
+v -0.07975050 -0.03386263 -0.07533332
+v -0.07447568 -0.01960339 -0.05431582
+v -0.07236750 -0.04215778 -0.05431590
+v -0.08148755 -0.04299478 -0.06642435
+v -0.08203435 -0.04446698 -0.06997149
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+v -0.08295667 -0.03377386 -0.06493880
+v -0.08511318 -0.03370117 -0.07043440
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+v -0.08621336 -0.03397030 -0.07533332
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+v -0.08615628 -0.02064491 -0.07155980
+v -0.08695781 -0.02345478 -0.07533329
+v -0.08628802 -0.02345480 -0.07109894
+v -0.08531959 -0.02861433 -0.06913815
+v -0.08376263 -0.02861434 -0.06493879
+v -0.08622654 -0.03370115 -0.07520576
+v -0.08618262 -0.02861432 -0.07171415
+v -0.08673162 -0.02861430 -0.07524483
+v -0.08673603 -0.02861430 -0.07533331
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_47.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51ba957e1d95e21701c2e78b46a6643cbedbf42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_47.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04411213 -0.02345455 -0.15107401
+v 0.04259832 -0.03377382 -0.15069766
+v 0.03913476 -0.03887614 -0.15086433
+v 0.03878673 -0.03889974 -0.15085571
+v 0.03878673 -0.03563872 -0.15085283
+v 0.03878673 -0.03232036 -0.15083844
+v 0.04498162 -0.00905815 -0.15086422
+v 0.04872217 -0.00905815 -0.15086422
+v 0.04827056 -0.01313190 -0.15088148
+v 0.04781172 -0.01829154 -0.15083264
+v 0.04724571 -0.02345455 -0.15049651
+v 0.04683384 -0.02647277 -0.15014311
+v 0.04195402 -0.03711916 -0.15032991
+v 0.03878673 -0.03986085 -0.15079251
+v 0.03878673 -0.02939319 -0.15055399
+v 0.04444451 -0.00905815 -0.15059125
+v 0.05057921 -0.00905815 -0.14860013
+v 0.05108862 -0.00905816 -0.14772667
+v 0.04933516 -0.01829155 -0.14738479
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+v 0.04697232 -0.02688420 -0.14738482
+v 0.04658936 -0.03523077 -0.12172130
+v 0.04398928 -0.03377383 -0.14738484
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+v 0.03878673 -0.04244741 -0.14915191
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+v 0.03878673 -0.02046341 -0.12172125
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_48.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51be313dfb18a75bc00ecf279b6b93017275b9fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_48.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02836339 -0.08602623 -0.05431401
+v -0.02836339 -0.06859195 -0.05431394
+v -0.03047684 -0.08393487 -0.05431400
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+f 30 31 34
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_49.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558494fc1c1177652f30eb39cd714c7e4fd11d68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_49.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.05326657 -0.00410639 -0.05969299
+v -0.06398527 -0.00410639 -0.05969299
+v -0.05215726 -0.00410637 -0.06476567
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+v -0.05103949 0.00257200 -0.13136979
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_5.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ed19e0ce9210fcdd4ef2f012162591dd55148a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_50.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb157881ce86e81f9e785f0dfb1b0ab9239ba7f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_50.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_51.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e0746e4e960d67c716cb5bbabe61d8548bc450
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_51.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_52.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289b50c68419a73296660194fb694d980349d8ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_52.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04014888 -0.06945135 -0.05431396
+v -0.04014888 -0.05959310 -0.05431392
+v -0.05375456 -0.05551910 -0.05431390
+v -0.05535328 -0.05185244 -0.06761615
+v -0.05024457 -0.05183964 -0.08814072
+v -0.04014888 -0.04517672 -0.14738251
+v -0.04404302 -0.04519404 -0.05431387
+v -0.04014888 -0.04618278 -0.06698358
+v -0.05605718 -0.05309591 -0.05431390
+v -0.05552746 -0.05206889 -0.06494437
+v -0.06452315 -0.04047074 -0.05431385
+v -0.05500251 -0.05128801 -0.07105264
+v -0.05135889 -0.04810086 -0.09586339
+v -0.05068839 -0.04723511 -0.10101812
+v -0.04121548 -0.04350893 -0.14738250
+v -0.04504997 -0.03624360 -0.14966717
+v -0.04014888 -0.04419216 -0.14902521
+v -0.05409577 -0.02610137 -0.05431380
+v -0.04014888 -0.04167589 -0.07226104
+v -0.04014888 -0.04148068 -0.07257259
+v -0.05618603 -0.05293889 -0.05431389
+v -0.05554654 -0.04722671 -0.07909629
+v -0.05452766 -0.05054533 -0.07525385
+v -0.06452315 -0.02904230 -0.05431381
+v -0.06452315 -0.03893874 -0.05491805
+v -0.04880096 -0.02610103 -0.14738244
+v -0.04570378 -0.03280193 -0.15041298
+v -0.04064517 -0.04257529 -0.15043191
+v -0.04014888 -0.04284689 -0.15049800
+v -0.06269776 -0.02610137 -0.05431380
+v -0.04171655 -0.02610116 -0.11116704
+v -0.04014888 -0.02610113 -0.11943729
+v -0.04067620 -0.02610114 -0.11646340
+v -0.06452315 -0.02918235 -0.05455927
+v -0.06452315 -0.03377832 -0.05495580
+v -0.04693740 -0.02610102 -0.15062068
+v -0.04626690 -0.02861333 -0.15067733
+v -0.04169985 -0.03893839 -0.15071512
+v -0.04014888 -0.04096691 -0.15076232
+v -0.04014888 -0.02610102 -0.14850590
+v -0.04325561 -0.02610102 -0.15063955
+v -0.04014888 -0.03662979 -0.15072454
+v -0.04014888 -0.02748873 -0.14910068
+v -0.04070961 -0.02725109 -0.14948775
+v -0.04093629 -0.02610102 -0.14918565
+v -0.04014888 -0.02950027 -0.14989374
+v -0.04014888 -0.03048483 -0.15017696
+v -0.04014888 -0.03225873 -0.15052628
+f 1 2 7
+f 1 7 18
+f 1 18 30
+f 1 30 24
+f 1 24 11
+f 1 11 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 29
+f 1 29 39
+f 1 39 42
+f 1 42 48
+f 1 48 47
+f 1 47 46
+f 1 46 43
+f 1 43 40
+f 1 40 32
+f 1 32 20
+f 1 20 19
+f 1 19 8
+f 1 8 2
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 7 8 19
+f 7 19 20
+f 7 20 18
+f 9 21 10
+f 10 21 11
+f 11 22 23
+f 11 23 12
+f 11 24 34
+f 11 34 35
+f 11 35 25
+f 11 25 26
+f 11 26 16
+f 11 16 14
+f 11 14 22
+f 12 23 13
+f 13 23 22
+f 13 22 14
+f 14 16 15
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 18 20 31
+f 18 31 33
+f 18 33 32
+f 18 32 40
+f 18 40 45
+f 18 45 41
+f 18 41 36
+f 18 36 26
+f 18 26 30
+f 20 32 33
+f 20 33 31
+f 24 30 26
+f 24 26 34
+f 25 35 26
+f 26 36 27
+f 26 35 34
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 36 41 37
+f 37 41 42
+f 37 42 39
+f 37 39 38
+f 40 43 44
+f 40 44 45
+f 41 45 44
+f 41 44 46
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 43 46 44
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_53.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fba1387764d7f928a4314a3d189d259c79387d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_53.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01877847 -0.04251293 -0.13372579
+v 0.01136462 -0.04615082 -0.13372580
+v 0.02767669 -0.04251298 -0.12105316
+v 0.03568375 -0.04251293 -0.13372579
+v 0.01136462 -0.06306818 -0.13372586
+v 0.01136462 -0.05438178 -0.12105320
+v 0.03878402 -0.04251298 -0.12105316
+v 0.03878671 -0.04251297 -0.12264608
+v 0.03201978 -0.05318010 -0.13372583
+v 0.01136462 -0.06499392 -0.12105324
+v 0.02371207 -0.05921904 -0.13372585
+v 0.02809543 -0.06128561 -0.12105323
+v 0.03878135 -0.04310720 -0.12105316
+v 0.03878671 -0.04291793 -0.12154815
+v 0.03878671 -0.04251297 -0.12136084
+v 0.03878671 -0.04284530 -0.12194391
+v 0.03206540 -0.05814950 -0.12105321
+v 0.03018108 -0.05575941 -0.13372583
+v 0.02644194 -0.05832772 -0.13372584
+v 0.02763106 -0.05790517 -0.13372584
+v 0.02894901 -0.06081685 -0.12105322
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 20
+f 1 20 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 3
+f 3 6 10
+f 3 10 12
+f 3 12 21
+f 3 21 17
+f 3 17 13
+f 3 13 7
+f 4 8 9
+f 5 11 12
+f 5 12 10
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 16
+f 8 16 9
+f 9 17 18
+f 9 16 17
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 13 17 16
+f 13 16 14
+f 17 21 18
+f 18 21 20
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_54.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f4920c721a0235dc314fe71ca5b0b942acb170
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_54.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00686709 0.11715065 -0.05969082
+v -0.00553352 0.11697017 -0.05969082
+v -0.01198867 0.11559454 -0.05969083
+v -0.01461003 0.09965253 -0.04191960
+v -0.00689073 0.10152946 -0.04191960
+v -0.00499892 0.10195458 -0.04191960
+v -0.00436094 0.10209495 -0.04191959
+v -0.00436094 0.11596352 -0.05969082
+v -0.01747502 0.11376172 -0.05969083
+v -0.01944805 0.09774350 -0.04191961
+v -0.00436094 0.07618276 -0.04191969
+v -0.00436094 0.07643148 -0.05969097
+v -0.01944658 0.11076985 -0.05969084
+v -0.01944805 0.09760314 -0.04251809
+v -0.01944805 0.07894202 -0.04191968
+v -0.01944805 0.07651971 -0.05969097
+v -0.01944805 0.09698952 -0.04417081
+v -0.01944805 0.09071306 -0.05969092
+f 1 2 8
+f 1 8 12
+f 1 12 16
+f 1 16 18
+f 1 18 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 15
+f 4 15 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 4 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 17
+f 10 17 18
+f 10 18 16
+f 10 16 15
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 13 18 17
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_55.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58959683b8cbe5b3c800aea599fc84df8a9147bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_55.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.08267524 0.03127639 -0.03260064
+v 0.08267524 0.03127639 -0.03385983
+v 0.08257582 0.03127638 -0.03123561
+v 0.08236991 0.01007448 -0.03140070
+v 0.08253678 0.02519616 -0.03682308
+v 0.08253678 0.02711105 -0.03682307
+v 0.08225629 0.03054994 -0.03630289
+v 0.08175214 0.03127640 -0.03617733
+v 0.08236991 0.01007448 -0.03146169
+v 0.08157107 0.03127638 -0.03018090
+v 0.07736034 0.02962206 -0.02473514
+v 0.07844675 0.02753346 -0.02473515
+v 0.07991661 0.02299696 -0.02473517
+v 0.08021838 0.01681011 -0.02473519
+v 0.08026454 0.00133310 -0.02473525
+v 0.07978169 -0.00280464 -0.02473526
+v 0.07319576 0.01267639 -0.04305814
+v 0.07322418 0.01288960 -0.04305814
+v 0.07336972 0.01782881 -0.04305812
+v 0.07787159 -0.00796492 -0.03194427
+v 0.07769763 -0.00905858 -0.03181512
+v 0.06937557 -0.00905854 -0.04305822
+v 0.06996138 -0.00669752 -0.04305821
+v 0.07333778 0.01837367 -0.04305812
+v 0.07306795 0.01925412 -0.04305812
+v 0.07210580 0.02207315 -0.04305811
+v 0.06806548 0.03127643 -0.04305808
+v 0.07956867 -0.00374431 -0.02473526
+v 0.07787870 -0.00905859 -0.03008238
+v 0.07595084 0.03127636 -0.02473514
+v 0.05267465 -0.00905854 -0.04305822
+v 0.05158114 0.03127643 -0.04305808
+v 0.07802426 -0.00658309 -0.02473527
+v 0.07787870 -0.00905859 -0.02996579
+v 0.05583093 0.03127636 -0.02473514
+v 0.05520606 -0.00905861 -0.02473528
+v 0.05517766 -0.00904677 -0.02473528
+v 0.05436817 -0.00859667 -0.02473528
+v 0.05379301 -0.00827292 -0.02473528
+v 0.04647571 -0.00049492 -0.03049311
+v 0.04647571 -0.00049491 -0.03200522
+v 0.05034206 -0.00291117 -0.04305820
+v 0.05157759 0.03127643 -0.04266346
+v 0.04977045 0.00235575 -0.04305818
+v 0.04640471 0.00235571 -0.03215230
+v 0.04651123 0.00513526 -0.03182763
+v 0.04687691 0.00755154 -0.02473522
+v 0.07484668 -0.00896780 -0.02473528
+v 0.07439579 -0.00905861 -0.02473528
+v 0.05161309 0.03127642 -0.04142758
+v 0.04716094 0.00831354 -0.02473522
+v 0.04935506 -0.00310075 -0.02473526
+v 0.04880475 -0.00192024 -0.02473526
+v 0.04698341 0.00214643 -0.02473524
+v 0.04640471 0.00235570 -0.02988861
+v 0.05157759 0.03127643 -0.04232265
+v 0.04651123 0.00513525 -0.03032269
+v 0.05158824 0.03127642 -0.04204103
+f 1 2 8
+f 1 8 27
+f 1 27 32
+f 1 32 43
+f 1 43 56
+f 1 56 58
+f 1 58 50
+f 1 50 35
+f 1 35 30
+f 1 30 10
+f 1 10 3
+f 1 3 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 9
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 9 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 17
+f 6 19 24
+f 6 24 25
+f 6 25 26
+f 6 26 7
+f 7 26 27
+f 7 27 8
+f 9 16 28
+f 9 28 29
+f 9 29 21
+f 9 21 20
+f 10 30 11
+f 11 30 35
+f 11 35 51
+f 11 51 47
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+f 11 54 53
+f 11 53 52
+f 11 52 39
+f 11 39 38
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+f 11 36 49
+f 11 49 48
+f 11 48 33
+f 11 33 28
+f 11 28 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 17 23 22
+f 17 22 31
+f 17 31 42
+f 17 42 44
+f 17 44 32
+f 17 32 27
+f 17 27 26
+f 17 26 25
+f 17 25 24
+f 17 24 19
+f 17 19 18
+f 21 29 34
+f 21 34 49
+f 21 49 36
+f 21 36 31
+f 21 31 22
+f 28 33 34
+f 28 34 29
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 43
+f 33 48 34
+f 34 48 49
+f 35 50 51
+f 39 52 40
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 45
+f 40 45 41
+f 41 45 44
+f 41 44 42
+f 43 47 56
+f 45 55 57
+f 45 57 46
+f 46 57 47
+f 47 51 50
+f 47 50 58
+f 47 58 56
+f 47 57 55
+f 47 55 54
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_56.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd4b73464f5739aa166ca3c8b4fc4d308db0542
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_56.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.03867127 -0.06142612 0.00038128
+v -0.04259168 -0.05958080 0.00202914
+v -0.04259168 -0.06142612 0.00130408
+v -0.03867785 -0.06142611 -0.00273080
+v -0.03882876 -0.04409305 -0.00310502
+v -0.03894686 -0.04409307 0.00204804
+v -0.03970142 -0.04409308 0.00497414
+v -0.03987857 -0.04751670 0.00479758
+v -0.04421560 -0.06142612 0.00111105
+v -0.04259168 -0.04745078 0.00480229
+v -0.04546226 -0.04686805 0.00468929
+v -0.03933070 -0.06142610 -0.00422798
+v -0.03951770 -0.05309772 -0.01883731
+v -0.03895670 -0.04925790 -0.01340646
+v -0.03927821 -0.03893858 -0.00310500
+v -0.03951770 -0.03848074 0.00242942
+v -0.03975063 -0.03989943 0.00492001
+v -0.04769310 -0.03800553 0.00521194
+v -0.05695441 -0.04925795 0.00074622
+v -0.05605222 -0.05265380 0.00003999
+v -0.04676467 -0.06142612 0.00033184
+v -0.05279125 -0.04409307 0.00312620
+v -0.05294544 -0.04428386 0.00303910
+v -0.05096392 -0.03711754 0.00496239
+v -0.04210943 -0.06142609 -0.00867247
+v -0.03967845 -0.05325729 -0.01883731
+v -0.03952426 -0.04921279 -0.01883729
+v -0.03964564 -0.03925074 -0.00787907
+v -0.03990481 -0.03619483 -0.00591575
+v -0.03985889 -0.03610811 -0.00310499
+v -0.03993763 -0.03618791 0.00096519
+v -0.04010165 -0.03645849 0.00439978
+v -0.04388754 -0.03378066 0.00497418
+v -0.04721741 -0.03388125 0.00510600
+v -0.05096392 -0.03567457 0.00496240
+v -0.05788940 -0.03893860 0.00219165
+v -0.05824699 -0.04426302 0.00110642
+v -0.06159326 -0.03893859 0.00053910
+v -0.06214112 -0.05958077 -0.00444926
+v -0.06171465 -0.06142610 -0.00472705
+v -0.05898514 -0.06142611 -0.00380191
+v -0.05367703 -0.06142605 -0.01883734
+v -0.04076763 -0.04415195 -0.01883727
+v -0.04467490 -0.02598989 -0.01671619
+v -0.03989825 -0.04590714 -0.01705524
+v -0.03981953 -0.04117585 -0.01173739
+v -0.04410077 -0.02598990 -0.01351937
+v -0.04373007 -0.02598991 -0.01078629
+v -0.04388098 -0.02598992 -0.00808617
+v -0.04422216 -0.02598993 -0.00575094
+v -0.04444525 -0.02598993 -0.00427258
+v -0.04511122 -0.03117567 0.00464698
+v -0.04520308 -0.03117567 0.00464698
+v -0.06133737 -0.03378064 0.00015305
+v -0.06037943 -0.02598994 -0.00282013
+v -0.06048113 -0.03113056 -0.00051313
+v -0.06413906 -0.03893858 -0.00203155
+v -0.07064789 -0.05701738 -0.01081936
+v -0.06388645 -0.03378063 -0.00159838
+v -0.06680953 -0.03378062 -0.00417373
+v -0.06354526 -0.06142609 -0.00699165
+v -0.06818740 -0.06142605 -0.01883734
+v -0.04337575 -0.03964266 -0.01883726
+v -0.04754548 -0.02598989 -0.01761780
+v -0.04747658 -0.02598994 -0.00231870
+v -0.05019953 -0.02598995 -0.00133706
+v -0.05294216 -0.02598995 -0.00119817
+v -0.05301763 -0.02598995 -0.00119581
+v -0.05533377 -0.02598995 -0.00125466
+v -0.06250529 -0.02909095 -0.00224809
+v -0.06574986 -0.02598993 -0.00537193
+v -0.06284320 -0.02598994 -0.00387004
+v -0.07073975 -0.05730874 -0.01340883
+v -0.06812177 -0.06142606 -0.01669278
+v -0.06765592 -0.06142607 -0.01363485
+v -0.06914535 -0.03893856 -0.00758480
+v -0.07094315 -0.03893855 -0.01016015
+v -0.07217667 -0.03415519 -0.01883724
+v -0.06613370 -0.02861573 -0.00487993
+v -0.06950950 -0.03361758 -0.00834984
+v -0.07094971 -0.03522704 -0.01013424
+v -0.06825300 -0.06142605 -0.01858546
+v -0.06952262 -0.05929976 -0.01860900
+v -0.06946685 -0.05928935 -0.01883733
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+v -0.06160967 -0.02598988 -0.01883721
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_57.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332628041a226f70a1d399b8b0c425e87d1ea81d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_57.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03878671 -0.10721646 -0.03370383
+v 0.03878671 -0.10540301 -0.03716173
+v 0.03878671 -0.10564183 -0.02989817
+v 0.02177407 -0.11957821 -0.03081967
+v 0.02177407 -0.11957820 -0.03228928
+v 0.03878671 -0.10533725 -0.03725997
+v 0.03878671 -0.10232300 -0.02851105
+v 0.03872766 -0.10145435 -0.02812597
+v 0.03452684 -0.10495316 -0.02812599
+v 0.01861204 -0.11635280 -0.02964868
+v 0.01136462 -0.11266021 -0.02812601
+v 0.01861204 -0.11945708 -0.03092380
+v 0.03406515 -0.10519888 -0.02812599
+v 0.01861204 -0.11945707 -0.03214585
+v 0.01136462 -0.09188535 -0.04819752
+v 0.01833020 -0.09259134 -0.04819752
+v 0.01861204 -0.09261556 -0.04819752
+v 0.02534678 -0.09203761 -0.04819752
+v 0.02880942 -0.09121742 -0.04819752
+v 0.03384236 -0.08983313 -0.04819751
+v 0.03752244 -0.08831387 -0.04819750
+v 0.03878671 -0.08750060 -0.04819750
+v 0.03878671 -0.10132285 -0.02812597
+v 0.01136462 -0.11594098 -0.02972334
+v 0.01136462 -0.08422336 -0.02812591
+v 0.01597613 -0.11898641 -0.03137568
+v 0.01597613 -0.11898641 -0.03153679
+v 0.01397101 -0.11624206 -0.03268810
+v 0.01136462 -0.08422328 -0.04819749
+v 0.01136462 -0.11519690 -0.03235606
+v 0.03878671 -0.08422328 -0.04819749
+v 0.03878671 -0.08422336 -0.02812591
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+f 25 32 31
+f 25 31 29
+f 27 30 28
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_58.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7084c505b43a21af8f6547a73934ce24f00f06dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_58.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01136803 0.06831041 -0.11957259
+v 0.02870612 0.06831039 -0.11440850
+v 0.01136803 0.06831040 -0.11723306
+v 0.01136803 0.08287247 -0.08612007
+v 0.03355152 0.08982181 -0.06313127
+v 0.03154196 0.07218095 -0.10393051
+v 0.03023285 0.06831038 -0.11292489
+v 0.01475811 0.06831030 -0.08931558
+v 0.01136803 0.06831240 -0.09039262
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+v 0.03237843 0.06831037 -0.10995055
+v 0.01136803 0.08559745 -0.07868776
+v 0.01136803 0.08734111 -0.07372337
+v 0.03181058 0.06831038 -0.11076368
+v 0.03475524 0.06831014 -0.04671182
+v 0.03406158 0.06863865 -0.04671182
+v 0.03224922 0.06959261 -0.04671181
+v 0.02991663 0.07099934 -0.04671181
+v 0.01136803 0.08282599 -0.04671890
+v 0.01136803 0.08982180 -0.06112698
+v 0.01136803 0.08793495 -0.07097728
+v 0.03461583 0.08982180 -0.06021399
+v 0.04610202 0.06831014 -0.04671895
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+v 0.03566313 0.07002871 -0.09584914
+v 0.03491845 0.06895474 -0.10051395
+v 0.03540469 0.06831034 -0.09987914
+v 0.04603401 0.06831014 -0.04671182
+v 0.01477173 0.08180884 -0.04671177
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+v 0.01136803 0.08982175 -0.04671887
+v 0.03384396 0.08982175 -0.04671174
+v 0.03485385 0.08833920 -0.04671175
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+v 0.04608843 0.06834172 -0.04671182
+v 0.01475811 0.08982175 -0.04671174
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+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_59.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ec1edd77a3780e085c14ae8ac3d027440c6e73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_59.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 0.09611342 -0.03682032
+v 0.01136462 0.11225192 -0.03682026
+v -0.00436094 0.09611342 -0.03682032
+v 0.01136462 0.09611345 -0.04546005
+v 0.00828293 0.11057267 -0.03682026
+v 0.01136462 0.10902613 -0.04305553
+v -0.00226749 0.11051903 -0.05505474
+v -0.00232290 0.11052850 -0.05505474
+v -0.00436094 0.11082708 -0.05505474
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+v -0.00018172 0.10528217 -0.03682028
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+v -0.00285857 0.09611348 -0.05411762
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+v 0.00096968 0.10189528 -0.05505478
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_6.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8982d1eb2493f9a06e7c54d0708329b212cdc57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00436571 -0.00409878 -0.13449591
+v -0.03793412 -0.00409879 -0.13136984
+v -0.00436571 -0.00409874 -0.14464518
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+v -0.05180411 0.01784166 -0.14738562
+v -0.05070232 0.02305021 -0.14710643
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+f 26 43 44
+f 26 44 45
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+f 48 65 50
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+f 53 64 67
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+f 57 74 75
+f 57 75 70
+f 58 68 60
+f 58 59 76
+f 58 76 71
+f 58 71 68
+f 59 73 72
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+f 59 62 74
+f 59 74 73
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+f 74 78 75
+f 75 77 80
+f 75 80 79
+f 75 78 77
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_60.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54bae712f45b4d6dd324179bf37fe79060ecbd7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_60.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02226410 -0.08863747 -0.05431402
+v -0.00436094 -0.08797322 -0.05436444
+v -0.00437034 -0.08797765 -0.05431401
+v -0.02521036 -0.08846478 -0.05431401
+v -0.02485794 -0.08803522 -0.05750584
+v -0.02402858 -0.08803522 -0.05750584
+v -0.00436094 -0.08776951 -0.05431401
+v -0.02404267 -0.08295134 -0.07844361
+v -0.00436094 -0.08069727 -0.08038176
+v -0.02547351 -0.08841162 -0.05431401
+v -0.02501535 -0.08295134 -0.07844361
+v -0.00436094 -0.07498476 -0.05431397
+v -0.02218891 -0.07899674 -0.09070654
+v -0.02218891 -0.08063084 -0.08555496
+v -0.00436094 -0.06597715 -0.12792041
+v -0.02802271 -0.08636127 -0.05431401
+v -0.02816133 -0.08139256 -0.07525177
+v -0.02560978 -0.08331447 -0.07525178
+v -0.02694429 -0.08102942 -0.08025928
+v -0.02755986 -0.07913404 -0.08536042
+v -0.02602094 -0.07850962 -0.09070654
+v -0.02514693 -0.07791177 -0.09395600
+v -0.02836339 -0.06859460 -0.05431394
+v -0.00436094 -0.06196517 -0.09278153
+v -0.02836339 -0.04339682 -0.12792033
+v -0.01708816 -0.06572917 -0.12792041
+v -0.00436094 -0.05399837 -0.12792037
+v -0.02836339 -0.08602473 -0.05431401
+v -0.02836339 -0.08152984 -0.07395487
+v -0.02836339 -0.08109143 -0.07574173
+v -0.02836339 -0.07951490 -0.08177952
+v -0.02836339 -0.07869122 -0.08474078
+v -0.02836339 -0.07827935 -0.08603768
+v -0.02836339 -0.07642384 -0.09070653
+v -0.02836339 -0.07603415 -0.09153511
+v -0.02606792 -0.07369593 -0.10100969
+v -0.02515633 -0.07286339 -0.10426637
+v -0.02132900 -0.06401538 -0.12792041
+v -0.01792222 -0.06541475 -0.12792041
+v -0.00436094 -0.06099534 -0.09585084
+v -0.00436094 -0.05960924 -0.10098083
+v -0.00436094 -0.05753673 -0.10885591
+v -0.00436094 -0.05731972 -0.10977815
+v -0.00436094 -0.05671747 -0.11261692
+v -0.00436094 -0.05656245 -0.11338066
+v -0.00436094 -0.05597347 -0.11646440
+v -0.00436094 -0.05510106 -0.12145028
+v -0.02836339 -0.05530475 -0.12792037
+v -0.02836339 -0.07417423 -0.09508717
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 23
+f 1 23 28
+f 1 28 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 15
+f 2 15 27
+f 2 27 47
+f 2 47 46
+f 2 46 45
+f 2 45 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
+f 2 41 40
+f 2 40 24
+f 2 24 12
+f 2 12 7
+f 4 10 5
+f 5 10 11
+f 5 11 8
+f 5 8 6
+f 8 11 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 17
+f 11 17 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 13
+f 12 24 25
+f 12 25 23
+f 13 22 15
+f 13 15 14
+f 15 22 26
+f 15 26 39
+f 15 39 38
+f 15 38 48
+f 15 48 25
+f 15 25 27
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 26
+f 22 34 35
+f 23 25 48
+f 23 48 49
+f 23 49 35
+f 23 35 34
+f 23 34 33
+f 23 33 32
+f 23 32 31
+f 23 31 30
+f 23 30 29
+f 23 29 28
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 27
+f 35 49 36
+f 36 49 48
+f 36 48 38
+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_61.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f435aad3fac2297ba5f20a411bd4970150d2cd33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_61.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.07035093 0.05618494 -0.02826598
+v 0.07200960 0.05618495 -0.02897558
+v 0.06967496 0.05912357 -0.02826597
+v 0.04591780 0.05618494 -0.02826598
+v 0.07728204 0.05618496 -0.03141854
+v 0.07728204 0.05659505 -0.03141854
+v 0.07467701 0.05864008 -0.03035866
+v 0.06049240 0.07447754 -0.02826592
+v 0.03407302 0.06130292 -0.02826596
+v 0.04296441 0.05618498 -0.03902005
+v 0.07728204 0.05618496 -0.03148897
+v 0.07728204 0.05659505 -0.03148897
+v 0.06720513 0.07209228 -0.03646330
+v 0.07296113 0.06281792 -0.03072878
+v 0.06086158 0.07447755 -0.02893399
+v 0.03651166 0.07447754 -0.02826592
+v 0.03250793 0.06450660 -0.02826595
+v 0.02416771 0.07447758 -0.03917347
+v 0.02497365 0.07447760 -0.04422008
+v 0.02550402 0.07447761 -0.04671179
+v 0.04309960 0.05618501 -0.04671185
+v 0.04283442 0.05618500 -0.04447834
+v 0.06862983 0.05618500 -0.04286596
+v 0.06883783 0.05913080 -0.04282983
+v 0.06819306 0.06429177 -0.04225925
+v 0.06989855 0.06429175 -0.03917350
+v 0.06799028 0.06900323 -0.03875098
+v 0.06720513 0.07209229 -0.03675399
+v 0.06099676 0.07447755 -0.02934205
+v 0.02867060 0.07447757 -0.03507118
+v 0.03405222 0.06900140 -0.02826594
+v 0.04311520 0.07447761 -0.04671179
+v 0.05348848 0.05618501 -0.04671185
+v 0.06723632 0.06698506 -0.04179881
+v 0.06009202 0.07447757 -0.03454214
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 22
+f 1 22 21
+f 1 21 33
+f 1 33 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 28
+f 6 28 13
+f 6 13 14
+f 6 14 7
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+f 8 14 15
+f 8 15 29
+f 8 29 35
+f 8 35 32
+f 8 32 20
+f 8 20 19
+f 8 19 18
+f 8 18 30
+f 8 30 16
+f 9 17 18
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+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 23 24
+f 11 24 12
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+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 13 28 29
+f 13 29 15
+f 13 15 14
+f 16 30 31
+f 17 31 18
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+f 20 32 33
+f 20 33 21
+f 23 33 24
+f 24 33 32
+f 24 32 25
+f 25 34 26
+f 25 32 34
+f 26 34 27
+f 27 34 28
+f 28 35 29
+f 28 34 32
+f 28 32 35
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_62.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5340af783e65f93ae092f33b5a52f734beff32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_62.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03878623 -0.05809386 -0.00114381
+v 0.03684901 -0.05202438 -0.01127362
+v 0.03621810 -0.05682478 -0.00549412
+v 0.03539599 -0.05809384 -0.00465406
+v 0.03878623 -0.05809375 -0.02865579
+v 0.03878623 -0.03893034 -0.02790838
+v 0.03478730 -0.05809384 -0.00551049
+v 0.03793298 -0.05809375 -0.02865579
+v 0.03878623 -0.03893794 -0.02900755
+v 0.03878623 -0.03865827 -0.02886571
+v 0.03867160 -0.03893794 -0.02886571
+v 0.03373940 -0.05610175 -0.01327014
+v 0.03373940 -0.05721480 -0.01024537
+v 0.03373940 -0.05809383 -0.00854616
+v 0.03428139 -0.05809375 -0.02861758
+v 0.03878623 -0.03881616 -0.02898846
+v 0.03373940 -0.05622729 -0.02197621
+v 0.03373940 -0.05570979 -0.01703130
+v 0.03373940 -0.05809377 -0.02380634
+v 0.03373940 -0.05797581 -0.02371361
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 14
+f 1 14 19
+f 1 19 15
+f 1 15 8
+f 1 8 5
+f 1 5 9
+f 1 9 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 7 4
+f 2 4 3
+f 2 6 7
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 15 16
+f 10 16 11
+f 11 16 15
+f 11 15 17
+f 11 17 18
+f 11 18 12
+f 12 18 17
+f 12 17 20
+f 12 20 19
+f 12 19 14
+f 12 14 13
+f 15 19 20
+f 15 20 17
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_63.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7960ac03f1026b701358c9346cd7ca28852060c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_63.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03373845 -0.08422256 -0.00078573
+v 0.03602064 -0.08422255 -0.00293151
+v 0.02757742 -0.08421979 0.00607410
+v 0.02472103 -0.08421980 0.00728597
+v 0.02382309 -0.08421980 0.00719147
+v 0.03373845 -0.08422238 -0.04950498
+v 0.03769932 -0.08422254 -0.00454918
+v 0.03100657 -0.08421978 0.00251631
+v 0.03878623 -0.08035434 -0.00297042
+v 0.03878623 -0.08022595 -0.00288702
+v 0.03878623 -0.07464135 -0.00015752
+v 0.03878623 -0.06510759 0.00257199
+v 0.03878623 -0.05990531 0.00309456
+v 0.03108274 -0.06183662 -0.00021863
+v 0.02382309 -0.08178611 0.00566830
+v 0.02382309 -0.08421959 -0.04950498
+v 0.03878623 -0.08422238 -0.04950498
+v 0.03878623 -0.08060832 -0.00314275
+v 0.03878623 -0.08422254 -0.00635587
+v 0.03878623 -0.05853777 0.00165477
+v 0.02382309 -0.08174425 0.00559048
+v 0.03478727 -0.05809677 -0.00551636
+v 0.03373845 -0.05610403 -0.01327118
+v 0.02586651 -0.06682672 -0.01552819
+v 0.02382309 -0.07129764 -0.04950493
+v 0.03878623 -0.05904831 -0.04950489
+v 0.03878623 -0.05809679 -0.00114697
+v 0.02382309 -0.07548138 -0.00831817
+v 0.03373845 -0.05571049 -0.01703464
+v 0.02580646 -0.06679601 -0.01856898
+v 0.02382309 -0.06940545 -0.03930968
+v 0.02431967 -0.06990509 -0.01856899
+v 0.02382309 -0.06999710 -0.04406265
+v 0.02593829 -0.06702476 -0.04226707
+v 0.03878623 -0.05833106 -0.04628065
+v 0.03373845 -0.05622958 -0.02197661
+v 0.03878623 -0.05809668 -0.02865300
+v 0.03878623 -0.05811617 -0.04457959
+v 0.02573467 -0.06679036 -0.03917070
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 6
+f 1 6 17
+f 1 17 19
+f 1 19 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 21
+f 5 21 28
+f 5 28 31
+f 5 31 33
+f 5 33 25
+f 5 25 16
+f 6 16 25
+f 6 25 26
+f 6 26 17
+f 7 18 8
+f 7 19 18
+f 8 18 9
+f 9 18 19
+f 9 19 17
+f 9 17 26
+f 9 26 35
+f 9 35 38
+f 9 38 37
+f 9 37 27
+f 9 27 20
+f 9 20 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 20 14
+f 14 21 15
+f 14 20 22
+f 14 22 23
+f 14 23 24
+f 14 24 21
+f 20 27 23
+f 20 23 22
+f 21 24 28
+f 23 27 29
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 28
+f 25 33 34
+f 25 34 26
+f 26 34 36
+f 26 36 35
+f 27 37 29
+f 28 32 31
+f 29 37 38
+f 29 38 36
+f 29 36 39
+f 29 39 31
+f 29 31 30
+f 31 39 33
+f 33 39 34
+f 34 39 36
+f 35 36 38
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_64.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0381c3b2b65e73c08cad13152a23edca61091c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_64.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05762728 0.02765372 -0.04305988
+v 0.05762728 0.05223318 -0.04305979
+v 0.05255859 0.02765372 -0.04305988
+v 0.05762728 0.02765386 -0.08048360
+v 0.05501921 0.05609284 -0.04305977
+v 0.05762728 0.04853003 -0.06766731
+v 0.04395657 0.04344702 -0.04305982
+v 0.05232473 0.02765372 -0.04409413
+v 0.05284329 0.02765389 -0.09065365
+v 0.05275940 0.03848438 -0.09065361
+v 0.05275686 0.03853466 -0.09065361
+v 0.05236540 0.04371811 -0.09065359
+v 0.05762728 0.02839953 -0.08023203
+v 0.05495568 0.05618221 -0.04305977
+v 0.04991494 0.05618228 -0.06379587
+v 0.05762728 0.04797426 -0.06987554
+v 0.05179346 0.05141781 -0.07796778
+v 0.04281776 0.04753569 -0.04305981
+v 0.03636879 0.04092530 -0.08772791
+v 0.03604087 0.04040584 -0.09065360
+v 0.04523262 0.02765389 -0.09065365
+v 0.05229931 0.04401972 -0.09065359
+v 0.05762728 0.04347787 -0.07500951
+v 0.04288894 0.05618221 -0.04305977
+v 0.04868717 0.05618230 -0.06871549
+v 0.05200953 0.04670361 -0.08917210
+v 0.05017676 0.04839045 -0.09065357
+v 0.04999120 0.04862226 -0.09065357
+v 0.05053010 0.05003818 -0.08554758
+v 0.05125203 0.05083134 -0.08140129
+v 0.04710861 0.05166642 -0.09065356
+v 0.04209330 0.05618238 -0.09022028
+v 0.04406333 0.05618236 -0.08396358
+v 0.04817877 0.05618231 -0.07060229
+v 0.04266524 0.04869191 -0.04305980
+v 0.03165852 0.05618238 -0.09065354
+v 0.04166118 0.05618238 -0.09065354
+f 1 2 5
+f 1 5 14
+f 1 14 24
+f 1 24 35
+f 1 35 18
+f 1 18 7
+f 1 7 3
+f 1 3 8
+f 1 8 21
+f 1 21 9
+f 1 9 4
+f 1 4 13
+f 1 13 23
+f 1 23 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
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+f 4 12 13
+f 5 6 14
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+f 6 16 17
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+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 9 21 20
+f 9 20 36
+f 9 36 37
+f 9 37 31
+f 9 31 28
+f 9 28 27
+f 9 27 22
+f 9 22 12
+f 9 12 11
+f 9 11 10
+f 12 22 23
+f 12 23 13
+f 14 15 25
+f 14 25 34
+f 14 34 33
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+f 14 37 36
+f 14 36 24
+f 15 17 25
+f 16 23 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 25
+f 18 35 36
+f 18 36 19
+f 19 36 20
+f 22 27 26
+f 22 26 23
+f 24 36 35
+f 28 31 29
+f 29 31 30
+f 31 37 32
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_65.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87643ef0422f4ec2d6188429eb8689a80b61f976
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_65.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_66.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2580968cf3e07b11db553d87fa336ac920924d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_66.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.03869209 0.07152444 -0.01327996
+v -0.03869209 0.07207672 -0.01753006
+v -0.03869209 0.07790943 -0.01237853
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+v -0.03973224 0.04880945 -0.01249161
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_67.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23911fc510391e33950666efd8050962d14855a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_67.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.06449076 -0.00410641 -0.05432314
+v -0.06269896 -0.02610137 -0.05432322
+v -0.05411877 -0.00410641 -0.05432314
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_68.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19df40bd9bb1fcdec6f0a93e67c7f6805d89d5ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_68.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.07981722 -0.04732789 -0.08555127
+v -0.08168563 -0.04732789 -0.08555127
+v -0.08010186 -0.04703961 -0.08886129
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_69.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5da0b40ccf813d6c2306e61c217df14aafd649a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_69.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_7.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b97a5b33b6359dddd7aa076b6fe007da12dd605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_7.obj
@@ -0,0 +1,253 @@
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+f 53 68 60
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+f 57 62 71
+f 57 71 72
+f 57 72 58
+f 59 70 60
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+f 62 76 77
+f 62 77 71
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+f 63 83 81
+f 63 81 79
+f 63 79 65
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+f 76 85 77
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_70.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f446971de54de71cc844798f03a4dcb55181b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_70.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00436094 0.06963606 -0.13136954
+v -0.01972253 0.06711437 -0.13136955
+v -0.02573586 0.07770109 -0.09977798
+v -0.02222315 0.07948861 -0.09532489
+v -0.00436094 0.07984328 -0.09532489
+v -0.00436094 0.05478255 -0.13136960
+v -0.02136605 0.06655399 -0.13136956
+v -0.02054999 0.06723850 -0.13061091
+v -0.02491068 0.07213994 -0.11415352
+v -0.02764838 0.07711588 -0.09827480
+v -0.02764838 0.07803093 -0.09580830
+v -0.02737711 0.07827919 -0.09557188
+v -0.02735203 0.07837849 -0.09532489
+v -0.02263346 0.07939994 -0.09532489
+v -0.00436094 0.06464929 -0.09532494
+v -0.00436094 0.06158854 -0.10315844
+v -0.02764838 0.04361406 -0.13136964
+v -0.02259015 0.06595461 -0.13136956
+v -0.02764838 0.07609800 -0.10065662
+v -0.02395101 0.06640147 -0.12838083
+v -0.02506797 0.06716755 -0.12494750
+v -0.02764838 0.07817987 -0.09537429
+v -0.02764838 0.07819053 -0.09532489
+v -0.02764838 0.05718353 -0.09532497
+v -0.02764838 0.05708068 -0.09546964
+v -0.00436094 0.06164528 -0.10296084
+v -0.02764838 0.05974082 -0.13136958
+v -0.02586808 0.06325558 -0.13136957
+v -0.02764838 0.07365082 -0.10605890
+v -0.02764838 0.07202289 -0.10951342
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 26
+f 1 26 16
+f 1 16 6
+f 1 6 17
+f 1 17 27
+f 1 27 28
+f 1 28 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 8 9
+f 4 14 13
+f 4 13 23
+f 4 23 24
+f 4 24 15
+f 4 15 5
+f 6 16 17
+f 7 18 9
+f 7 9 8
+f 9 19 10
+f 9 18 20
+f 9 20 21
+f 9 21 19
+f 10 19 29
+f 10 29 30
+f 10 30 27
+f 10 27 17
+f 10 17 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 11
+f 11 22 12
+f 12 22 13
+f 13 22 23
+f 15 24 25
+f 15 25 26
+f 16 26 17
+f 17 26 25
+f 18 28 20
+f 19 21 29
+f 20 28 21
+f 21 30 29
+f 21 28 30
+f 27 30 28
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_71.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf3f44abea40022291439b85ddef930f9a22899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_71.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05301621 -0.02598995 -0.00119639
+v -0.05533361 -0.02598995 -0.00125650
+v -0.05019774 -0.02598995 -0.00133752
+v -0.05279130 -0.01829110 -0.00168768
+v -0.05279130 -0.01324669 -0.00215284
+v -0.06037839 -0.02598994 -0.00281930
+v -0.04747891 -0.02598994 -0.00232015
+v -0.04769242 -0.02345151 -0.00162759
+v -0.04769242 -0.01829110 -0.00244033
+v -0.04754154 -0.01324669 -0.00387767
+v -0.05790440 -0.01324669 -0.00384370
+v -0.06284669 -0.02598994 -0.00386987
+v -0.04444407 -0.02598993 -0.00427234
+v -0.04424762 -0.02345151 -0.00396656
+v -0.04449247 -0.01829109 -0.00450752
+v -0.04751877 -0.01324669 -0.00389335
+v -0.06086808 -0.01324668 -0.00548490
+v -0.06575058 -0.02598993 -0.00536996
+v -0.04422201 -0.02598993 -0.00575153
+v -0.04361846 -0.02345149 -0.00825774
+v -0.04489672 -0.01503043 -0.00518437
+v -0.04753300 -0.01324667 -0.00716793
+v -0.04489672 -0.01503043 -0.00616439
+v -0.06331644 -0.01324667 -0.00684386
+v -0.06803666 -0.01324666 -0.00962189
+v -0.06853487 -0.01324666 -0.01007923
+v -0.07151562 -0.01324665 -0.01314995
+v -0.07186864 -0.01324665 -0.01369092
+v -0.06969358 -0.02598990 -0.01265607
+v -0.04388037 -0.02598992 -0.00809049
+v -0.04372949 -0.02598991 -0.01079013
+v -0.04409959 -0.02598990 -0.01352372
+v -0.04438712 -0.02306479 -0.01365176
+v -0.05599126 -0.01324660 -0.02789204
+v -0.04472022 -0.02452672 -0.01666238
+v -0.04547466 -0.02108643 -0.01552556
+v -0.07239247 -0.01324663 -0.01844205
+v -0.07094623 -0.02598989 -0.01502380
+v -0.04467467 -0.02598989 -0.01671465
+v -0.05671438 -0.01765360 -0.02789205
+v -0.07270280 -0.01324660 -0.02789204
+v -0.07126224 -0.02598988 -0.01855970
+v -0.05964957 -0.02598985 -0.02789209
+v -0.05852502 -0.02301859 -0.02789207
+v -0.06957117 -0.02598985 -0.02789209
+v -0.07107719 -0.02598987 -0.02181336
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 29
+f 1 29 38
+f 1 38 42
+f 1 42 46
+f 1 46 45
+f 1 45 43
+f 1 43 39
+f 1 39 32
+f 1 32 31
+f 1 31 30
+f 1 30 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 16
+f 5 16 22
+f 5 22 34
+f 5 34 41
+f 5 41 37
+f 5 37 28
+f 5 28 27
+f 5 27 26
+f 5 26 25
+f 5 25 24
+f 5 24 17
+f 5 17 11
+f 5 11 6
+f 6 11 12
+f 7 13 8
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+f 8 14 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 23
+f 20 23 21
+f 22 23 34
+f 23 33 35
+f 23 35 36
+f 23 36 34
+f 28 37 38
+f 28 38 29
+f 32 39 35
+f 32 35 33
+f 34 36 35
+f 34 35 39
+f 34 39 40
+f 34 40 44
+f 34 44 43
+f 34 43 45
+f 34 45 41
+f 37 42 38
+f 37 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 46
+f 41 46 42
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_72.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a2d04f3d6fb38aa6c1007b46bf8b553c6489d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_72.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05007984 -0.00054091 -0.04129542
+v -0.05101656 -0.00171000 -0.04015970
+v -0.05232549 -0.00410302 -0.04015971
+v -0.05007984 -0.00054090 -0.04247133
+v -0.05007984 0.00036419 -0.04129542
+v -0.05060093 0.00146814 -0.04015968
+v -0.05326635 -0.00410295 -0.05969110
+v -0.07075389 -0.00410302 -0.04015971
+v -0.05110755 0.00235616 -0.05969107
+v -0.05007984 0.00036420 -0.04247133
+v -0.05325808 -0.00408582 -0.05969110
+v -0.05268529 -0.00280359 -0.05969109
+v -0.05265428 -0.00271103 -0.05969109
+v -0.05221797 0.03091819 -0.04015958
+v -0.06398799 -0.00410295 -0.05969110
+v -0.07120467 -0.00056834 -0.04015969
+v -0.06615300 0.00292528 -0.05969107
+v -0.05356619 0.03091826 -0.05969097
+v -0.06479237 0.03091819 -0.04015958
+v -0.07091725 0.00235609 -0.04015968
+v -0.06604132 0.00786220 -0.05969105
+v -0.06610544 0.00506461 -0.05969106
+v -0.06062365 0.03091826 -0.05969097
+v -0.06625225 0.02818917 -0.04015959
+v -0.06802851 0.02337911 -0.04015960
+v -0.06599998 0.00805076 -0.05969105
+v -0.06797887 0.02354025 -0.04015960
+f 1 2 3
+f 1 3 4
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+f 1 5 6
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+f 2 14 19
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+f 16 20 21
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+f 23 25 27
+f 23 27 24
+f 23 26 25
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_73.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23dbd5cb94bb1d22b595e290c9522b5867e120f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_73.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.04921461 0.03127624 0.00769452
+v 0.05437591 0.03127624 0.00719270
+v 0.04962738 0.03890360 0.00651747
+v 0.04558357 0.04241684 0.00567570
+v 0.04482179 0.03848333 0.00611044
+v 0.04385866 0.03127625 0.00657062
+v 0.05326847 0.03746332 0.00579825
+v 0.05819153 0.03127625 0.00566871
+v 0.04820114 0.04241684 0.00567570
+v 0.04681182 0.04287913 0.00500274
+v 0.04505335 0.04287913 0.00471367
+v 0.04081490 0.03213498 0.00562016
+v 0.04081490 0.03127625 0.00562015
+v 0.05244629 0.04287914 0.00182990
+v 0.05160398 0.04090500 0.00445234
+v 0.05781566 0.03222357 0.00546522
+v 0.06788658 0.03193283 -0.00471240
+v 0.06813827 0.03127629 -0.00448809
+v 0.04863405 0.04287913 0.00500274
+v 0.04406673 0.04287914 0.00326600
+v 0.04377141 0.04287914 0.00250517
+v 0.04081490 0.03213499 0.00325671
+v 0.04081490 0.03127626 0.00390885
+v 0.05031532 0.04287914 0.00380715
+v 0.05804722 0.04287917 -0.00451348
+v 0.06876918 0.03127629 -0.00527436
+v 0.07251431 0.03128426 -0.01031808
+v 0.06954773 0.03332882 -0.00831307
+v 0.06621537 0.03537337 -0.00630806
+v 0.04409693 0.04287916 -0.00236510
+v 0.04128807 0.03127626 0.00165409
+v 0.04083167 0.03127626 0.00304395
+v 0.05843650 0.04287917 -0.00501299
+v 0.07251095 0.03127631 -0.01030651
+v 0.07252438 0.03127631 -0.01032733
+v 0.07334991 0.03313234 -0.01375223
+v 0.07121224 0.03472482 -0.01226524
+v 0.06780940 0.03656264 -0.00974223
+v 0.04443922 0.04287916 -0.00319300
+v 0.04196933 0.03127627 0.00038449
+v 0.06187289 0.04287919 -0.00958957
+v 0.07430969 0.03127632 -0.01373143
+v 0.07430633 0.03321867 -0.01593067
+v 0.07237673 0.03605834 -0.01569941
+v 0.04416069 0.03127628 -0.00325087
+v 0.04279150 0.03127627 -0.00099149
+v 0.05305035 0.04287921 -0.01593063
+v 0.06290985 0.04287919 -0.01126849
+v 0.07509496 0.03127633 -0.01593068
+v 0.07262170 0.03583912 -0.01593066
+v 0.07244384 0.03611400 -0.01593066
+v 0.06407433 0.04287920 -0.01318099
+v 0.05452358 0.03527800 -0.01593066
+v 0.05537596 0.03359010 -0.01593067
+v 0.05461418 0.03127632 -0.01393725
+v 0.06492337 0.04287921 -0.01593063
+v 0.05690957 0.03127633 -0.01593068
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 23
+f 1 23 32
+f 1 32 31
+f 1 31 40
+f 1 40 46
+f 1 46 45
+f 1 45 55
+f 1 55 57
+f 1 57 49
+f 1 49 42
+f 1 42 35
+f 1 35 34
+f 1 34 26
+f 1 26 18
+f 1 18 8
+f 1 8 2
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+f 4 10 11
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+f 4 12 5
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+f 7 17 14
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+f 14 24 15
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+f 16 18 17
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+f 17 29 25
+f 21 30 22
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+f 22 32 23
+f 22 30 31
+f 25 29 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
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+f 28 38 29
+f 29 38 33
+f 30 39 31
+f 31 39 40
+f 33 38 41
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 37
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+f 38 44 41
+f 39 45 46
+f 39 46 40
+f 39 47 45
+f 41 44 48
+f 42 49 43
+f 43 50 44
+f 43 49 57
+f 43 57 54
+f 43 54 53
+f 43 53 47
+f 43 47 56
+f 43 56 51
+f 43 51 50
+f 44 50 51
+f 44 51 52
+f 44 52 48
+f 45 47 53
+f 45 53 54
+f 45 54 55
+f 51 56 52
+f 54 57 55
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_74.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8736287ede03165b83f0daf2c2c9a1d767429f8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_74.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03869209 0.06236896 -0.03920368
+v -0.03869209 0.06257667 -0.04015945
+v -0.03869209 0.06353211 -0.03514793
+v -0.04588316 0.03850335 -0.02051345
+v -0.04445788 0.04513343 -0.04015951
+v -0.03869209 0.08093799 -0.04015938
+v -0.04474672 0.04413221 -0.02051343
+v -0.03869209 0.07706211 -0.02051331
+v -0.04603899 0.03850335 -0.02051345
+v -0.04766572 0.03850339 -0.03402110
+v -0.04858172 0.03850341 -0.03926724
+v -0.04882496 0.03850342 -0.03996531
+v -0.04885158 0.03857404 -0.04015954
+v -0.04035682 0.08093799 -0.04015938
+v -0.03869209 0.08093792 -0.02051329
+v -0.06822795 0.04076320 -0.02051344
+v -0.06838378 0.03850335 -0.02052115
+v -0.04890477 0.03850342 -0.04015954
+v -0.06595508 0.07239289 -0.03669980
+v -0.06807211 0.08093796 -0.03313056
+v -0.06022350 0.06135536 -0.04015945
+v -0.04204058 0.08093792 -0.02051329
+v -0.06766543 0.04868100 -0.02051341
+v -0.07752085 0.05396926 -0.02997105
+v -0.07175128 0.03850336 -0.02538651
+v -0.06290305 0.03850342 -0.04015954
+v -0.07139400 0.07812559 -0.03259404
+v -0.06185784 0.05898334 -0.04015946
+v -0.06321852 0.05396930 -0.04015948
+v -0.07319178 0.05396928 -0.03505181
+v -0.07752085 0.05396927 -0.03281913
+v -0.07700015 0.05913286 -0.03235564
+v -0.06810632 0.08093795 -0.02959596
+v -0.05795444 0.08093793 -0.02467482
+v -0.05841813 0.06914845 -0.02051334
+v -0.06679125 0.05425170 -0.02051339
+v -0.07170946 0.06302112 -0.02580181
+v -0.07652125 0.04880981 -0.02997107
+v -0.07700015 0.05913285 -0.03019027
+v -0.07175128 0.03850337 -0.02748458
+v -0.07581810 0.04609300 -0.03045955
+v -0.07581810 0.04609301 -0.03152301
+v -0.07652125 0.04880982 -0.03213645
+v -0.07139400 0.07812558 -0.03089211
+v -0.06698129 0.08093795 -0.02884211
+v -0.06348078 0.08093794 -0.02713635
+v -0.06242416 0.06472430 -0.02051335
+v -0.06379244 0.06187041 -0.02051336
+f 1 2 6
+f 1 6 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 18
+f 2 18 26
+f 2 26 29
+f 2 29 28
+f 2 28 21
+f 2 21 14
+f 2 14 6
+f 3 7 4
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+f 4 7 8
+f 4 8 15
+f 4 15 22
+f 4 22 35
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+f 4 36 23
+f 4 23 16
+f 4 16 9
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+f 4 17 25
+f 4 25 40
+f 4 40 26
+f 4 26 18
+f 4 18 12
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+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
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+f 6 34 22
+f 6 22 15
+f 9 16 17
+f 12 18 13
+f 14 19 20
+f 14 21 19
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 19 27 20
+f 19 21 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 27
+f 20 27 33
+f 22 34 35
+f 23 36 37
+f 23 37 24
+f 24 38 25
+f 24 37 39
+f 24 39 32
+f 24 32 31
+f 24 31 43
+f 24 43 38
+f 25 38 41
+f 25 41 42
+f 25 42 40
+f 26 40 42
+f 26 42 43
+f 26 43 31
+f 26 31 30
+f 26 30 29
+f 27 44 33
+f 27 32 39
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+f 34 46 47
+f 34 47 35
+f 36 48 37
+f 37 48 47
+f 37 47 45
+f 37 44 39
+f 38 43 42
+f 38 42 41
+f 45 47 46
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_75.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693fdff7293f761803b2007fa23f718dc3f1800e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_75.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.07509320 0.03127633 -0.01593068
+v 0.08257590 0.03127638 -0.03123201
+v 0.08280819 0.03332322 -0.03101691
+v 0.08283104 0.03661269 -0.03100096
+v 0.07430876 0.03321867 -0.01593067
+v 0.05691005 0.03127633 -0.01593068
+v 0.08267491 0.03127639 -0.03259696
+v 0.08280819 0.03332323 -0.03331395
+v 0.07244284 0.03611400 -0.01593066
+v 0.07262183 0.03583912 -0.01593066
+v 0.08283104 0.03661270 -0.03251463
+v 0.07401554 0.04287927 -0.03390080
+v 0.06492587 0.04287921 -0.01593063
+v 0.05537542 0.03359010 -0.01593067
+v 0.04575264 0.03977149 -0.01987415
+v 0.05161314 0.03127642 -0.04142670
+v 0.08267491 0.03127639 -0.03385836
+v 0.08174957 0.03127640 -0.03617667
+v 0.07396604 0.04287929 -0.03797708
+v 0.05304875 0.04287921 -0.01593063
+v 0.05452244 0.03527800 -0.01593066
+v 0.04536804 0.04287922 -0.01938286
+v 0.04437035 0.04287923 -0.02295724
+v 0.04564602 0.03968973 -0.02371674
+v 0.05158648 0.03127642 -0.04204014
+v 0.06769809 0.04287930 -0.04212507
+v 0.07024944 0.04287930 -0.04055298
+v 0.06806746 0.03127643 -0.04305987
+v 0.06676132 0.03850282 -0.04305984
+v 0.06588547 0.04287931 -0.04305982
+v 0.04839157 0.04287922 -0.01787450
+v 0.04434369 0.04287924 -0.02371673
+v 0.04393242 0.04287929 -0.03944029
+v 0.05158268 0.03127643 -0.04305987
+v 0.05157506 0.03127643 -0.04266154
+v 0.05157506 0.03127643 -0.04232163
+v 0.04443127 0.04287931 -0.04305982
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 13
+f 1 13 20
+f 1 20 21
+f 1 21 14
+f 1 14 6
+f 1 6 16
+f 1 16 25
+f 1 25 36
+f 1 36 35
+f 1 35 34
+f 1 34 28
+f 1 28 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 3
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+f 3 17 8
+f 3 8 11
+f 3 11 4
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 6 14 15
+f 6 15 16
+f 8 17 18
+f 8 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 27
+f 12 27 26
+f 12 26 30
+f 12 30 37
+f 12 37 33
+f 12 33 32
+f 12 32 23
+f 12 23 22
+f 12 22 31
+f 12 31 20
+f 12 20 13
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 15 21 22
+f 16 24 25
+f 18 26 27
+f 18 27 19
+f 18 28 29
+f 18 29 30
+f 18 30 26
+f 20 31 21
+f 21 31 22
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 28 34 37
+f 28 37 30
+f 28 30 29
+f 33 37 34
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_76.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d024e1f26adb8b6b95afb02a7ac6e736c02c552
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_76.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 0.06821786 -0.14928132
+v 0.01136462 0.06821786 -0.14091906
+v 0.01136462 0.06921786 -0.14928132
+v 0.01136462 0.06921786 -0.14091906
+v 0.01413801 0.06821786 -0.14928132
+v 0.01413801 0.06821786 -0.14091906
+v 0.01413801 0.06921786 -0.14928132
+v 0.01413801 0.06921786 -0.14091906
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_77.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d729ff51e2904652a02c100a723ac36727c07e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_77.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05599197 -0.01324660 -0.02789204
+v -0.05671419 -0.01765360 -0.02789205
+v -0.05418496 -0.02598982 -0.03488287
+v -0.05318932 -0.02598981 -0.03687950
+v -0.05248791 -0.02598981 -0.03917614
+v -0.05356974 -0.01324656 -0.03917609
+v -0.07270098 -0.01324660 -0.02789204
+v -0.05853013 -0.02301859 -0.02789207
+v -0.05753746 -0.02598984 -0.03039305
+v -0.05273161 -0.02598980 -0.04170555
+v -0.05411958 -0.02598975 -0.05431121
+v -0.05358757 -0.01324656 -0.03927955
+v -0.08284763 -0.01324659 -0.03045247
+v -0.06957138 -0.02598985 -0.02789209
+v -0.05965060 -0.02598985 -0.02789209
+v -0.05617922 -0.01324650 -0.05431116
+v -0.07843113 -0.02598975 -0.05431121
+v -0.08284763 -0.01324658 -0.03329742
+v -0.08204815 -0.01829100 -0.03091028
+v -0.08123975 -0.02112257 -0.03125686
+v -0.07325675 -0.02598982 -0.03417164
+v -0.06333895 -0.01324650 -0.05431116
+v -0.07929008 -0.02377316 -0.05431120
+v -0.08284466 -0.01324658 -0.03337501
+v -0.08180742 -0.01879866 -0.03435783
+v -0.08114166 -0.02106018 -0.03402162
+v -0.07826470 -0.01949838 -0.05431118
+v -0.08280008 -0.01324658 -0.03343449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 22
+f 1 22 28
+f 1 28 24
+f 1 24 18
+f 1 18 13
+f 1 13 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 15
+f 3 15 14
+f 3 14 21
+f 3 21 17
+f 3 17 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 11 16 12
+f 11 17 23
+f 11 23 27
+f 11 27 22
+f 11 22 16
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 17 21 20
+f 17 20 23
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 20 26 23
+f 22 27 28
+f 23 26 25
+f 23 25 24
+f 23 24 27
+f 24 28 27
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_78.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e052672f91c4f0561c23b5886da858fd14530f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_78.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.07325286 -0.02598982 -0.03646006
+v -0.07325286 -0.02598982 -0.03416978
+v -0.07324365 -0.02598981 -0.03797723
+v -0.07582684 -0.03091537 -0.03669516
+v -0.07582684 -0.03091537 -0.03635101
+v -0.07123604 -0.02598988 -0.01883816
+v -0.06986847 -0.02598979 -0.04359753
+v -0.08256339 -0.04925783 -0.03334826
+v -0.08193716 -0.04586198 -0.03297259
+v -0.08193716 -0.04586199 -0.03079136
+v -0.07218459 -0.02861568 -0.01883817
+v -0.06160779 -0.02598988 -0.01883816
+v -0.06823382 -0.04378419 -0.04359759
+v -0.07112552 -0.04680544 -0.04187927
+v -0.07735558 -0.04409292 -0.03787792
+v -0.05307545 -0.02598979 -0.04359753
+v -0.08256339 -0.04925784 -0.03020000
+v -0.07724968 -0.04743329 -0.03774221
+v -0.08203847 -0.05322602 -0.03245397
+v -0.07217078 -0.03415519 -0.01883819
+v -0.04733809 -0.03366263 -0.01883818
+v -0.04481478 -0.03089457 -0.02589809
+v -0.05319056 -0.02598981 -0.03687693
+v -0.06822462 -0.04380848 -0.04359759
+v -0.05831549 -0.05490830 -0.04359763
+v -0.05459498 -0.05854001 -0.04359765
+v -0.05156053 -0.06142596 -0.04359766
+v -0.06682022 -0.06142598 -0.03710244
+v -0.07311473 -0.06142599 -0.03417959
+v -0.07545388 -0.06142600 -0.03308413
+v -0.05273471 -0.02598980 -0.04170470
+v -0.04481478 -0.03089457 -0.02773759
+v -0.04422077 -0.03224391 -0.02853980
+v -0.04372347 -0.03338163 -0.02922324
+v -0.03596470 -0.06142596 -0.04250945
+v -0.03689944 -0.06142596 -0.04359766
+v -0.08203847 -0.05322603 -0.03043755
+v -0.07079860 -0.05436727 -0.01883826
+v -0.07658661 -0.06142600 -0.03220196
+v -0.04337812 -0.03964266 -0.01883821
+v -0.05249066 -0.02598981 -0.03917205
+v -0.04077193 -0.04415195 -0.01883822
+v -0.03978652 -0.04084975 -0.02583510
+v -0.03978652 -0.04084974 -0.02735469
+v -0.03553187 -0.06142597 -0.04122980
+v -0.07658661 -0.06142601 -0.03083262
+v -0.06818779 -0.06142605 -0.01883829
+v -0.06934815 -0.05949053 -0.01883828
+v -0.06946326 -0.05928935 -0.01883828
+v -0.06959220 -0.05906041 -0.01883828
+v -0.06964745 -0.05888698 -0.01883828
+v -0.03952408 -0.04921279 -0.01883824
+v -0.03947802 -0.04409297 -0.02485114
+v -0.03553187 -0.06142597 -0.04092928
+v -0.05367865 -0.06142605 -0.01883829
+v -0.03951946 -0.05309772 -0.01883826
+v -0.03657711 -0.06142598 -0.03861718
+v -0.04561137 -0.06142602 -0.02607027
+v -0.03968063 -0.05325729 -0.01883826
+v -0.03786641 -0.06142599 -0.03620571
+v -0.04334129 -0.06142602 -0.02847689
+v -0.04211186 -0.06142601 -0.03003525
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 41
+f 1 41 31
+f 1 31 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
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+f 5 10 6
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+f 21 40 22
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+f 22 44 32
+f 27 36 35
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+f 27 45 54
+f 27 54 57
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+f 27 61 58
+f 27 58 55
+f 27 55 47
+f 27 47 46
+f 27 46 39
+f 27 39 30
+f 27 30 29
+f 27 29 28
+f 31 41 32
+f 32 44 33
+f 33 44 34
+f 34 44 35
+f 35 44 45
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 42 52 43
+f 43 52 53
+f 43 53 54
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+f 43 45 44
+f 52 56 54
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+f 54 56 57
+f 55 58 59
+f 56 59 60
+f 56 60 57
+f 58 61 59
+f 59 62 60
+f 59 61 62
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_79.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4d029af4d513c481ebc006b620cdb18e8a385f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_79.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.03390923 0.12103656 -0.07986986
+v 0.03370178 0.14078693 -0.08453442
+v 0.03386680 0.12103656 -0.07987856
+v 0.03901070 0.12103656 -0.07988510
+v 0.04187969 0.12472720 -0.08251791
+v 0.03750431 0.14078694 -0.08645950
+v 0.02902936 0.14078694 -0.08579750
+v 0.02859087 0.12103657 -0.08097613
+v 0.04202585 0.12103657 -0.08162945
+v 0.04205414 0.12103657 -0.08165559
+v 0.04205414 0.12106557 -0.08166429
+v 0.04205414 0.12106558 -0.08398572
+v 0.04172174 0.12676296 -0.08597610
+v 0.04156144 0.12883544 -0.08813204
+v 0.04156144 0.12883544 -0.08811027
+v 0.03760332 0.14078694 -0.08730229
+v 0.02347526 0.14078695 -0.08965204
+v 0.02539658 0.12103657 -0.08227403
+v 0.04205414 0.12103658 -0.08398137
+v 0.04156144 0.12879871 -0.08813204
+v 0.03891641 0.13654922 -0.09070389
+v 0.03751845 0.14078695 -0.09037068
+v 0.03701161 0.13654923 -0.09382453
+v 0.02303207 0.14078695 -0.08997433
+v 0.02035167 0.14078696 -0.09227181
+v 0.02099054 0.12468083 -0.08781193
+v 0.02099054 0.12273209 -0.08781194
+v 0.02372044 0.12103658 -0.08457588
+v 0.03912623 0.12103659 -0.08640734
+v 0.04073634 0.12535748 -0.08727621
+v 0.03693381 0.13315440 -0.09366994
+v 0.03672164 0.13954774 -0.09361329
+v 0.03710119 0.14078696 -0.09146171
+v 0.03172861 0.13856178 -0.09871565
+v 0.03172861 0.13992088 -0.09871565
+v 0.01819934 0.14078697 -0.09539246
+v 0.02338567 0.12103658 -0.08513991
+v 0.01797539 0.14078697 -0.09600222
+v 0.02099054 0.12273210 -0.08875271
+v 0.03901542 0.12103659 -0.08645523
+v 0.03733458 0.12295056 -0.08851534
+v 0.03468483 0.14078697 -0.09495910
+v 0.03626195 0.14078696 -0.09295343
+v 0.03152116 0.14078698 -0.09847392
+v 0.02881248 0.13755070 -0.09940817
+v 0.02490622 0.14078699 -0.10185154
+v 0.03039902 0.14078698 -0.09932322
+v 0.02339040 0.12103658 -0.08546656
+v 0.01836673 0.14078699 -0.10104795
+v 0.01838558 0.14078699 -0.10117209
+v 0.02058978 0.12768518 -0.09399225
+v 0.02360492 0.12103660 -0.08942781
+v 0.02360021 0.12103660 -0.08937553
+v 0.03390923 0.12103659 -0.08841082
+v 0.03390923 0.12209606 -0.08904018
+v 0.02559459 0.13415005 -0.09831497
+v 0.02382180 0.13614134 -0.09989380
+v 0.02376757 0.14078700 -0.10211722
+v 0.02090567 0.13367447 -0.09861985
+v 0.02371101 0.12729657 -0.09419042
+v 0.02850365 0.12103660 -0.08972834
+v 0.02991575 0.12103660 -0.08944305
+v 0.02886197 0.12103660 -0.08970655
+v 0.02219282 0.13367447 -0.09861985
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 28
+f 1 28 37
+f 1 37 48
+f 1 48 53
+f 1 53 52
+f 1 52 61
+f 1 61 63
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+f 1 54 40
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+f 1 19 10
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_8.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162e4ebe2558eff62c721dac0b744ee5864fe52e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05778132 -0.03299955 -0.00437976
+v 0.05930602 -0.03299955 -0.00530206
+v 0.06303219 -0.02710339 -0.00427250
+v 0.05941226 -0.02345228 -0.00234637
+v 0.05778132 -0.02527784 -0.00259518
+v 0.05778132 -0.03299941 -0.04449353
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+v 0.06349452 -0.02345228 -0.00382635
+v 0.06373060 -0.03299952 -0.01337114
+v 0.07288272 -0.03299945 -0.03372189
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+v 0.07447826 -0.00905863 -0.01877619
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+v 0.05778132 -0.00905870 -0.00067330
+v 0.05778132 -0.01181463 -0.00094356
+v 0.05778132 -0.02345228 -0.00227774
+v 0.05778132 -0.00905854 -0.04449344
+v 0.06854865 -0.03299941 -0.04449353
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+v 0.07787982 -0.00905859 -0.03007977
+v 0.07769686 -0.00905858 -0.03181284
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+f 1 17 6
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+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_80.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a6a6374df9841257c5f0637453fcedf5acb54d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_80.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05426548 -0.10115136 -0.07640041
+v 0.04937379 -0.10031630 -0.07640041
+v 0.05682752 -0.09971190 -0.07640041
+v 0.05769765 -0.09882719 -0.07524191
+v 0.05431010 -0.10072799 -0.07524192
+v 0.04921204 -0.09904036 -0.07115640
+v 0.04919159 -0.09601542 -0.07640039
+v 0.04899451 -0.09989293 -0.07492715
+v 0.03878723 -0.09506653 -0.06500054
+v 0.05777946 -0.09888267 -0.07558265
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+v 0.05688703 -0.09830457 -0.07263615
+v 0.05431010 -0.09894985 -0.07175673
+v 0.04921204 -0.09783157 -0.06857984
+v 0.03878723 -0.09403585 -0.06116165
+v 0.05210875 -0.09337299 -0.07640038
+v 0.03878723 -0.09054960 -0.06375442
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+v 0.05777946 -0.08931447 -0.07640037
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+v 0.05777946 -0.07708055 -0.05589488
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_81.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f05ec9a160fdd9cb35b5c32e38897e637aee451
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_81.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06180067 -0.07230374 -0.12942205
+v 0.06209174 -0.07230374 -0.12942205
+v 0.06180067 -0.07269939 -0.12942205
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_82.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4ee90dda44369489da939cadf5012820814b02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_82.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03878857 -0.07132275 -0.04325216
+v 0.04599894 -0.07132275 -0.04325216
+v 0.03878857 -0.08544495 -0.04325221
+v 0.03878857 -0.07132291 0.00066242
+v 0.04545602 -0.07488111 -0.04325218
+v 0.05778132 -0.07132278 -0.03566969
+v 0.03878857 -0.08880650 -0.03899440
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+v 0.05778132 -0.08880652 -0.03227007
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+v 0.05778132 -0.07154540 -0.00396586
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+v 0.03878857 -0.08658841 -0.00898338
+v 0.03878857 -0.08838554 -0.01318493
+v 0.04920995 -0.07196648 0.00414182
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+v 0.03878857 -0.08060818 -0.00314059
+v 0.05627343 -0.07132291 -0.00129300
+v 0.05624554 -0.07143073 -0.00133051
+v 0.05738529 -0.07311319 -0.00476303
+v 0.05778132 -0.07389881 -0.00639488
+v 0.05725142 -0.07801169 -0.01041827
+v 0.05194684 -0.07773957 -0.00543830
+v 0.05284487 -0.07341445 0.00100002
+v 0.03878857 -0.08612969 -0.00822373
+v 0.03878857 -0.08520032 -0.00722024
+v 0.03878857 -0.08595854 -0.00798927
+v 0.05381915 -0.07132292 0.00173624
+v 0.05609121 -0.07132291 -0.00104447
+f 1 2 5
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+f 1 8 3
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+f 1 16 23
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+f 9 17 14
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+f 19 32 29
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+f 22 34 35
+f 23 24 28
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+f 27 39 40
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+f 30 39 43
+f 33 44 34
+f 34 44 43
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+f 34 39 35
+f 35 39 37
+f 37 39 38
+f 39 42 40
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_83.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a88f43ba10fc5343303219d4d090c2ec384432
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_83.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.07521242 0.01267568 -0.07009460
+v 0.07491165 0.01137838 -0.07009461
+v 0.07401841 0.01267569 -0.07411333
+v 0.07413690 0.01783611 -0.07425145
+v 0.07384219 0.02299652 -0.07466594
+v 0.07331353 0.02765026 -0.07562704
+v 0.07345937 0.02765024 -0.07170444
+v 0.07345937 0.02765024 -0.07131699
+v 0.07089510 0.02765020 -0.05996969
+v 0.07367205 0.00744696 -0.06481145
+v 0.07321631 0.00383180 -0.06494060
+v 0.07401841 0.00756917 -0.07008562
+v 0.06898101 0.02299658 -0.08964148
+v 0.06898708 0.02765031 -0.09025419
+v 0.07369635 0.01137839 -0.07389107
+v 0.06240626 -0.00147227 -0.09065376
+v 0.05199421 0.02765020 -0.05996969
+v 0.07014769 0.00746491 -0.05996976
+v 0.07259955 0.00419474 -0.06184397
+v 0.07259955 0.00568249 -0.06184397
+v 0.07312518 0.00420554 -0.06835860
+v 0.06247006 -0.00904411 -0.05996982
+v 0.06047394 -0.00905481 -0.08039375
+v 0.06133680 -0.00405607 -0.09065376
+v 0.07317985 0.00931926 -0.07353366
+v 0.05284796 0.02765031 -0.09065365
+v 0.06240322 0.00075575 -0.09065375
+v 0.04523717 0.02765031 -0.09065365
+v 0.05001633 0.00235481 -0.05996978
+v 0.06949447 0.00267465 -0.05996978
+v 0.06949142 0.00265667 -0.05996978
+v 0.05972350 -0.00905480 -0.08568595
+v 0.06234550 -0.00594633 -0.08432234
+v 0.06183202 -0.00511979 -0.08775838
+v 0.05913104 -0.00905489 -0.05996982
+v 0.06166492 -0.00905488 -0.06156169
+v 0.05847477 -0.00802701 -0.09065378
+v 0.04417682 0.00235492 -0.09065374
+v 0.05000721 -0.00262234 -0.05996980
+v 0.05800689 -0.00905478 -0.08976776
+v 0.05838667 -0.00813481 -0.09065378
+v 0.05162659 -0.00905489 -0.05996982
+v 0.04418290 0.00230460 -0.09065374
+v 0.04666211 -0.00022533 -0.07781971
+v 0.05001327 -0.00280560 -0.05996980
+v 0.05761192 -0.00905478 -0.09065378
+v 0.04652539 -0.00905478 -0.09065378
+v 0.05111009 -0.00724731 -0.05996982
+v 0.04483309 -0.00280549 -0.09065376
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
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+f 2 12 3
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+f 3 14 4
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+f 3 15 16
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+f 6 28 17
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+f 9 39 45
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+f 9 35 22
+f 9 22 31
+f 9 31 30
+f 9 30 18
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+f 9 20 10
+f 10 20 19
+f 10 19 11
+f 11 21 12
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+f 13 16 14
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+f 16 41 46
+f 16 46 47
+f 16 47 49
+f 16 49 43
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+f 38 43 44
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+f 38 45 39
+f 40 46 41
+f 42 48 47
+f 43 49 44
+f 44 49 45
+f 45 49 48
+f 47 48 49
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_84.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2619e33e8acb11c5aac0301d8d334e570f48052e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_84.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02765094 0.05973546 -0.13136958
+v -0.02936135 0.07136379 -0.10785496
+v -0.02765094 0.07202220 -0.10951342
+v -0.02765094 0.04361497 -0.13136964
+v -0.04382394 0.04243089 -0.13136964
+v -0.04545205 0.04156009 -0.13030402
+v -0.03013811 0.07243634 -0.10442163
+v -0.02765094 0.07365229 -0.10605890
+v -0.03487837 0.04095996 -0.09802794
+v -0.03269471 0.03348390 -0.13136968
+v -0.02765094 0.05707512 -0.09546964
+v -0.04523343 0.04055123 -0.13136965
+v -0.04557036 0.03848572 -0.13096740
+v -0.05380861 0.04364670 -0.09585784
+v -0.05025148 0.04624854 -0.10877603
+v -0.05043924 0.05158483 -0.09895943
+v -0.04559094 0.04662027 -0.12012399
+v -0.02956454 0.07700802 -0.09532490
+v -0.02913757 0.07666290 -0.09709979
+v -0.02765094 0.07609477 -0.10065662
+v -0.03492210 0.04296174 -0.09532502
+v -0.03632130 0.04034403 -0.09532503
+v -0.04696698 0.02394742 -0.09532509
+v -0.04682552 0.02394742 -0.09578733
+v -0.04466758 0.02394745 -0.10391017
+v -0.03755073 0.02394755 -0.13136971
+v -0.02765094 0.05718132 -0.09532497
+v -0.04544690 0.03848572 -0.13136966
+v -0.04642170 0.02394755 -0.13136971
+v -0.05392436 0.04363608 -0.09532502
+v -0.05307301 0.04879188 -0.09532500
+v -0.05291354 0.04880780 -0.09585782
+v -0.05066301 0.04702906 -0.10616485
+v -0.05131630 0.04891933 -0.10081197
+v -0.05136003 0.05177597 -0.09532499
+v -0.05100252 0.05213173 -0.09585781
+v -0.02771781 0.07815494 -0.09532489
+v -0.05109254 0.05222199 -0.09532499
+v -0.02765094 0.07802751 -0.09580830
+v -0.02765094 0.07711423 -0.09827480
+v -0.05369545 0.02394742 -0.09532509
+v -0.02765094 0.07819211 -0.09532489
+v -0.02765094 0.07817618 -0.09537429
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 40
+f 1 40 39
+f 1 39 43
+f 1 43 42
+f 1 42 27
+f 1 27 11
+f 1 11 4
+f 1 4 10
+f 1 10 26
+f 1 26 29
+f 1 29 28
+f 1 28 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
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+f 18 35 31
+f 18 31 30
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+f 18 41 23
+f 18 23 22
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+f 18 21 27
+f 18 27 42
+f 18 42 37
+f 19 37 39
+f 19 39 40
+f 19 40 20
+f 23 41 29
+f 23 29 26
+f 23 26 25
+f 23 25 24
+f 29 41 30
+f 31 35 32
+f 32 34 33
+f 35 38 36
+f 37 42 43
+f 37 43 39
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_85.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292d6c774563197351ee8a1ac854ad9d0b0f1cc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_85.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02880935 0.10199645 -0.05502266
+v 0.03296360 0.10016477 -0.05502266
+v 0.03382756 0.10109554 -0.06313291
+v 0.03287565 0.10126834 -0.06313291
+v 0.02880935 0.10183084 -0.06313291
+v 0.02375752 0.10155197 -0.06313291
+v 0.02571307 0.10022555 -0.05502266
+v 0.03314467 0.09969285 -0.05502266
+v 0.03779039 0.09929603 -0.06313292
+v 0.02297633 0.10098113 -0.06313291
+v 0.01136462 0.09131383 -0.05502269
+v 0.03319122 0.08982178 -0.05502270
+v 0.03715148 0.09851784 -0.06160549
+v 0.03699110 0.09525966 -0.06176507
+v 0.03743084 0.09521317 -0.06313293
+v 0.02097681 0.09909105 -0.06313292
+v 0.01136462 0.08982180 -0.06112443
+v 0.01136462 0.08982178 -0.05502270
+v 0.03461650 0.08982180 -0.06020433
+v 0.03647634 0.09265931 -0.06232159
+v 0.03697040 0.09356382 -0.06313294
+v 0.02097681 0.09843918 -0.06313292
+v 0.02097940 0.09753823 -0.06313292
+v 0.03017255 0.08982181 -0.06310674
+v 0.03453373 0.08982180 -0.06086563
+v 0.03647634 0.09265931 -0.06239463
+v 0.03355338 0.08982181 -0.06312580
+v 0.03353526 0.09093249 -0.06313295
+v 0.03016737 0.09044984 -0.06313295
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 18
+f 1 18 12
+f 1 12 8
+f 1 8 2
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+f 20 26 21
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+f 21 27 28
+f 23 29 24
+f 24 29 27
+f 25 27 26
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_86.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b1f378b99b8229cd4b87da5764903b5781e721
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_86.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03432693 0.06422186 -0.09532142
+v -0.03432693 0.06951433 -0.08612053
+v -0.03432693 0.04908002 -0.09532148
+v -0.05109177 0.05222587 -0.09532147
+v -0.03432693 0.06971197 -0.08572637
+v -0.03432693 0.06754327 -0.05969508
+v -0.03434483 0.04872317 -0.09532148
+v -0.05135723 0.05178118 -0.09532147
+v -0.05538664 0.05146820 -0.08319403
+v -0.06022134 0.06135031 -0.04015946
+v -0.03869336 0.08382150 -0.04015938
+v -0.03432693 0.07186410 -0.08127711
+v -0.03432693 0.07769456 -0.05969504
+v -0.03869336 0.06256912 -0.04015946
+v -0.03516202 0.04220088 -0.09458715
+v -0.03492343 0.04296949 -0.09532150
+v -0.03470570 0.04424870 -0.09532150
+v -0.05306921 0.04879454 -0.09532148
+v -0.06321879 0.05397704 -0.04015949
+v -0.06185875 0.05897858 -0.04015947
+v -0.05496610 0.05023293 -0.08662817
+v -0.05548805 0.04679061 -0.08888521
+v -0.03432693 0.07546560 -0.06959784
+v -0.03432693 0.07417543 -0.07457626
+v -0.04446159 0.04513790 -0.04015952
+v -0.05221323 0.03091841 -0.04015958
+v -0.03632224 0.04034520 -0.09532151
+v -0.05392221 0.04363929 -0.09532150
+v -0.05446803 0.04862980 -0.09064006
+v -0.06479358 0.03091841 -0.04015958
+v -0.05548805 0.04518749 -0.08888521
+v -0.06082679 0.02773421 -0.06170926
+v -0.05428608 0.02773420 -0.05969523
+v -0.04582760 0.02773433 -0.09532156
+v -0.03755701 0.03858835 -0.09532152
+v -0.05274709 0.02773433 -0.09532156
+v -0.05577139 0.02773429 -0.08528376
+v -0.05703300 0.02773428 -0.08039175
+v -0.06109821 0.02773420 -0.06005699
+v -0.06115189 0.02773420 -0.05969523
+v -0.05809180 0.02773426 -0.07524597
+f 1 2 5
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+f 1 23 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
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+f 1 17 16
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+f 28 36 37
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+f 30 39 40
+f 31 38 41
+f 31 41 32
+f 32 41 38
+f 32 38 37
+f 32 37 36
+f 32 36 34
+f 32 34 33
+f 32 33 40
+f 32 40 39
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_87.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb640e09cea5100eff9b3c633b54ab52f25e93f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_87.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.07389933 0.02765376 -0.05434978
+v 0.07341512 0.02765375 -0.05087272
+v 0.05762728 0.02765376 -0.05434978
+v 0.07389455 0.02816143 -0.05434978
+v 0.07338804 0.02816142 -0.05092136
+v 0.06906358 0.02765372 -0.04305988
+v 0.05762728 0.02765372 -0.04305988
+v 0.05762728 0.04780148 -0.05434970
+v 0.07300418 0.03320678 -0.05434976
+v 0.07279392 0.03167175 -0.05153696
+v 0.06583339 0.04364390 -0.04305982
+v 0.05762728 0.05223326 -0.04305979
+v 0.05786460 0.05210574 -0.04305979
+v 0.06353179 0.04894909 -0.04305980
+v 0.06439828 0.04728896 -0.04305981
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 15
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 6 12 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 11
+f 9 11 10
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_88.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa86f4e5541bcf2ff54b66fdf3eea1495e220a7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_88.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05778228 -0.10099576 -0.08554917
+v 0.05932514 -0.10000655 -0.08554917
+v 0.05893490 -0.09966741 -0.08039679
+v 0.05778228 -0.10059303 -0.08203064
+v 0.05778228 -0.10088742 -0.08747115
+v 0.05778228 -0.10063068 -0.09041002
+v 0.05786888 -0.10057179 -0.09041002
+v 0.05900342 -0.09979927 -0.09041002
+v 0.05914715 -0.09969799 -0.09041002
+v 0.06187595 -0.09820713 -0.08554916
+v 0.06148476 -0.09797632 -0.08039678
+v 0.05778228 -0.09888548 -0.07558340
+v 0.05778228 -0.10033867 -0.08029849
+v 0.05778228 -0.09151581 -0.09040999
+v 0.06155329 -0.09797629 -0.09041001
+v 0.06170272 -0.09786089 -0.09041001
+v 0.06451147 -0.09615099 -0.08554915
+v 0.06451147 -0.09573176 -0.08039677
+v 0.06708039 -0.09315040 -0.07777652
+v 0.06025028 -0.09707899 -0.07524442
+v 0.05778228 -0.09877478 -0.07524442
+v 0.05924994 -0.09057607 -0.09040998
+v 0.05778228 -0.07695571 -0.05844831
+v 0.06558226 -0.09462712 -0.09041000
+v 0.06729072 -0.09340474 -0.08924732
+v 0.06750488 -0.09365441 -0.08554914
+v 0.06734689 -0.09346364 -0.08039676
+v 0.06717366 -0.08824205 -0.07238346
+v 0.06601722 -0.09168074 -0.07433935
+v 0.06261835 -0.09362855 -0.07195638
+v 0.06439536 -0.09423854 -0.07573252
+v 0.05778228 -0.09690002 -0.07169200
+v 0.05941270 -0.09047480 -0.09040998
+v 0.05778228 -0.07693686 -0.05831271
+v 0.05788983 -0.07696042 -0.05844492
+v 0.06432873 -0.08838568 -0.09040997
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+v 0.05778228 -0.07693686 -0.05592975
+v 0.05788983 -0.07696042 -0.05598398
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+v 0.06712608 -0.08790995 -0.07823411
+v 0.06719365 -0.08779690 -0.07524438
+v 0.06249653 -0.08194413 -0.06156686
+v 0.05803164 -0.08022717 -0.05598060
+v 0.05778228 -0.08137889 -0.05630264
+v 0.05778228 -0.08365643 -0.05763818
+v 0.05778228 -0.09258284 -0.06667520
+v 0.05778228 -0.07707818 -0.05589246
+v 0.05778228 -0.08025544 -0.05578400
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+f 35 41 36
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+f 49 59 50
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+f 51 53 52
+f 55 59 60
+f 55 60 56
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_89.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48273d351869d436c649bf9ad1cd76dd6ba299f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_89.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03869209 0.08093792 -0.02051329
+v -0.04204099 0.08093792 -0.02051329
+v -0.03869209 0.08093799 -0.04015938
+v -0.03869209 0.10090440 -0.02051322
+v -0.05795332 0.08093793 -0.02467482
+v -0.04274359 0.08279688 -0.02051329
+v -0.05788998 0.09378482 -0.02054402
+v -0.05799364 0.08978920 -0.02056519
+v -0.05636094 0.08718974 -0.02097674
+v -0.05976168 0.08786082 -0.02129404
+v -0.04035934 0.08093799 -0.04015938
+v -0.03869209 0.08382285 -0.04015937
+v -0.03869209 0.11590340 -0.02409777
+v -0.06150380 0.09326031 -0.02071902
+v -0.04199492 0.09493799 -0.02051324
+v -0.06348204 0.08093794 -0.02713635
+v -0.04336846 0.08493739 -0.02051328
+v -0.06150380 0.09130491 -0.02071902
+v -0.04385223 0.08816165 -0.02051327
+v -0.04410563 0.09009776 -0.02051326
+v -0.04323887 0.09211483 -0.02051325
+v -0.06646813 0.08656497 -0.02550172
+v -0.06698356 0.08093795 -0.02884211
+v -0.06807202 0.08093796 -0.03313056
+v -0.04543309 0.10837888 -0.03670545
+v -0.03969705 0.08209887 -0.04015938
+v -0.04259386 0.10858330 -0.03687083
+v -0.03960202 0.10850617 -0.03685160
+v -0.03903188 0.10557888 -0.03710930
+v -0.03869209 0.10447970 -0.03715740
+v -0.03869209 0.11961746 -0.02536698
+v -0.04069049 0.11925491 -0.02544391
+v -0.06575687 0.09281678 -0.02569979
+v -0.06639901 0.09009777 -0.02525556
+v -0.05597796 0.10444494 -0.02562281
+v -0.06810946 0.08093795 -0.02959596
+v -0.06712466 0.08986636 -0.02849593
+v -0.06703539 0.08799198 -0.03178439
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+v -0.05279319 0.10940863 -0.03254392
+v -0.03869209 0.12033869 -0.02807273
+v -0.03869209 0.10557888 -0.03691698
+v -0.03869209 0.10936236 -0.03549008
+v -0.03869209 0.12033869 -0.02737851
+v -0.04069049 0.11925492 -0.02711698
+v -0.05574473 0.10864884 -0.03016124
+v -0.06575687 0.09281679 -0.02652862
+v -0.06765161 0.08487957 -0.02870557
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_9.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3581f7be21666ffd6480b57770c2cfd3f85071e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_9.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.05274608 -0.10392534 -0.08555149
+v 0.05093227 -0.10392534 -0.08555149
+v 0.05263760 -0.10391895 -0.09070603
+v 0.05529481 -0.10258697 -0.08555149
+v 0.05231132 -0.10368955 -0.08144550
+v 0.05130815 -0.10368955 -0.08144550
+v 0.04937494 -0.10031815 -0.07640366
+v 0.04955152 -0.10086938 -0.09070602
+v 0.05093311 -0.10391895 -0.09070603
+v 0.05216754 -0.10368631 -0.09388105
+v 0.05518717 -0.10236707 -0.09070603
+v 0.05778048 -0.10099366 -0.08555148
+v 0.05778048 -0.10059218 -0.08203346
+v 0.05413102 -0.10245954 -0.07999518
+v 0.05778048 -0.10088851 -0.08747708
+v 0.05426724 -0.10115303 -0.07640366
+v 0.04919163 -0.09601625 -0.07640364
+v 0.04924376 -0.09571025 -0.10101506
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+v 0.05008381 -0.10110835 -0.09570376
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+v 0.05730706 -0.09859731 -0.09909437
+v 0.05778048 -0.09892553 -0.09718347
+v 0.05778048 -0.09936529 -0.09584583
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+v 0.05778048 -0.10033726 -0.08030386
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+v 0.05092806 -0.08164777 -0.11646883
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+v 0.04981893 -0.09592373 -0.10617940
+v 0.05086920 -0.09878211 -0.10447428
+v 0.05604656 -0.09778152 -0.10252419
+v 0.05778048 -0.09801416 -0.09954023
+v 0.05778048 -0.09841568 -0.09863870
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_90.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a6642c2c8b23a2d1341b367ce92daacae0caca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_90.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04109053 -0.03077430 -0.01867174
+v 0.04108250 -0.03076821 -0.01855986
+v 0.04504544 -0.00905869 -0.00214090
+v 0.04534544 -0.00905869 -0.00268633
+v 0.05008471 -0.00905867 -0.00713649
+v 0.05048317 -0.00905867 -0.00745535
+v 0.04112601 -0.03077430 -0.01867174
+v 0.04043327 -0.03377294 -0.01867175
+v 0.04504544 -0.00905870 0.00095548
+v 0.04713856 -0.03287700 -0.01867175
+v 0.04460003 -0.03110342 -0.01867174
+v 0.04377446 -0.03084745 -0.01867174
+v 0.05048317 -0.00905871 0.00192047
+v 0.05048317 -0.03756388 -0.01867177
+v 0.04812900 -0.03388874 -0.01867175
+v 0.03878673 -0.04810176 -0.01867181
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_91.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a418876b038acddba6d14504cd5a69a9372ec421
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_91.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.07389798 0.02765376 -0.05435087
+v 0.05762888 0.02765376 -0.05435087
+v 0.07394107 0.02765376 -0.05463440
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+v 0.05762888 0.04780149 -0.05435079
+v 0.05762888 0.02765386 -0.08048483
+v 0.07393629 0.02816349 -0.05463440
+v 0.07389477 0.02816349 -0.05435087
+v 0.07346042 0.02765382 -0.07170262
+v 0.07300371 0.03320658 -0.05435085
+v 0.07255179 0.03694459 -0.05637095
+v 0.06839828 0.04729672 -0.06137161
+v 0.06803579 0.05197045 -0.06662743
+v 0.06617383 0.05197045 -0.06662743
+v 0.06554145 0.05249251 -0.07009352
+v 0.05762888 0.04879635 -0.06215483
+v 0.05762888 0.02839751 -0.08023317
+v 0.06212571 0.03848618 -0.08767214
+v 0.06220395 0.03332490 -0.08768279
+v 0.06237482 0.02816361 -0.08737448
+v 0.06242272 0.02765388 -0.08731069
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+v 0.07298135 0.03332486 -0.07524312
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+v 0.07331510 0.02765384 -0.07562944
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+v 0.05762888 0.04347752 -0.07501272
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+v 0.06630796 0.05180553 -0.08369919
+v 0.06777549 0.05180553 -0.08369919
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+f 1 41 25
+f 1 25 9
+f 1 9 3
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+f 53 57 54
+f 53 55 57
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_92.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca972437efec53c71be619dc0e56a1628dbf9c2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_92.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01136715 0.10475139 -0.04439317
+v 0.01136715 0.09131386 -0.05502149
+v 0.01136715 0.10475139 -0.04283632
+v 0.01488591 0.10475141 -0.04809379
+v 0.01136715 0.08982178 -0.05502150
+v 0.01861255 0.10475142 -0.05072433
+v 0.02412392 0.10475143 -0.05347653
+v 0.02880884 0.10475143 -0.05469934
+v 0.02571345 0.10022546 -0.05502146
+v 0.01136715 0.08982174 -0.04283637
+v 0.02429124 0.10475139 -0.04283632
+v 0.03318955 0.08982178 -0.05502150
+v 0.02880884 0.10199523 -0.05502146
+v 0.03374981 0.10475143 -0.05461106
+v 0.03497681 0.08982174 -0.04283637
+v 0.03372699 0.10011584 -0.04283633
+v 0.03390953 0.10475140 -0.04597030
+v 0.03314645 0.09969352 -0.05502146
+v 0.03710379 0.10475142 -0.05291822
+v 0.03691872 0.10169123 -0.04947886
+v 0.03296393 0.10016409 -0.05502146
+v 0.03686547 0.10158746 -0.04646777
+v 0.03686547 0.10391255 -0.04646776
+v 0.03710885 0.10475141 -0.04783135
+v 0.03726096 0.10475141 -0.04928678
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+f 1 19 14
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+f 22 25 24
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_93.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc90982ca8eb837c8e2851444cad445df62efa96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_93.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.07659011 -0.06142787 -0.03220204
+v -0.07659011 -0.06142788 -0.03083229
+v -0.07545737 -0.06142787 -0.03308260
+v -0.07728551 -0.06990618 -0.03342048
+v -0.07728551 -0.06990619 -0.03031407
+v -0.07760095 -0.07506432 -0.02977444
+v -0.06643859 -0.06142790 -0.02367929
+v -0.07311307 -0.06142786 -0.03418024
+v -0.07113437 -0.06685599 -0.03677913
+v -0.07760095 -0.07506431 -0.03310252
+v -0.07297685 -0.07017618 -0.03606827
+v -0.07684820 -0.07811448 -0.03013830
+v -0.07187281 -0.07826905 -0.02599693
+v -0.07187281 -0.07674396 -0.02599692
+v -0.06164960 -0.07388558 -0.02367933
+v -0.05144072 -0.06142790 -0.02367929
+v -0.06681856 -0.06142785 -0.03710321
+v -0.05341225 -0.06142785 -0.03929696
+v -0.07113437 -0.06863618 -0.03677913
+v -0.07684820 -0.07811447 -0.03200948
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+v -0.06301174 -0.08044961 -0.02898257
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+v -0.00436094 -0.07668623 -0.03122675
+v -0.00436094 -0.07598976 -0.03917317
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_94.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a704d3366e63932b91a8e1f10c1b3bf3d0deb8ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_94.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00436094 0.07984374 -0.09532137
+v -0.02222260 0.07948944 -0.09532137
+v -0.00436094 0.08141334 -0.09171175
+v -0.00436094 0.06465425 -0.09532142
+v -0.02735233 0.07838123 -0.09532137
+v -0.02481826 0.08238971 -0.08823467
+v -0.00436094 0.08240619 -0.08942742
+v -0.00436094 0.06673881 -0.08769068
+v -0.03432394 0.04907751 -0.09532148
+v -0.02956082 0.07700936 -0.09532138
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+v -0.02541657 0.08794305 -0.06894511
+v -0.02219032 0.08966096 -0.06494140
+v -0.00436094 0.08259570 -0.08882407
+v -0.02995678 0.07733068 -0.09366131
+v -0.00436094 0.06678824 -0.08753025
+v -0.03432394 0.06754618 -0.05969272
+v -0.03432394 0.06423404 -0.09532142
+v -0.00436094 0.07197906 -0.07206650
+v -0.00436094 0.07642422 -0.05969269
+v -0.03085133 0.07513899 -0.09532138
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+v -0.02917662 0.08183352 -0.08136772
+v -0.02615275 0.08852804 -0.06494140
+v -0.02219620 0.09116054 -0.05969264
+v -0.02219032 0.09113994 -0.05978682
+v -0.02986586 0.08238557 -0.07793250
+v -0.00436094 0.08707378 -0.07137591
+v -0.03032047 0.07779621 -0.09070039
+v -0.03432394 0.07769722 -0.05969268
+v -0.03432394 0.06951552 -0.08612477
+v -0.03300998 0.06945375 -0.09532140
+v -0.00436094 0.08995757 -0.05969264
+v -0.03103904 0.07480118 -0.09532139
+v -0.02679212 0.08917071 -0.05978682
+v -0.02680680 0.08917482 -0.05969264
+v -0.00436094 0.08936022 -0.06220368
+v -0.03003597 0.08260390 -0.07524710
+v -0.02937606 0.08676889 -0.05969265
+v -0.02934966 0.08681010 -0.05969265
+v -0.03086599 0.07859130 -0.08554929
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+v -0.03200984 0.07461164 -0.09070041
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+v -0.03432394 0.07186788 -0.08128057
+v -0.03285453 0.07461162 -0.08554931
+v -0.02687425 0.08911302 -0.05969264
+v -0.03346165 0.07461161 -0.08039473
+v -0.03432394 0.07418313 -0.07458101
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_95.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500a7ad4ee00676bb42ebb18c66c901669226568
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_95.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.07843272 -0.02598975 -0.05431379
+v -0.07407762 -0.03912570 -0.05431383
+v -0.06823424 -0.04378419 -0.04360010
+v -0.07624502 -0.02598976 -0.05145679
+v -0.05411981 -0.02598975 -0.05431379
+v -0.07236568 -0.04216080 -0.05431384
+v -0.06822610 -0.04380848 -0.04360010
+v -0.06986892 -0.02598979 -0.04360004
+v -0.05307475 -0.02598979 -0.04360004
+v -0.04404330 -0.04519244 -0.05431386
+v -0.05459151 -0.05854001 -0.04360016
+v -0.05831225 -0.05490830 -0.04360014
+v -0.04769085 -0.06142592 -0.05431392
+v -0.05155797 -0.06142596 -0.04360017
+v -0.03689053 -0.06142596 -0.04360017
+v -0.03866754 -0.06142592 -0.05431392
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
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+f 1 16 13
+f 1 13 6
+f 1 6 2
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+f 6 14 11
+f 9 15 10
+f 10 15 16
+f 13 16 15
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_96.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26501eb3c73205a324bd242be66a1d0d976fe21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_96.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05048317 -0.03272688 -0.04863254
+v 0.04480384 -0.03943541 -0.04863256
+v 0.04011038 -0.03545800 -0.02886987
+v 0.04129662 -0.03097245 -0.02161356
+v 0.05048317 -0.03226643 -0.04432687
+v 0.05048317 -0.05713559 -0.04863263
+v 0.04250119 -0.04409962 -0.04863258
+v 0.03878673 -0.03866142 -0.02886988
+v 0.04009777 -0.03367172 -0.02348485
+v 0.04109053 -0.03077000 -0.01867175
+v 0.04112601 -0.03077000 -0.01867175
+v 0.04377446 -0.03084145 -0.01867175
+v 0.04460003 -0.03110345 -0.01867175
+v 0.05048317 -0.03246493 -0.04022357
+v 0.05048317 -0.07131881 -0.03509680
+v 0.04756909 -0.07131877 -0.04579938
+v 0.04675154 -0.07131877 -0.04711044
+v 0.04570841 -0.07131876 -0.04863268
+v 0.03878673 -0.05885439 -0.04863264
+v 0.03878673 -0.03893135 -0.02791078
+v 0.04043327 -0.03377496 -0.01867176
+v 0.04567635 -0.03163537 -0.01962499
+v 0.05048317 -0.03251654 -0.03944925
+v 0.04713856 -0.03287385 -0.01867176
+v 0.05048317 -0.07131887 -0.01867190
+v 0.03878673 -0.07131876 -0.04863268
+v 0.03878673 -0.04810499 -0.01867182
+v 0.04812900 -0.03389007 -0.01867176
+v 0.05048317 -0.03756189 -0.01867178
+v 0.04015388 -0.07131887 -0.01867190
+v 0.03878673 -0.07131886 -0.02094205
+v 0.03878673 -0.06001759 -0.01867186
+f 1 2 3
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+f 1 14 23
+f 1 23 29
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+f 1 25 15
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+f 23 28 29
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_97.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef638c112b291b01a68ccc0680a8df3178f64ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_97.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05778132 -0.08934259 -0.03058806
+v 0.05778132 -0.08934258 -0.03220564
+v 0.05778132 -0.08880824 -0.03038379
+v 0.05703760 -0.09344799 -0.03123032
+v 0.05778132 -0.08880823 -0.03227556
+v 0.05703760 -0.09344798 -0.03178239
+v 0.05210116 -0.09864798 -0.04212643
+v 0.05590528 -0.08880824 -0.02916554
+v 0.05431000 -0.09445489 -0.03054391
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+v 0.05548694 -0.08880824 -0.02890056
+v 0.05440855 -0.08880825 -0.02821780
+v 0.05431000 -0.09055088 -0.02879566
+v 0.05431000 -0.08880823 -0.03365207
+v 0.05210116 -0.09752343 -0.04212643
+v 0.04713498 -0.09296144 -0.04193871
+v 0.04221526 -0.10917563 -0.03708052
+v 0.04898311 -0.09576683 -0.04218164
+v 0.04920995 -0.09865793 -0.04214668
+v 0.03878857 -0.10564053 -0.02989802
+v 0.03878857 -0.10232273 -0.02851046
+v 0.04064229 -0.10917564 -0.03519611
+v 0.03878857 -0.08880826 -0.02338348
+v 0.03878857 -0.10107258 -0.02803383
+v 0.03878857 -0.08880821 -0.03899615
+v 0.04552481 -0.09296144 -0.04193871
+v 0.04064229 -0.10917563 -0.03708052
+v 0.04551737 -0.09571099 -0.04200498
+v 0.04627411 -0.09842466 -0.04190377
+v 0.03878857 -0.10721767 -0.03370182
+v 0.04296828 -0.09571099 -0.04125784
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+v 0.03878857 -0.10540123 -0.03715964
+v 0.03878857 -0.10533544 -0.03725902
+v 0.03878857 -0.09571100 -0.03943415
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_98.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f509fb809143b53b74da22612581567f4d1c66b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_98.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01516270 0.09929699 -0.04191961
+v -0.02491492 0.09798499 -0.04191961
+v -0.02819333 0.11937742 -0.03273415
+v -0.01516270 0.12614685 -0.02831847
+v -0.01516270 0.08018978 -0.04191968
+v -0.02495448 0.09797268 -0.04191961
+v -0.02819333 0.11937742 -0.03157722
+v -0.01996674 0.12898028 -0.02665975
+v -0.01851890 0.12898028 -0.02665975
+v -0.02819333 0.09574904 -0.04191962
+v -0.01516270 0.12616531 -0.02536650
+v -0.01516270 0.07999266 -0.04095588
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+v -0.02819333 0.07367903 -0.04191970
+v -0.02819333 0.11903247 -0.02960418
+v -0.01996674 0.12898028 -0.02606898
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+v -0.01692818 0.12660882 -0.02525099
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+v -0.01516270 0.07962923 -0.03917221
+v -0.01910951 0.06629354 -0.02371558
+v -0.02206771 0.06605946 -0.02257568
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+v -0.02370691 0.06633665 -0.02257568
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+v -0.01667305 0.11522577 -0.02257550
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+v -0.02539330 0.06888674 -0.02257567
+v -0.02819333 0.07306304 -0.03911353
+v -0.02819333 0.07433187 -0.02257565
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_99.obj b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7decb88409b05f439c8f89daa19c291b4787f2b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_99.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02819459 0.09574191 -0.04191962
+v -0.02945540 0.09490187 -0.04191962
+v -0.03869209 0.10558052 -0.03691695
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+v -0.02977086 0.12369251 -0.03153932
+v -0.02881729 0.12106365 -0.03232894
+v -0.02819459 0.11937753 -0.03273415
+v -0.02819459 0.07367754 -0.04191970
+v -0.03620335 0.08616920 -0.04191965
+v -0.03869209 0.10448062 -0.03715743
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+v -0.03718569 0.08486382 -0.04191966
+v -0.03869209 0.12033840 -0.02807234
+v -0.03556112 0.12410948 -0.03038050
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+v -0.02977086 0.12369251 -0.03137271
+v -0.02819459 0.11937753 -0.03157722
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+v -0.03869209 0.07740623 -0.02257564
+v -0.03869209 0.07627613 -0.02337092
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+
diff --git a/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/material_0.png
new file mode 100644
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