diff --git a/.gitattributes b/.gitattributes
index 4f710638cc7fb7583c455ce408c837c456902e64..7ab26c2f5ed5b25be40a006a0cf1ecfa2670bd49 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5276,3 +5276,5 @@ dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/glasses_case_0
 dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/mesh/glasses_case_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.urdf b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e57631a49c751ba92e32aadc3536888ba9003db2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_008">
+   <link name="basket_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>37c9d23189f158829550ccf95c9d207c</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>woven basket</name>
+         <color>beige,white</color>
+         <shape>cuboid</shape>
+         <material>wicker</material>
+         <description>rectangular woven basket with rounded corners and low open top</description>
+         <min_height>0.0539</min_height>
+         <max_height>0.0539</max_height>
+         <real_height>0.0539</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131343</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075475 -0.043962 -0.022654</min>
+            <max>0.074525 0.043932 0.031250</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.usd b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a2e1938ea5521233421ba074e6a9277904a130e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/basket_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6030ca2f472732c06662d04f3e28708448fac004274b24c32173e41a22f95ea7
+size 4895202
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.glb b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e0df9cf66afe51fd7898ef4aec2d6040126cce55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe50127edd10dcd99eed6ba9f0e5ee8f74c310defebe324ab974ff1c00cca1d
+size 15778128
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.mtl b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231105b9494f5c26234bc57e770c4479f6739fbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.mtl
@@ -0,0 +1,6 @@
+newmtl basket_008_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1213bb849b06422cc79c850121ffc19fca11ea64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008.obj
@@ -0,0 +1,103588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_collision.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a47f2474abbd98e1cee21fdce478ed7f88b454
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2908ad31a40baf3f577a4ac7318fe3cfc9d7d75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/basket_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230fa44afcc0d5a5db46a37a9f0116786a0641d94eb1f13b9881f897eb52c9f0
+size 12493852
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material.mtl b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27037cd825dc0d495174fb6b38d14ba64e40bc50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_008_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material_0.png b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2908ad31a40baf3f577a4ac7318fe3cfc9d7d75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230fa44afcc0d5a5db46a37a9f0116786a0641d94eb1f13b9881f897eb52c9f0
+size 12493852
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/basket_008.xml b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/basket_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0400479e467e1e5dab4e51d830d47f80f3006ba8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/basket_008.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_008">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_008_geometry_Looks_material_0" type="2d" file="mesh/basket_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_008">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47aaaae1106f69e669ede0f0f45126c43b7844c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008.obj
@@ -0,0 +1,103588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec83a99620860fb2429deab0a0221cfd91c1f444
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision.obj
@@ -0,0 +1,8484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_0.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa6c7b3127bdbf897a3e8a5a3c18365956de40b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_1.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82447548be636eef69dc90f0b2027eadf6ac6058
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_1.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_10.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e286d5652284914e3ac38317fb45552c69103d57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_10.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_11.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e497348305b2ccde55336dacf702804924ef799
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_11.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.06348425 -0.00624973 -0.01773330
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+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_12.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199fe975386bbc35859fa1087b73ee04ce8d2e8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07161207 0.02953704 0.02697455
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+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_13.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917a401c9327d1f7cecbeeeaae48f59ffbbb8f27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_13.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v -0.00025885 -0.04083614 -0.01781114
+v -0.00025885 -0.04100595 -0.01730079
+v -0.00025885 -0.03510922 -0.01781112
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+v -0.00025885 -0.04133611 -0.01630386
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+v -0.00025885 -0.04265022 0.00087620
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_14.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c61b4f62e570eb12dee01a5cd6c1f46a761550
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_15.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2703fb84e52ce91a340043f8d5aad7f1f38834
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_15.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_16.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1d21235c780bff256687fd887ea11b49560530
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_16.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_17.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df22265a55962d19bd7867a9761db9f5a82239f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_17.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_18.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a693565a7c997ee8051c024db908eb7b6b727396
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_18.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_19.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7962a3ed456281720183f5a019af7abb322895e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_2.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c97eaeb88fda7494f9ab3a38e7996179634abc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_2.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_20.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a98edf887f3d5436b14093c0b9f56f048c09ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_21.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5941cefcb45cacdc40835f61f8c2638f03137db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_21.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_22.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9ca5a347dbb95a46844ac06845b311cbecf4df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_22.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.06151078 -0.02446323 -0.01831615
+v 0.06860311 -0.02446323 -0.01831615
+v 0.06515196 -0.02446325 -0.01265415
+v 0.06154753 -0.02080840 -0.01831614
+v 0.06863538 -0.02426890 -0.01831615
+v 0.06869992 -0.02446323 -0.01815817
+v 0.06998088 -0.02446325 -0.01265415
+v 0.06587715 -0.00624975 -0.01265408
+v 0.06178239 -0.00624973 -0.01831608
+v 0.06879135 -0.02325446 -0.01831615
+v 0.06892044 -0.02446323 -0.01778625
+v 0.06984283 -0.02446325 -0.01389962
+v 0.07019601 -0.02325448 -0.01265415
+v 0.07066842 -0.00624975 -0.01265408
+v 0.06917232 -0.00624973 -0.01831608
+v 0.06900918 -0.02325446 -0.01794810
+v 0.06901008 -0.02080840 -0.01831614
+v 0.06912302 -0.02080840 -0.01813489
+v 0.06952999 -0.02325447 -0.01630354
+v 0.06932292 -0.02446324 -0.01635177
+v 0.07004273 -0.02325448 -0.01389962
+v 0.07044701 -0.02080842 -0.01265414
+v 0.07046763 -0.00624975 -0.01389955
+v 0.07066752 -0.00745673 -0.01265409
+v 0.07046673 -0.01102419 -0.01389957
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+v 0.06975230 -0.02080841 -0.01630353
+v 0.06911137 -0.01836056 -0.01831613
+v 0.06917860 -0.01836056 -0.01821192
+v 0.06985897 -0.01836057 -0.01630352
+v 0.07027759 -0.02080842 -0.01389961
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+v 0.06994502 -0.00624974 -0.01618652
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+v 0.06991813 -0.00857813 -0.01630348
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+v 0.06921356 -0.00857812 -0.01825345
+v 0.06921266 -0.01102417 -0.01825291
+v 0.06916695 -0.01347023 -0.01831611
+v 0.07039860 -0.01836058 -0.01389960
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+v 0.06920997 -0.01347023 -0.01825070
+v 0.06915350 -0.01576296 -0.01831612
+f 1 2 6
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+f 1 7 3
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+f 1 4 9
+f 1 9 15
+f 1 15 28
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+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_23.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993ea353d6850db0bba3910f4f4521919a59605a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.07361165 0.02248364 0.02764560
+v 0.07345204 0.02302214 0.02712895
+v 0.07283688 0.02567182 0.02697110
+v 0.07149124 0.02953657 0.02864065
+v 0.07337980 0.02248363 0.02861670
+v 0.07041938 0.02248378 -0.01149039
+v 0.07033782 0.02322594 -0.01149038
+v 0.06991607 0.02567196 -0.01149038
+v 0.07211920 0.02811784 0.02697111
+v 0.06928111 0.02811798 -0.01149037
+v 0.06880227 0.02940693 -0.01290635
+v 0.07135958 0.02953657 0.02882722
+v 0.07090754 0.02811783 0.03024320
+v 0.07174522 0.02811783 0.02903769
+v 0.07161240 0.02953658 0.02697112
+v 0.07202717 0.02582922 0.02959260
+v 0.07291960 0.02302213 0.02915727
+v 0.07294523 0.02248363 0.02926729
+v 0.07022947 0.02248379 -0.01316949
+v 0.07006636 0.02322595 -0.01389661
+v 0.06968189 0.02567197 -0.01389661
+v 0.06905858 0.02821326 -0.01378657
+v 0.06869624 0.02909212 -0.01451369
+v 0.06853896 0.02953673 -0.01425537
+v 0.06872654 0.02953673 -0.01302594
+v 0.06874867 0.02953673 -0.01276762
+v 0.07066637 0.02953657 0.02974092
+v 0.06938596 0.02953657 0.03085553
+v 0.07118366 0.02674950 0.03053980
+v 0.07140269 0.02511882 0.03068808
+v 0.07159376 0.02322579 0.03080289
+v 0.07165201 0.02248363 0.03083159
+v 0.07013394 0.02248379 -0.01389662
+v 0.06980888 0.02248380 -0.01557094
+v 0.06959917 0.02322596 -0.01630284
+v 0.06915411 0.02588669 -0.01651810
+v 0.06894440 0.02746076 -0.01585794
+v 0.06856459 0.02821327 -0.01651810
+v 0.06839333 0.02953674 -0.01505426
+v 0.06753934 0.02953657 0.03110907
+v 0.06967141 0.02811783 0.03093685
+v 0.07001044 0.02322579 0.03112819
+v 0.07001044 0.02248363 0.03113296
+v 0.06965859 0.02248380 -0.01630285
+v 0.06876499 0.02684494 -0.01746529
+v 0.06918091 0.02281174 -0.01773798
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+v 0.06893741 0.02515420 -0.01773797
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+v 0.06753934 0.02811783 0.03108993
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+v 0.06752652 0.02953675 -0.01773795
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+v 0.06694632 0.02248363 0.02965956
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+v 0.06330666 0.02248381 -0.01773798
+v 0.06343831 0.02953657 0.02864543
+v 0.06614359 0.02248364 0.02849233
+v 0.06330433 0.02953658 0.02701896
+v 0.06300957 0.02299538 -0.01773798
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+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_24.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2641bc410b023ad6d40483834409e4d2ad93dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05461584 0.03432708 -0.01773724
+v 0.05528183 0.03353838 -0.01773725
+v 0.05918859 0.03432705 -0.01071288
+v 0.06473246 0.03432708 -0.01773724
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+v 0.06529255 0.03432707 -0.01630349
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+v 0.06671091 0.03242426 -0.01630350
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+v 0.06569661 0.03432706 -0.01460430
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+v 0.06693662 0.03278859 -0.01389947
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+v 0.06585683 0.03432706 -0.01387746
+v 0.06853890 0.02953719 -0.01425843
+v 0.06839260 0.02953720 -0.01505405
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+f 28 36 29
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+f 29 37 30
+
diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_3.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec88c12f46cadbbe49d4c51324cab9e7e1bdbf0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_3.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.06917297 -0.00624972 -0.01831711
+v 0.06916618 -0.01347117 -0.01831714
+v 0.06841178 -0.01347117 -0.01945419
+v 0.06845256 -0.00624972 -0.01939759
+v 0.06177851 -0.00624972 -0.01831711
+v 0.05708221 -0.03302292 -0.01781112
+v 0.05708221 -0.03925916 -0.01781114
+v 0.06915259 -0.01591895 -0.01831715
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+v 0.06841178 -0.01102678 -0.01945571
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+v 0.06841178 -0.00857901 -0.01945621
+v 0.06841178 -0.00624972 -0.01945620
+v -0.00025885 -0.00624972 -0.01869273
+v -0.00025885 -0.03510844 -0.01781113
+v 0.05695309 -0.03934042 -0.01781114
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+v 0.06210474 -0.03633063 -0.01831722
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_4.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c3cf5ebb2cd0063810864a76fd62c32d4528b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_5.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e8053061993114475d0b0bdcc74d0d6016d441c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_6.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af22a309848276534fb207ccb2e4311577949256
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_6.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_7.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76929338dc26b7f904a9544623b91708a9e3765
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_8.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5864e9b862985eed2d13f7b98b6e449e676491
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_8.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_9.obj b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f10de063f3887a76cdca3d48354678df72896b46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/mjcf/mesh/basket_008_collision_9.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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