diff --git a/.gitattributes b/.gitattributes
index 26397eecfaa22405e32d23cfe774302b944bd5f7..0b1214d1f77e3f34a2f959d5417c3cb8a87c5c29 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2796,8 +2796,5 @@ dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_b
 dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/9173a268ed5d556abd1e680d842b32d2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/jewelry_box_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mesh/jewelry_box_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.urdf b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8155675a56291eaecb43c3bb60f839402aba5dca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_012">
+   <link name="basket_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>94e0deb65b035b3ca0a5671e479a025c</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>plastic basket</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray open-grid rectangular basket with rounded corners and tapered sides</description>
+         <min_height>0.1062</min_height>
+         <max_height>0.1062</max_height>
+         <real_height>0.1062</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131524</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075029 -0.077429 -0.053516</min>
+            <max>0.074971 0.077480 0.052678</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.usd b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bdc504a3c03b38188d124b6072bcf3b515d93ef7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04731c2c2610a43229d1b1687a49ed530e880fa6cecf22c8fa3a0d92f9ea552
+size 5081614
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.glb b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b96aa60496969bdf5b1000a72959d16e6d18fb37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b0ecdc61776aac323b97d21ed18622002c4d526b26b5b86a45491e65000391
+size 8779988
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.mtl b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a8acf63de78cb6b4762857e299a63730ef3f402
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.mtl
@@ -0,0 +1,6 @@
+newmtl basket_012_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/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a256b57a66b0d83d4cc652bde8375bd7c806f76f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012.obj
@@ -0,0 +1,130386 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_012_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_collision.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ed0292944d373fbfa99ce248fe7b807a8d52bc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71ea6732028272d42b72a4675a86c919a1da0f7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/basket_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1573483a9af1db1d7ecc2728faf4aef3946c560305926d1488180d8feed46d3
+size 5213196
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material.mtl b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e5da43f8580a9b290ae61452e0682474d980aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material_0.png b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material_0.png
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1573483a9af1db1d7ecc2728faf4aef3946c560305926d1488180d8feed46d3
+size 5213196
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/basket_012.xml b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/basket_012.xml
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index 0000000000000000000000000000000000000000..9a1cc19ad4edf86678422c5c12d9f94f47fdd1a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/basket_012.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_012">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_012_geometry_Looks_material_0" type="2d" file="mesh/basket_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ffcea029adb37a74d579283f596336350ee0230
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012.obj
@@ -0,0 +1,130386 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_012_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ad114cd583f0a2ddd4ffb21961d8be5f1e838c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision.obj
@@ -0,0 +1,25827 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_0.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5af1e2b49288ca836afaa9a3c449b74ab92f463
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_1.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96313f59648cd2eb0370ff13182133979d904c7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_10.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37b7f6325de45f5352098ae4d9ff9ebf26cdbb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_11.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3592793f69eb9c123b9207eeff14340c23167de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_11.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_12.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a8e0a277af56e0e30ce4250c59c157b19bee56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_13.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d07ad04db0b5da4dde5a7f77e1a527b597aef18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_13.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_14.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1161848c8e8d935c5758b17efa5b9dc6efa15c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_14.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_15.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb5f5e11d46166337b5ab0a43b6a7ae9b605b8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_16.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2828218ec81f4302d86bf1eded1c1e4c057942bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_16.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_17.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c559f35e6d260cf71b4e7833e0f6a5117c88fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00305292 -0.06014000 -0.01687229
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_18.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59c5e3fcc521fffb12e440456e8346a2f9434f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_18.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_19.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3f872db989bce8f884cf194a4dd0d131aec88e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_2.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b964253a3b1488b217d65d0e8e73ddbc71ef25d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_2.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_20.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd28c1fbe2d49e6c43f000788b9f9bab0e7265a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_20.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_21.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072ec3c83dc268819968d4c3780a086635322fc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_21.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_22.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b4afa6d82076810cda5598d1140cae5fec3c94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_22.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_23.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a000e5bf978036483b46b4d6fceed5dd008645a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_24.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ca6064e37dd61f73da3d6c316147b6e870a061
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_24.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_25.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b130411eabe587b097294104244cb7b3c52f74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_25.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_26.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2dceeb61e4b4309654241522d0ac799111c45f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_26.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_27.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab265423765181c93bac21d672c7ccb2ec3ca18d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_27.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_28.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df738ec47402e550672c70858ebadada466a2061
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_28.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_29.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9857e9814d712585f2bd67d6e10d3a7f03326a72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_29.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_3.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3821d1c43f3aaff456d05d1877ab62f3900f09a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_3.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_30.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610997c44f400499823b6e590984b4e32150cf80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04368846 -0.03448839 -0.05372367
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_31.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56cc9a723ba9c1f2f4c342d5cc3425d06ec3db7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_31.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.02321868 -0.03448022 -0.05132020
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+v -0.02321868 -0.03432233 -0.05138834
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_32.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974707fc9e16f61998199f31d3f67ae9884e7bf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_33.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907decb69bf8fc86e8a090dea222415e111adea7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_33.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_34.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9493b7fdaa4681ab79a4f1dacfb5c39c603323
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_34.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_35.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b027e2cc96fb160bc40ecf777029fb0593d42de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_35.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_36.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61686c6b9ef630e9fce71b4063b30a9fba7e8e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_36.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_37.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ff4142537a3680a0aff71c950907824ada8119
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_37.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_38.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abb3c411662d6486592d05dff5bb214e08f28af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_38.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_39.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50a7ce797a128d6af23ba52158c1669aeec02e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_39.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_4.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e03339c3f639eeb4afa7cb799c62e8698218dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_4.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_40.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4108a69e61f0c1716c091113c2796fc08f5ca9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_40.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_41.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1565c581c11342806b8449b2a841aec6539f4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_41.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_42.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec52a230922440861c85a7e74205f710ee5bbe80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_42.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_43.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a5020353bbb5acc108e5529138ce78ea2ea8542
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_43.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_44.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ceffce2234f6a0a8f0b1507eaa4f41bfb25974
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_44.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_45.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2fb2ca5b4d507b52eafdbcceb84aab7cb4bd91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_45.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.05938815 -0.05759187 0.00867188
+v -0.05985787 -0.05759186 0.00592621
+v -0.06059236 -0.05759188 0.01027107
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_46.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8623b8b40577331dbe389c2d0e2622b4561dbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_46.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.05983680 0.03839649 -0.02957559
+v 0.05983370 0.03970949 -0.02957558
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_47.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feaf2cb6f236016e366eca781025fb0075d29854
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_47.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_48.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35aeea837848a1f08a68aa516d1ed30f62bf62bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_48.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_49.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c222402f45b076e9feeec9783a3f426627fa9cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_49.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04998818 0.02690551 -0.04065125
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_5.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c10782ed90b9868ddef155cbbd58e45e1823ec4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_50.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f04d796e3025c0b3841815fa6ba353e1040f1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_50.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_51.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa43a45367a30f36a569a2c8ee0d11ee19dfc8ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_51.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_52.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eda100f2ba7801af336d806cca09747a40d4aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_52.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_53.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a3b464ab11e96a38df912062743cee94802353
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_53.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04409644 -0.00745447 -0.05338456
+v 0.04409644 -0.00745450 -0.04637837
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+v 0.05552985 -0.01373523 -0.04269142
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_54.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4babc932ddf79c32b116370ef285a901e065da94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_54.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.05540737 0.03644216 -0.02155610
+v -0.05706655 0.03629275 -0.02155610
+v -0.05501998 0.03643536 -0.02155610
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_55.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5988487bfc745a0383f49f7aca6dd3e534b91c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_55.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05475068 0.06622007 0.02624598
+v 0.05475068 0.06624976 0.02762574
+v 0.05475068 0.06644280 0.02496977
+v 0.06288788 0.05709720 0.02621379
+v 0.05475068 0.06628837 0.02786028
+v 0.05475068 0.06762771 0.02395790
+v 0.06334601 0.05709721 0.02424260
+v 0.06300714 0.05709721 0.02557137
+v 0.06327183 0.05709719 0.02872622
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+v 0.06360052 0.05709719 0.02984007
+v 0.06422735 0.05709719 0.03073820
+v 0.05475068 0.07042812 0.02362925
+v 0.05755616 0.06786825 0.02333431
+v 0.06523087 0.05709721 0.02325818
+v 0.05475068 0.07017271 0.02920397
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_56.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acf18eb797e20b60f2a7376121f5c17165470de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_56.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.04993419 -0.07387118 0.04067762
+v -0.05249158 -0.07238736 0.02621184
+v -0.04993274 -0.07262565 0.02621184
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+v -0.04481796 -0.07279087 0.02621184
+v -0.04242214 -0.07279563 0.02621184
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+v -0.04481796 -0.06940384 0.00659841
+v -0.04225766 -0.06941496 0.00657547
+v -0.04242214 -0.07224756 0.02818465
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+v -0.04030287 -0.06941655 0.00657547
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+v -0.05327030 -0.07297202 0.04067762
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+v -0.04678003 -0.07023006 0.04067763
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_57.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78082abd8119759420615369fb5e08d756b117ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_57.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_58.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79be6d45f3c92dfc0b539509dd3a8835586f468
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_58.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_59.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004a35d1a9270162814f7b796a5a0d8433806295
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_59.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_6.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a246d9951bb49ff3529fc7fd59026001bbf132
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_6.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_60.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e10c0f588b0064c1ee0ec55492fd0b550db087
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_60.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_61.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6043215e8a239ce6a272f865b22aec4f49a88d7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_61.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_62.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c10634037010c6c3860966597d032cb2a7fea7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_62.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_63.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26526024826c085b36c714e4c2e791c1bb4732e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_63.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_64.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb217cd991955787181b0b41c632e2fa4c50e1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_64.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_65.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c659b3c794f2ddd2bc7b1e2a3a99fc95e604d77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_65.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_66.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6d5db06ff26bd71cf0912ea35d6d1fca27c67a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_66.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_67.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3015972db020a4ba6fdcaf7a8a9f8f5c96035391
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_67.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_68.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f767c364494dff9d489b4e05b3f147820810e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_68.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_69.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd01cf4eaa95ed667fe643b158c6cb91c01fd87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_69.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_7.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860aabfa97c204cb7e912a33e82d8b508ee317d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_70.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316b13ae8414edf467200ea48c1d06bec0301a22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_70.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_71.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee1ca3fc198a627b889deb968501f0e2f70bfab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_71.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.06767944 -0.01109657 0.04040301
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+v 0.07023284 -0.01163894 0.04040301
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+v 0.06381402 0.00037628 0.04004464
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+v 0.05921559 -0.02660045 0.01582891
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+v 0.06112166 0.00279015 0.01904029
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_72.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebcecff3aa48b205fdb2afebdd773f3bb4880b10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_72.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04368846 -0.00030529 -0.04570211
+v -0.04368846 -0.00130854 -0.04571938
+v -0.04368846 0.00001109 -0.04570595
+v -0.05089265 0.00001222 -0.03411512
+v -0.05089265 -0.00080990 -0.03411512
+v -0.04368846 -0.00867237 -0.04635077
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+v -0.05502537 0.00333953 -0.03490382
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+v -0.05751746 0.00001222 -0.03411512
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+v -0.05415497 -0.00108625 -0.04717207
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_73.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29c9c9fcf1292343de7b544feab4313fca0e174
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_73.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.06010893 -0.07681636 0.04501742
+v 0.06010893 -0.07664708 0.04629393
+v 0.06010893 -0.07675718 0.04396216
+v 0.06075472 -0.07656160 0.04396216
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+v 0.07035051 -0.06269824 0.04114276
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_74.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f209d392d92b389df2d0d0ecbee53198ea45c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_74.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_75.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ddb911d6b3bc0293d3888de74807f4011ed091c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_75.obj
@@ -0,0 +1,256 @@
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_76.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173c751e6c858f11eb972726a8dcda26d7f55f89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_76.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v 0.06254814 -0.06776284 0.02424849
+v 0.06429852 -0.06687249 0.02462857
+v 0.06449970 -0.06705826 0.02621324
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+v 0.06011449 -0.06781794 0.02912818
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+v 0.06010893 -0.06776158 0.02911920
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+v 0.06010893 -0.06505976 0.02382353
+v 0.06523118 -0.05717471 0.02330132
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+v 0.06903602 -0.05717471 0.02442136
+v 0.06931694 -0.05717471 0.02463235
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_77.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349aeffd7e0b326aeeb76e5d66064662f3426d82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_77.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03897081 0.07037159 0.02925076
+v 0.03897081 0.06989094 0.02911103
+v 0.03897081 0.07181675 0.02850764
+v 0.03583024 0.06936579 0.03778289
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+v 0.03897081 0.06706525 0.02621475
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+v 0.03267954 0.07236088 0.03778291
+v 0.03897081 0.07246363 0.02478146
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+v 0.03179985 0.06211476 0.01615612
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+v 0.03362509 0.06344979 0.01615612
+v 0.03897081 0.06817373 0.02411665
+v 0.03192142 0.06602873 0.03778288
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+v 0.03196194 0.06518708 0.03381957
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_78.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274c8174bf004fb651959e4e52537ff65a78fdde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_78.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02237285 -0.06525953 0.01038528
+v 0.02237285 -0.06713170 0.01037737
+v 0.02237285 -0.06492453 0.01022324
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_79.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ef7554e504f71b40d2da5e5f01a5e69550b5dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_79.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_8.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238eb61b930ae972936a67b64ec046ab0a28ec08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_80.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2589d41bad1eac3c4be53454c35a585283a60df7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_80.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.06612444 -0.05527893 0.00844890
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+v 0.06605484 -0.05527893 0.00856592
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_81.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573a5a8c05b06f4331ba565d2a27e0c19a5651ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_81.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_82.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e679ab35a6872ddc935706e0119dfd770ac240
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_82.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_83.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe6e78f0963e8e229070942d6e7902095a04902
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_83.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_84.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d954293415c18f4ffc2a0e1b549e9a64f77ad4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_84.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_85.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200f861e97289af0738efd0cbf4447e626e1d3d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_85.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01407975 0.05025046 -0.05218506
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+v -0.00639515 0.05025045 -0.05024199
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+v -0.01270187 0.05901561 -0.04396212
+v -0.01255228 0.05916502 -0.04225001
+v -0.01242105 0.05931154 -0.03971574
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+v -0.01415848 0.05919184 -0.04479935
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_86.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62200cc55924e1506cdf455ed9d9a4af868b405c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_86.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.07076205 -0.05233162 0.04040286
+v 0.06996651 -0.05030946 0.04040287
+v 0.06464481 -0.05233162 0.04040286
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_87.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030afe1b282c4a5f7003dee48ff7fcd6c9f76674
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_87.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.03692681 0.06274656 -0.00730271
+v 0.03692681 0.06265059 -0.00733329
+v 0.03692681 0.06477776 -0.00745049
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_88.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1486d82178bf8916773f37c4657553244611318
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_88.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_89.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a8b01612b70e97e8fbeb088b874fb93d1db34cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_89.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00856532 0.06018706 -0.02694836
+v -0.00856532 0.05872404 -0.02763009
+v -0.00856532 0.06058304 -0.02703274
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+v -0.00856532 0.06273333 -0.03194702
+v -0.01410553 0.06003481 -0.03935955
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+v -0.01510594 0.05629865 -0.01780819
+v -0.01419384 0.05621679 -0.01968463
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_9.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5bec2c341e12f83142e91090c9fb735c3bf947
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_9.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00003919 0.05025046 -0.05208769
+v -0.00003919 0.05025044 -0.04556307
+v -0.00130663 0.05025046 -0.05208235
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+v 0.01625384 0.05185079 -0.05164185
+v 0.02270736 0.05185078 -0.04926052
+v -0.00139235 0.05025044 -0.04556307
+v 0.02270736 0.05185078 -0.04788565
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_90.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d71c9691c1689d2284fb50e63178ff87d2aa078
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_90.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_91.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f08e8ee87b52b553ed3c652372b8bcc52f1a646
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_91.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_92.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daa4df498aedbaa4f18b92e61da461ba9fe32956
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_92.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_93.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6a38b7549255bb051df39afc3524430fa31942
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_93.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_94.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445c7608da607855d3f222ce0fea3c07350e7a6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_94.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_95.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f39caf870fab08f4f40441544b05b9d1bfe50ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_95.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_96.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99584d680a623dd3b39bfe76a8e1ccd48c20728f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_96.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_97.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b59db508ffc5c86abc37da3537de7310d61f2f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_97.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_98.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5ec64b8c775715475a88e96fbab2578df6fb04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_98.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.06632494 -0.01149422 0.04006429
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+
diff --git a/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_99.obj b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36897a5458f8e27d8c00ec7b6cfeb0d3ef8836e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/mjcf/mesh/basket_012_collision_99.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04971911 -0.06529698 -0.00928682
+v 0.04971911 -0.06527413 -0.00944287
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