diff --git a/.gitattributes b/.gitattributes
index 056a3b01d7e7df36024b9eaf5b7b7aed2aea1e74..58ece16ad3966aa67889f8b2456a83f2ad53f7ed 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2791,3 +2791,5 @@ dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/jewelry_box_03
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/mesh/jewelry_box_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/glasses_case_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/mesh/glasses_case_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.urdf b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9fa5cfc4db61de9a7219c8f55e15ae38073c9e2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_018">
+   <link name="basket_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7db5d48e4772590e80741d1129d75ec8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>brown basket bag</name>
+         <color>brown</color>
+         <shape>irregular</shape>
+         <material>leather</material>
+         <description>small brown leather basket-style handbag with two loop handles</description>
+         <min_height>0.0745</min_height>
+         <max_height>0.0745</max_height>
+         <real_height>0.0745</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131807</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074744 -0.050605 -0.022060</min>
+            <max>0.075256 0.049349 0.052433</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..69034ebfc7018170d0cd779e4fe0cef54e714c88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66631d0ed3247daee9ac3973ab73a208687097c54293aa47e733bcf36fad5972
+size 5022803
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ae1b88633a193032e7dda88aeccc728eb9bdeae7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3faf7a0889eb3f9738cf87df2bfcfa178df481569a1b3bf37ffa32cf91313272
+size 16238312
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.mtl b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eccf8c86fae8e0abc3c81d36acaa1c30f68b6b05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.mtl
@@ -0,0 +1,6 @@
+newmtl basket_018_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/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba948accc916482902713d25ce4cfbd8537bdc4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.obj
@@ -0,0 +1,122328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_collision.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480253310178f90a27119dd1fe78d5590c342a23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_collision.obj
@@ -0,0 +1,13809 @@
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..982cfc66da979994aaa5c69f253dd312da39ccd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40fd2358e44020ac8289bd4c6b77843363e286f415b6bd7624ac21591a0dd8af
+size 12736889
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/material.mtl b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f41cdb8cb35c742c046c1690a45968f619c42b0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/material_0.png b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:40fd2358e44020ac8289bd4c6b77843363e286f415b6bd7624ac21591a0dd8af
+size 12736889
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/basket_018.xml b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/basket_018.xml
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index 0000000000000000000000000000000000000000..39a264cd6490f5684bbbe1e037b866ac8c2e071d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/basket_018.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_018">
+  <asset>
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+    <mesh name="visual_mesh_0" file="mesh/basket_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98822d25055e9c4c22cce78b3e7d53a7eb0f7079
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018.obj
@@ -0,0 +1,122328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e30c4e3410a9b6f76618e32da2e4ed9a34bad6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision.obj
@@ -0,0 +1,13809 @@
+# https://github.com/mikedh/trimesh
+
+o basket_018_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_0.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02faa90348e4948640866dc5308e523f9031efad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_1.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6292d5c603ac05711e48211fc692903506d36c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_1.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_10.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c490b2948f85bda5386f70c4c3f76ed7a163dcbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_10.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_11.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882cafe7042e7b8e8c2a91922e276fa992ce9ae7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_11.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.00010406 0.04489494 0.03256625
+v 0.00010406 0.04722512 0.03242818
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_12.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62510eecc800dec44cfcff8e1360adb5a308643d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_13.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de02172f296678a52cd3876cc234f11f3d490789
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_13.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_14.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fa376d2db5c41b2c19cbe6ae3d218b9a4ad1a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_15.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951e3fb0fabb157c1cae8e5694aaf173f32a140d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_15.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_16.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211be4177983659c30f7fbeef091f630e2141104
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_16.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_17.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07dc5610fbd29aefdafa3ee201e708000f6bb430
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_18.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f9e4478126bfa0061b7cb1c95a959a318e138c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_18.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_19.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad750fcac75c0716d85d200681eeb505cb6da7fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_19.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.05838595 0.02591773 0.02844177
+v 0.05254161 0.03391186 0.02893273
+v 0.05254161 0.03391186 0.02957847
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_2.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d2efd488562fc3240fceec2e97ed558e0eb1ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_2.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00010406 0.03613058 -0.01394404
+v 0.00010406 0.02275240 -0.01286726
+v 0.00010406 0.03613061 -0.02187746
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_20.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf36ab2f93e83384353cc23609bcf592c0197a1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_20.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.05575988 -0.03115975 -0.00590915
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_21.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541921abef3c4e469ce50674d68ed7ed718815f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_21.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00836845 -0.04179358 0.00159469
+v 0.01789379 -0.04179362 0.01472057
+v 0.03549722 -0.03401892 0.01108709
+v 0.01217381 -0.04039535 0.00159469
+v 0.03147942 -0.04179358 0.00159469
+v 0.03549722 -0.04179362 0.01472057
+v 0.03549722 -0.03575656 0.01472059
+v 0.03549722 -0.03480249 0.01289870
+v 0.03549722 -0.03349924 0.00870886
+v 0.01414420 -0.03970680 0.00159469
+v 0.03382690 -0.04139733 0.00159469
+v 0.03549722 -0.04179361 0.01169093
+v 0.03549722 -0.03362834 0.00627281
+v 0.01890820 -0.03830938 0.00159470
+v 0.01642529 -0.03901418 0.00159470
+v 0.03407652 -0.04135430 0.00159469
+v 0.03549722 -0.04105792 0.00159469
+v 0.03549722 -0.03433231 0.00380206
+v 0.02293397 -0.03734638 0.00159470
+v 0.02239755 -0.03745518 0.00159470
+v 0.02193284 -0.03755587 0.00159470
+v 0.03549722 -0.03521412 0.00159471
+v 0.03549722 -0.03492831 0.00229109
+v 0.02636489 -0.03670573 0.00159471
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 24
+f 1 24 22
+f 1 22 17
+f 1 17 16
+f 1 16 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 22
+f 3 22 23
+f 3 23 18
+f 3 18 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 18 23 24
+f 18 24 19
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_22.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe5a1e3287a53e297fd8e90d800ba794d4b898c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_22.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.06131716 0.02029407 0.03966585
+v -0.06131716 0.01892298 0.03934661
+v -0.06131716 0.02213285 0.03865630
+v -0.06161153 0.02183825 0.03955945
+v -0.06150321 0.02029407 0.04005876
+v -0.06406844 0.01537431 0.04484735
+v -0.06529052 0.01178022 0.04641352
+v -0.06131716 0.01774828 0.03800690
+v -0.06131716 0.02410052 0.03493457
+v -0.06315984 0.02201255 0.04003149
+v -0.06423538 0.01920774 0.04417887
+v -0.06402256 0.01783541 0.04462635
+v -0.06467629 0.01537430 0.04606428
+v -0.06625264 0.01178021 0.04865638
+v -0.06529689 0.01178022 0.04517476
+v -0.06131716 0.01266654 0.02820321
+v -0.06131716 0.01312806 0.03056067
+v -0.06131716 0.01765622 0.03788683
+v -0.06131716 0.02425765 0.03392228
+v -0.06216969 0.02411770 0.03504099
+v -0.06315984 0.02296877 0.03794688
+v -0.06564733 0.02188121 0.03992235
+v -0.06564733 0.02124414 0.04114201
+v -0.06564733 0.02015781 0.04282005
+v -0.06564733 0.01920897 0.04419797
+v -0.06633293 0.01684114 0.04670004
+v -0.06659289 0.01245042 0.04921575
+v -0.06657632 0.01178021 0.04927030
+v -0.06564479 0.01178023 0.04325113
+v -0.06131716 0.01267145 0.02817592
+v -0.06581300 0.01178023 0.04288005
+v -0.06694460 0.01178024 0.04173952
+v -0.06710899 0.01178024 0.04160036
+v -0.06793731 0.01178024 0.04117471
+v -0.06845724 0.01178024 0.04104374
+v -0.06993801 0.01178024 0.04119108
+v -0.07122381 0.01178024 0.04200146
+v -0.07253764 0.01178023 0.04306286
+v -0.06131716 0.02431902 0.03162485
+v -0.06217988 0.02413612 0.03307643
+v -0.06714085 0.02169464 0.03794688
+v -0.06710899 0.02166395 0.03941756
+v -0.06894148 0.01900029 0.04386509
+v -0.06728485 0.01911322 0.04410793
+v -0.06812081 0.01821715 0.04505473
+v -0.06813228 0.01682518 0.04668366
+v -0.06813228 0.01537429 0.04778600
+v -0.06813228 0.01395900 0.04879282
+v -0.06813228 0.01272906 0.04944222
+v -0.06711027 0.01178021 0.04956772
+v -0.06131716 0.01315018 0.02561109
+v -0.07433573 0.01178022 0.04636168
+v -0.07257078 0.01300035 0.04272999
+v -0.06131716 0.01530442 0.02195485
+v -0.06131716 0.01348773 0.02387573
+v -0.06131716 0.02426870 0.03111188
+v -0.06700577 0.02161118 0.03632885
+v -0.06201422 0.02405388 0.03160847
+v -0.06838332 0.02060954 0.03794688
+v -0.06983733 0.01948761 0.04038346
+v -0.06966020 0.01928261 0.04224160
+v -0.07199478 0.01675154 0.04425253
+v -0.07043372 0.01718115 0.04514204
+v -0.06948052 0.01666193 0.04652814
+v -0.07061977 0.01364476 0.04851996
+v -0.07061977 0.01241482 0.04937127
+v -0.06916959 0.01178021 0.04982966
+v -0.06813228 0.01178021 0.04978327
+v -0.07433573 0.01178022 0.04647627
+v -0.07204193 0.01686079 0.04282004
+v -0.07196929 0.01679943 0.04134390
+v -0.07202409 0.01537432 0.04131388
+v -0.07197184 0.01387801 0.04147486
+v -0.06942190 0.01913903 0.03664535
+v -0.06131716 0.01703763 0.02275977
+v -0.06131716 0.02402566 0.03029604
+v -0.06965893 0.01937961 0.03794687
+v -0.06678404 0.02138655 0.03470809
+v -0.06169436 0.02373597 0.02998499
+v -0.07430132 0.01178022 0.04657996
+v -0.07226494 0.01452488 0.04689921
+v -0.07113843 0.01616602 0.04587601
+v -0.07043372 0.01535711 0.04716662
+v -0.07222416 0.01203185 0.04912297
+v -0.07061977 0.01178021 0.04969323
+v -0.06728995 0.01974664 0.03368488
+v -0.06131716 0.01771765 0.02311449
+v -0.06131716 0.02299581 0.02803134
+v -0.06131716 0.02283747 0.02768754
+v -0.07354691 0.01178021 0.04789512
+v -0.07268419 0.01178021 0.04885284
+v -0.07235159 0.01178021 0.04917208
+v -0.06131716 0.02037883 0.02510087
+f 1 2 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 30
+f 1 30 51
+f 1 51 55
+f 1 55 54
+f 1 54 75
+f 1 75 87
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+f 41 60 42
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+f 54 73 72
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+f 58 79 78
+f 59 77 60
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+f 60 62 61
+f 60 77 71
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+f 81 91 84
+f 81 84 83
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+f 86 89 93
+f 86 93 87
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_23.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29055084b293a9832d99683407c584c1177f45fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_23.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00398693 -0.03603751 -0.01282194
+v 0.00150056 -0.03608699 -0.01282194
+v 0.03784659 -0.03608492 -0.00639694
+v 0.03382333 -0.03626495 -0.01282194
+v 0.00021120 -0.03613648 -0.01282194
+v 0.03784659 -0.04176892 -0.00639696
+v 0.03784659 -0.03633129 -0.01282194
+v 0.03631339 -0.03630391 -0.01282194
+v 0.00010406 -0.03614070 -0.01282194
+v 0.00636246 -0.03933127 -0.00639695
+v 0.03784659 -0.04255339 -0.00913086
+v 0.02885060 -0.04376538 -0.00639697
+v 0.03784659 -0.04333573 -0.01282197
+v 0.00010406 -0.04319463 -0.01282197
+v 0.00010406 -0.04048323 -0.00639696
+v 0.00388718 -0.03969771 -0.00639696
+v 0.00398693 -0.03967770 -0.00639696
+v 0.03784659 -0.04297141 -0.01078240
+v 0.02835554 -0.04387068 -0.00639697
+v 0.01682515 -0.04392646 -0.01282197
+v 0.02577312 -0.04440349 -0.00639697
+v 0.02330153 -0.04481310 -0.00639697
+v 0.02269194 -0.04491207 -0.00696740
+v 0.02269194 -0.04491207 -0.00718626
+v 0.00010406 -0.04679481 -0.00639698
+v 0.00010406 -0.04480255 -0.01006355
+v 0.01433879 -0.04387802 -0.01282197
+v 0.02636423 -0.04429187 -0.00639697
+v 0.01642246 -0.04393067 -0.01282197
+v 0.00010406 -0.04629885 -0.00731897
+v 0.00010406 -0.04499419 -0.00972268
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 13
+f 1 13 20
+f 1 20 29
+f 1 29 27
+f 1 27 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
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+f 3 18 13
+f 3 13 7
+f 3 7 8
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+f 3 16 15
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+f 3 25 22
+f 3 22 21
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+f 3 19 12
+f 3 12 6
+f 6 12 11
+f 9 14 26
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+f 9 31 30
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+f 9 25 15
+f 9 15 16
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+f 11 12 19
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+f 13 18 21
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+f 18 19 28
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+f 20 25 29
+f 22 25 23
+f 23 25 24
+f 25 30 27
+f 25 27 29
+f 26 27 31
+f 27 30 31
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_24.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03453e75c2928b0c892543a76705f14435563d32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00010753 -0.04915228 0.00159466
+v 0.00010753 -0.04321753 0.00159468
+v 0.00169772 -0.04931032 0.00159466
+v 0.00398775 -0.04954070 0.00383670
+v 0.00010753 -0.04910982 0.00383670
+v 0.00010753 -0.04303987 0.01472056
+v 0.00837032 -0.04179517 0.00159469
+v 0.00418522 -0.04933469 0.00159466
+v 0.00647178 -0.04960203 0.00383670
+v 0.00010753 -0.04881659 0.01358218
+v 0.00010753 -0.04885982 0.01221640
+v 0.01017878 -0.04982692 0.00747150
+v 0.01017878 -0.04982692 0.00749977
+v 0.00010753 -0.04874425 0.01472054
+v 0.01642178 -0.04187619 0.01472057
+v 0.01789072 -0.04179521 0.01472057
+v 0.03147842 -0.04179517 0.00159469
+v 0.00667272 -0.04898480 0.00159466
+v 0.00895928 -0.04930403 0.00383670
+v 0.01124237 -0.04960518 0.00650402
+v 0.01027925 -0.04982692 0.00747150
+v 0.00010753 -0.04875054 0.01465245
+v 0.01027925 -0.04982692 0.00749977
+v 0.00017335 -0.04874189 0.01472054
+v 0.01642178 -0.04922465 0.01114485
+v 0.03549722 -0.04179521 0.01472057
+v 0.03549722 -0.04179520 0.01169093
+v 0.03549722 -0.04198312 0.01194918
+v 0.03549722 -0.04268920 0.01330853
+v 0.03549722 -0.04280006 0.01358220
+v 0.03221635 -0.04469418 0.01358220
+v 0.03058112 -0.04517065 0.01192861
+v 0.02549872 -0.04749722 0.01195430
+v 0.02312902 -0.04758056 0.00961975
+v 0.02138984 -0.04790213 0.00910324
+v 0.01393428 -0.04899818 0.00627275
+v 0.01642178 -0.04921678 0.00870880
+v 0.01393428 -0.04959025 0.00870880
+v 0.01890581 -0.04833303 0.01358218
+v 0.02071774 -0.04777163 0.01472054
+v 0.01890581 -0.04901943 0.01114485
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+v 0.02549872 -0.04749723 0.01295904
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+v 0.02283453 -0.04761202 0.01472055
+v 0.03080631 -0.04521862 0.01472055
+v 0.02967689 -0.04569903 0.01472055
+v 0.02634059 -0.04707264 0.01369525
+v 0.02499637 -0.04722990 0.01472055
+v 0.02744922 -0.04647822 0.01472055
+f 1 2 7
+f 1 7 17
+f 1 17 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
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+f 1 5 11
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+f 1 10 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
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+f 4 13 10
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_25.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..824a5f4a37d2503e9faef549fdef19a7b8a3dd64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_25.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03784659 -0.04333615 -0.01282197
+v 0.03784659 -0.03633181 -0.01282194
+v 0.03880103 -0.04350734 -0.01282197
+v 0.03784659 -0.04297124 -0.01078140
+v 0.03784659 -0.03467173 0.00159048
+v 0.04348550 -0.03229077 0.00159472
+v 0.04761107 -0.03229071 -0.01282193
+v 0.03784659 -0.04076377 0.00044881
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_26.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69884c68a21edf7227dec2e8b79dc33efdab39cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_26.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.04314326 -0.03115830 0.00869194
+v -0.04317548 -0.03115831 0.01000174
+v -0.04319224 -0.03115830 0.00837441
+v -0.04811296 -0.02361401 0.00102436
+v -0.04794799 -0.02361402 0.00346175
+v -0.04887852 -0.02361405 0.01000176
+v -0.05132342 -0.03115831 0.01000174
+v -0.04796217 -0.02361402 0.00383521
+v -0.04806012 -0.02361403 0.00589734
+v -0.04811554 -0.02361403 0.00627802
+v -0.04847125 -0.02361404 0.00835999
+v -0.04361626 -0.03115829 0.00674707
+v -0.05007971 -0.02361398 -0.00842933
+v -0.04850863 -0.02361400 -0.00140943
+v -0.05576986 -0.02361405 0.01000176
+v -0.05503265 -0.02494256 0.01000176
+v -0.05576083 -0.03115825 -0.00590897
+v -0.04384438 -0.03115829 0.00615351
+v -0.05033489 -0.03115824 -0.00842394
+v -0.05048826 -0.02891180 -0.00842935
+v -0.05585492 -0.02361398 -0.00842933
+v -0.05586523 -0.02361398 -0.00834454
+v -0.05591034 -0.02399208 -0.00834454
+v -0.05616553 -0.02645194 -0.00834455
+v -0.05630987 -0.02891180 -0.00834456
+v -0.05617841 -0.03115824 -0.00834456
+v -0.05615264 -0.03115824 -0.00813347
+v -0.05566804 -0.03115824 -0.00842935
+v -0.05590003 -0.02399208 -0.00842933
+v -0.05615393 -0.02645194 -0.00842934
+v -0.05616166 -0.02653612 -0.00842934
+v -0.05629956 -0.02891180 -0.00842935
+v -0.05630085 -0.02899598 -0.00842935
+v -0.05617584 -0.03115824 -0.00842935
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+f 1 27 26
+f 1 26 34
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_27.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b897ab4bc5921a9b47d59ad8a5774b23c60ac61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_27.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.04119686 -0.03115836 0.02576406
+v -0.04754473 -0.02361410 0.02332626
+v -0.04734526 -0.02361410 0.02576408
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+v -0.04119871 -0.03115837 0.02641049
+v -0.04317491 -0.03115831 0.01000174
+v -0.04887821 -0.02361405 0.01000176
+v -0.04127628 -0.03115837 0.02819949
+v -0.04776452 -0.02361412 0.03025567
+v -0.05132354 -0.03115831 0.01000174
+v -0.05576908 -0.02361405 0.01000176
+v -0.04788641 -0.02361412 0.03069458
+v -0.04202613 -0.03115838 0.03063731
+v -0.05694373 -0.02361406 0.01358454
+v -0.05622343 -0.02361405 0.01127076
+v -0.05503216 -0.02494256 0.01000176
+v -0.05343272 -0.03115835 0.02110311
+v -0.05446146 -0.03015328 0.02209302
+v -0.04895948 -0.02361413 0.03230945
+v -0.04350367 -0.03115839 0.03248118
+v -0.05992282 -0.02361411 0.02819951
+v -0.05370422 -0.03115835 0.02309010
+v -0.05370607 -0.03115835 0.02311633
+v -0.05398311 -0.03115837 0.02819949
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+v -0.05382058 -0.03115838 0.03060153
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+v -0.05235412 -0.02645210 0.03437037
+v -0.04884681 -0.03115840 0.03436082
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+f 1 13 20
+f 1 20 27
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_28.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f2cd6c7f9f762ebe334881a16e7fd499b1eaea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02834161 -0.03586964 -0.02268312
+v -0.02585453 -0.03586964 -0.02263508
+v -0.03082868 -0.03586964 -0.02268208
+v -0.02834161 -0.03383246 -0.02248050
+v 0.00010406 -0.02921544 -0.02179017
+v 0.00010406 -0.03137314 -0.02182883
+v 0.00010406 -0.03245394 -0.02183718
+v 0.00010406 -0.03383246 -0.02184762
+v 0.00010406 -0.03449372 -0.02182466
+v 0.00010406 -0.03535236 -0.02179333
+v 0.00010406 -0.03586964 -0.02164398
+v -0.03125634 -0.03586964 -0.02267581
+v -0.04231324 -0.02921544 -0.02187059
+v -0.03082868 -0.03383246 -0.02247006
+v -0.03300851 -0.02921544 -0.02193639
+v -0.03052143 -0.02921544 -0.02194265
+v -0.02834161 -0.02921544 -0.02194683
+v -0.02585453 -0.02921544 -0.02194578
+v -0.02336746 -0.02921544 -0.02193534
+v 0.00010406 -0.02921547 -0.01342904
+v 0.00010406 -0.03586967 -0.01292881
+v -0.03331576 -0.03586964 -0.02263821
+v -0.03374342 -0.03586964 -0.02262986
+v -0.03623049 -0.03586964 -0.02255466
+v -0.03871757 -0.03586964 -0.02245336
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+v -0.04231324 -0.02921547 -0.01319197
+v -0.04046974 -0.02921544 -0.02188730
+v -0.03798266 -0.02921544 -0.02190610
+v -0.03549558 -0.02921544 -0.02192281
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+v -0.02088453 -0.02921547 -0.01226354
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+v -0.03591909 -0.02921547 -0.01226980
+v -0.03628862 -0.02921547 -0.01230009
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+f 1 39 47
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+f 1 25 24
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+f 47 52 53
+f 47 53 54
+f 47 54 49
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_29.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a491388952baa9c2f17dd83e21c6ccd6af1a482f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_29.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.03083052 -0.03875375 -0.02274958
+v -0.03083052 -0.03629339 -0.02272574
+v -0.02834336 -0.03629339 -0.02272574
+v -0.02834336 -0.03875375 -0.02270332
+v -0.03083052 -0.04064306 -0.02221412
+v -0.03331409 -0.04073660 -0.02220571
+v -0.03580125 -0.04081491 -0.02216787
+v -0.03331409 -0.03875375 -0.02271734
+v -0.03331409 -0.03629339 -0.02268088
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+v -0.03083052 -0.03587137 -0.02268228
+v -0.02834336 -0.03587137 -0.02268368
+v -0.02585619 -0.03587137 -0.02263463
+v -0.02585619 -0.03629339 -0.02267107
+v -0.02585619 -0.03875375 -0.02256315
+v -0.02834336 -0.04052124 -0.02217347
+v 0.00010406 -0.03587137 -0.02164359
+v -0.03356280 -0.04199941 -0.02028532
+v -0.03672042 -0.04209513 -0.02041709
+v -0.03672042 -0.04083014 -0.02214824
+v -0.03580125 -0.03875375 -0.02263744
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_3.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efe7aed3fd31ae2e11a24ef413fd019fcc73000
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_30.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55eb08ea2d32306870fbb34e9667cd87b52bcbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_30.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_31.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc171697c4244e7ce149de8919301a597546132d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_31.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_32.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9980799e67dc02b3a22c1c77a009d281fa77ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_32.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_33.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54579d8b493db1ce703fa8281fc9caf17a04179c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_33.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_34.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d597fbc4b61c2b40f2ef58129d3749cbe1746f5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_34.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_35.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd8b3fa5bd636d26ba17965148970f45b31dd85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_35.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_36.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ae761dfe2d34488dcb30d06b40cf25a8b9824f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 22 23
+f 16 24 17
+f 16 23 25
+f 16 25 24
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 31 30
+f 22 32 23
+f 23 32 33
+f 23 33 25
+f 24 34 27
+f 24 25 33
+f 24 33 35
+f 24 35 36
+f 24 36 37
+f 24 37 34
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+f 28 37 38
+f 28 38 29
+f 30 31 39
+f 30 39 36
+f 30 36 40
+f 35 40 36
+f 36 39 41
+f 36 41 38
+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_37.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f2aa891fa19f82d0e25f985a76c8229730e277
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_37.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05363475 0.00041570 0.01356839
+v -0.05039724 0.00041575 -0.00103497
+v -0.05936110 0.00041570 0.01356839
+v -0.04965485 -0.02361171 0.01356830
+v -0.04847052 -0.02361169 0.00835958
+v -0.04987143 0.00041576 -0.00347245
+v -0.05934357 0.00041570 0.01338967
+v -0.06054042 -0.01416212 0.01356834
+v -0.05693860 -0.02361171 0.01356830
+v -0.04811622 -0.02361168 0.00627739
+v -0.04882982 0.00041578 -0.00842924
+v -0.05911447 0.00041571 0.01114383
+v -0.06073572 -0.01660861 0.01356833
+v -0.05586569 -0.02361163 -0.00834536
+v -0.05875391 -0.02218615 0.01356831
+v -0.04805988 -0.02361168 0.00589841
+v -0.04875095 -0.00184958 -0.00842925
+v -0.05434460 0.00041578 -0.00842924
+v -0.04796223 -0.02361167 0.00383560
+v -0.04794721 -0.02361167 0.00346093
+v -0.05908066 0.00041571 0.01095219
+v -0.05866753 0.00041572 0.00870850
+v -0.05862496 0.00041572 0.00851686
+v -0.05810541 0.00041573 0.00627102
+v -0.06017110 -0.01660860 0.01114377
+v -0.05585443 -0.02361163 -0.00842933
+v -0.05585693 -0.02361163 -0.00841641
+v -0.06073447 -0.01662273 0.01356833
+v -0.05877644 -0.02216733 0.01356831
+v -0.05971414 -0.02094644 0.01356831
+v -0.05966657 -0.02072295 0.01192969
+v -0.04867834 -0.00431019 -0.00842926
+v -0.05456619 0.00041578 -0.00756364
+v -0.04811372 -0.02361166 0.00102775
+v -0.04864704 -0.00677080 -0.00842926
+v -0.04864704 -0.00668612 -0.00842926
+v -0.05805658 0.00041573 0.00607938
+v -0.05008176 -0.02361163 -0.00842933
+v -0.05748320 0.00041574 0.00383569
+v -0.06029379 -0.01908334 0.01356832
+v -0.04850933 -0.02361165 -0.00140973
+v -0.04894876 -0.01406559 -0.00842929
+v -0.04878100 -0.01160498 -0.00842928
+v -0.04868084 -0.00923141 -0.00842927
+v -0.04867834 -0.00914672 -0.00842927
+v -0.04939319 -0.01848810 -0.00842931
+v -0.04917536 -0.01652620 -0.00842930
+f 1 2 6
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+f 41 47 42
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_38.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b19d05f4e17bfe1854d1ecae33c96dc642c514
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_38.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05465624 0.04055108 -0.01078202
+v 0.05468428 0.04031477 -0.01188653
+v 0.05465193 0.04055108 -0.01085068
+v 0.05462605 0.04055108 -0.01063906
+v 0.05505304 0.03900708 -0.00803358
+v 0.05507245 0.03906926 -0.00834592
+v 0.05512637 0.03933667 -0.01078203
+v 0.05453548 0.04055108 -0.01188653
+v 0.05508863 0.03923274 -0.01188654
+v 0.05423572 0.04029966 -0.00834591
+v 0.05409662 0.04055107 -0.00875633
+v 0.05614424 0.03147636 -0.00803360
+v 0.05415161 0.04023925 -0.00803357
+v 0.05613670 0.03147636 -0.00834594
+v 0.04512871 0.04055108 -0.01188653
+v 0.05606445 0.03147637 -0.00967301
+v 0.05591134 0.03147637 -0.01078205
+v 0.05568598 0.03147637 -0.01188656
+v 0.05397262 0.04055107 -0.00834591
+v 0.05386264 0.04055107 -0.00811166
+v 0.05047905 0.03147636 -0.00803360
+v 0.05382490 0.04055107 -0.00803357
+v 0.04512871 0.03910925 -0.01188654
+v 0.04512871 0.04055107 -0.00803357
+v 0.04956360 0.03147637 -0.01188656
+v 0.04512871 0.03842164 -0.00803358
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+f 23 25 26
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_39.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704f1ba291d50c097807183886f57b983ae27a08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_39.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05715748 0.02591784 -0.00168528
+v 0.05704512 0.02591783 0.00048510
+v 0.05714998 0.02591784 -0.00334168
+v 0.05688033 0.02767632 -0.00347112
+v 0.05677546 0.02591782 0.00313947
+v 0.05674550 0.02767631 -0.00103623
+v 0.05713950 0.02591785 -0.00418583
+v 0.05684887 0.02767633 -0.00590788
+v 0.05644438 0.03013653 -0.00590787
+v 0.05603989 0.02591779 0.01025841
+v 0.05629157 0.03013652 -0.00347111
+v 0.05701815 0.02591785 -0.00590788
+v 0.05644887 0.02982077 -0.00803323
+v 0.05579420 0.03259673 -0.00590786
+v 0.05639644 0.03013654 -0.00803323
+v 0.05599195 0.03228097 -0.00803322
+v 0.05588709 0.02591779 0.01113069
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+v 0.05518148 0.03445212 -0.00588346
+v 0.05517249 0.03445212 -0.00581968
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+v 0.05539571 0.03445213 -0.00777997
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+v 0.05370585 0.03445209 0.00141369
+v 0.05672153 0.02591786 -0.00803324
+v 0.04947071 0.03445213 -0.00803321
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+v 0.04185436 0.03445206 0.01113072
+v 0.05084597 0.02591786 -0.00803324
+v 0.04415245 0.03445209 0.00394049
+v 0.04266783 0.03445207 0.00829815
+v 0.04330603 0.03445208 0.00627596
+v 0.04333299 0.03445208 0.00619717
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+f 35 38 39
+f 35 39 36
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_4.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc645e26dbe7d98bdc7d7148c5f56490507fa2c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_4.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.03549981 -0.03962446 0.00801205
+v 0.03549981 -0.03356026 0.00801208
+v 0.03582869 -0.03954251 0.00801205
+v 0.03549981 -0.04198225 0.01195265
+v 0.03549981 -0.03349938 0.00871151
+v 0.04803094 -0.02192121 0.00801212
+v 0.03632072 -0.03939500 0.00801206
+v 0.03549981 -0.04268702 0.01331094
+v 0.04834170 -0.03558556 0.00801207
+v 0.03549981 -0.03568397 0.02829789
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+v 0.04792477 -0.02192127 0.02576380
+v 0.05509541 -0.02192121 0.00801212
+v 0.03549981 -0.04279940 0.01358462
+v 0.04931280 -0.03383420 0.00801208
+v 0.05815633 -0.02192123 0.01397750
+v 0.06195271 -0.02192130 0.03144028
+v 0.05018291 -0.03529528 0.02148104
+v 0.04946300 -0.03696705 0.02819905
+v 0.04781601 -0.03784271 0.02132392
+v 0.04519532 -0.04010918 0.02171670
+v 0.04053401 -0.04273387 0.02089309
+v 0.03880156 -0.04364702 0.02089309
+v 0.03648904 -0.04463977 0.02068529
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+v 0.03549981 -0.03652922 0.03064197
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+v 0.05678643 -0.02192122 0.01114686
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+f 68 81 80
+f 69 70 82
+f 70 79 83
+f 70 83 84
+f 70 84 85
+f 70 85 82
+f 71 77 86
+f 71 86 72
+f 72 86 87
+f 72 87 78
+f 73 88 89
+f 73 89 74
+f 74 90 91
+f 74 91 75
+f 75 91 76
+f 76 91 92
+f 76 92 77
+f 77 92 93
+f 77 93 86
+f 78 87 79
+f 79 87 83
+f 80 81 88
+f 81 89 88
+f 82 85 94
+f 83 87 84
+f 84 95 94
+f 84 94 85
+f 84 87 95
+f 86 93 87
+f 87 93 96
+f 87 96 95
+f 90 97 92
+f 90 92 91
+f 92 97 98
+f 92 98 96
+f 92 96 93
+f 95 96 99
+f 96 98 99
+f 97 100 98
+f 98 100 99
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_40.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c001a88f52d39189ccc0ea1f85c03445a62e1be6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_40.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.02396217 0.04055196 -0.01188653
+v 0.02538142 0.04043500 -0.01188653
+v 0.04512871 0.03842204 -0.00803358
+v 0.03721405 0.04055195 -0.00803357
+v 0.04512871 0.04055196 -0.01188653
+v 0.04512871 0.03910944 -0.01188654
+v 0.04512871 0.04055195 -0.00803357
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 6 5
+f 3 5 7
+f 3 7 4
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_41.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d3f625dd665b4679f49a4c4c5b7944cff3fe14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03577870 0.04075608 -0.00803319
+v 0.03577870 0.04042705 -0.00643307
+v 0.03577870 0.04637048 -0.00803317
+v 0.04946883 0.03445213 -0.00803321
+v 0.03577870 0.03993817 -0.00399631
+v 0.04415343 0.03445209 0.00394049
+v 0.03577870 0.04633781 -0.00746854
+v 0.03642439 0.04633431 -0.00803317
+v 0.05541071 0.03445213 -0.00803321
+v 0.03577870 0.03947497 -0.00163084
+v 0.04333287 0.03445208 0.00619717
+v 0.03577870 0.04597261 -0.00494736
+v 0.03826537 0.04623047 -0.00803317
+v 0.05505327 0.03900829 -0.00803320
+v 0.05539534 0.03445213 -0.00777997
+v 0.03577870 0.03896158 0.00140057
+v 0.04330597 0.03445208 0.00627596
+v 0.03577870 0.04359588 0.01100694
+v 0.03880152 0.04618497 -0.00803317
+v 0.05498986 0.03880761 -0.00703149
+v 0.05415200 0.04024037 -0.00803319
+v 0.05518203 0.03445212 -0.00588346
+v 0.03577870 0.03854855 0.00399678
+v 0.04266797 0.03445207 0.00829815
+v 0.03577870 0.04357721 0.01113075
+v 0.03945874 0.04612079 -0.00803317
+v 0.05370424 0.03445209 0.00141369
+v 0.05417891 0.03445210 -0.00044905
+v 0.05490146 0.03445211 -0.00398132
+v 0.05275493 0.03901877 -0.00161021
+v 0.05074868 0.03519411 0.01113072
+v 0.05115608 0.03445206 0.01113072
+v 0.05290674 0.04144096 -0.00803319
+v 0.03577870 0.03759179 0.01113073
+v 0.04185317 0.03445206 0.01113072
+v 0.03594204 0.04351887 0.01113075
+v 0.04379600 0.04524573 -0.00803317
+v 0.04345586 0.04533674 -0.00803317
+v 0.04137851 0.04582444 -0.00803317
+v 0.04108065 0.04587695 -0.00803317
+v 0.04055795 0.04596445 -0.00803317
+v 0.05260504 0.04127178 -0.00693206
+v 0.04983972 0.03621269 0.01113072
+v 0.04661704 0.04420149 -0.00803318
+v 0.03880152 0.04238713 0.01113075
+v 0.03632830 0.04337536 0.01113075
+v 0.04639028 0.04429483 -0.00803318
+v 0.04070015 0.04152956 0.01113074
+v 0.04194349 0.04090185 0.01113074
+v 0.04377486 0.03982027 0.01113074
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 23
+f 1 23 34
+f 1 34 25
+f 1 25 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 26
+f 1 26 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 47
+f 1 47 44
+f 1 44 33
+f 1 33 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 15
+f 4 15 22
+f 4 22 29
+f 4 29 28
+f 4 28 27
+f 4 27 32
+f 4 32 35
+f 4 35 24
+f 4 24 17
+f 4 17 11
+f 4 11 6
+f 5 6 10
+f 6 11 10
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 10 11 16
+f 11 17 16
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 14 21 20
+f 15 20 22
+f 16 17 23
+f 17 24 23
+f 18 25 19
+f 19 25 26
+f 20 27 28
+f 20 28 29
+f 20 29 22
+f 20 21 30
+f 20 30 31
+f 20 31 32
+f 20 32 27
+f 21 33 30
+f 23 24 35
+f 23 35 34
+f 25 34 35
+f 25 35 32
+f 25 32 31
+f 25 31 43
+f 25 43 50
+f 25 50 49
+f 25 49 48
+f 25 48 45
+f 25 45 46
+f 25 46 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 30 42 43
+f 30 43 31
+f 30 33 42
+f 33 44 45
+f 33 45 42
+f 36 46 47
+f 36 47 37
+f 42 45 48
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_42.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd9b83e183de79b83dfbd47a6e42baedc0948db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05672276 -0.02192116 -0.00633682
+v 0.05670459 -0.02192116 -0.00590903
+v 0.05674352 -0.02356044 -0.00633683
+v 0.05053160 -0.02192116 -0.00633682
+v 0.05660594 -0.02192116 -0.00552316
+v 0.05673054 -0.02399183 -0.00590904
+v 0.05672925 -0.02399183 -0.00633683
+v 0.05051343 -0.02192624 -0.00633682
+v 0.05051343 -0.02192116 -0.00633138
+v 0.05604264 -0.02192117 -0.00347272
+v 0.05610234 -0.02399184 -0.00347273
+v 0.05594140 -0.02645228 -0.00347274
+v 0.05653975 -0.02645227 -0.00590905
+v 0.05657090 -0.02602088 -0.00633684
+v 0.04832381 -0.03228973 -0.00633686
+v 0.04413278 -0.03228975 0.00043480
+v 0.04348381 -0.03228976 0.00159472
+v 0.04750482 -0.02276366 0.00018173
+v 0.04757231 -0.02192118 0.00075238
+v 0.05528075 -0.02192117 -0.00170799
+v 0.05531450 -0.02399184 -0.00164046
+v 0.05523922 -0.02645228 -0.00174140
+v 0.05542872 -0.02898682 -0.00334775
+v 0.05611662 -0.02891170 -0.00590906
+v 0.05509904 -0.02821641 -0.00199062
+v 0.05653196 -0.02645227 -0.00633684
+v 0.05612571 -0.02891170 -0.00633685
+v 0.05519249 -0.03228973 -0.00633686
+v 0.05175167 -0.03228976 0.00159472
+v 0.04733609 -0.02192119 0.00159476
+v 0.05351945 -0.02192119 0.00159476
+v 0.05454223 -0.02645229 -0.00052325
+v 0.05488748 -0.02985671 -0.00245180
+v 0.05518470 -0.03070933 -0.00407601
+v 0.05538589 -0.03146654 -0.00588888
+v 0.05544039 -0.03144928 -0.00633686
+v 0.05442152 -0.02898683 -0.00112185
+v 0.05521455 -0.03223796 -0.00633686
+v 0.05489526 -0.03228973 -0.00511793
+v 0.05298341 -0.03228975 -0.00070572
+v 0.05310022 -0.02891172 0.00101399
+v 0.05266671 -0.02891173 0.00159473
+v 0.05299638 -0.02645230 0.00159474
+v 0.05329881 -0.02645229 0.00121043
+v 0.05396464 -0.03228974 -0.00273597
+v 0.05458246 -0.03146655 -0.00334776
+v 0.05484205 -0.03228973 -0.00494790
+v 0.05487190 -0.03228973 -0.00502709
+v 0.05288217 -0.02737497 0.00159474
+v 0.05423332 -0.03228974 -0.00339124
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 27
+f 1 27 36
+f 1 36 38
+f 1 38 28
+f 1 28 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 30
+f 1 30 31
+f 1 31 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 13
+f 12 22 25
+f 12 25 23
+f 13 26 14
+f 13 24 27
+f 13 27 26
+f 15 28 39
+f 15 39 48
+f 15 48 47
+f 15 47 50
+f 15 50 45
+f 15 45 40
+f 15 40 29
+f 15 29 17
+f 15 17 16
+f 17 29 42
+f 17 42 49
+f 17 49 43
+f 17 43 31
+f 17 31 30
+f 17 30 19
+f 17 19 18
+f 20 31 21
+f 21 32 22
+f 21 31 32
+f 22 32 25
+f 23 25 33
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 27
+f 25 32 37
+f 25 37 33
+f 28 38 39
+f 29 40 33
+f 29 33 37
+f 29 37 41
+f 29 41 42
+f 31 43 44
+f 31 44 32
+f 32 44 41
+f 32 41 37
+f 33 40 45
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 39
+f 35 39 38
+f 35 38 36
+f 41 44 42
+f 42 44 49
+f 43 49 44
+f 45 50 46
+f 46 50 47
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_43.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1825a883d3459cd22414797eb37b854ca1cf9030
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_43.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03780260 0.03675761 0.01357293
+v -0.04094675 0.03675764 0.00605576
+v -0.04775964 0.03675761 0.01357293
+v -0.04530152 0.03090675 0.01357290
+v -0.04637706 0.03090677 0.00870835
+v -0.05025109 0.03090683 -0.00786636
+v -0.04189244 0.03675765 0.00383544
+v -0.04778070 0.03675761 0.01356873
+v -0.04778245 0.03675532 0.01357293
+v -0.05203546 0.03090675 0.01357290
+v -0.05572703 0.03090683 -0.00786636
+v -0.04742978 0.03675769 -0.00786633
+v -0.04371191 0.03675766 -0.00007424
+v -0.04294692 0.03675765 0.00156056
+v -0.04901940 0.03599304 0.01357292
+v -0.04778947 0.03675761 0.01354775
+v -0.05141436 0.03258767 0.01357291
+v -0.05373386 0.03675767 -0.00347397
+v -0.05464974 0.03090680 0.00081343
+v -0.05563930 0.03090682 -0.00590837
+v -0.05554455 0.03259692 -0.00786635
+v -0.05453218 0.03675769 -0.00786633
+v -0.05027215 0.03476399 0.01357292
+v -0.05224075 0.03675765 0.00264764
+v -0.05141085 0.03259684 0.01357291
+v -0.05423040 0.03675768 -0.00597340
+v -0.05498485 0.03090680 -0.00103543
+v -0.05535506 0.03090681 -0.00347400
+v -0.05530243 0.03259691 -0.00590836
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 22
+f 1 22 26
+f 1 26 18
+f 1 18 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 23
+f 1 23 25
+f 1 25 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 19
+f 4 19 27
+f 4 27 28
+f 4 28 20
+f 4 20 11
+f 4 11 6
+f 4 6 5
+f 6 11 21
+f 6 21 22
+f 6 22 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 8 16 15
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 15 16 24
+f 15 24 23
+f 17 25 18
+f 18 26 19
+f 18 25 24
+f 19 26 27
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 27
+f 22 27 26
+f 23 24 25
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_44.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe6350275560b92a794c8ec5616aca1b6bea6d5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_44.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.05110001 0.02071869 0.00828746
+v -0.04917811 0.01218200 -0.00786643
+v -0.04919882 0.01291327 -0.00786642
+v -0.04927788 0.01538924 -0.00786641
+v -0.04935223 0.01701870 -0.00786641
+v -0.04939270 0.01783343 -0.00786640
+v -0.04944540 0.01869982 -0.00786640
+v -0.04954988 0.02029351 -0.00786640
+v -0.04958658 0.02071875 -0.00786639
+v -0.05745957 0.02071869 0.00828746
+v -0.05271790 0.00041807 0.00828738
+v -0.05157436 0.00041809 0.00383621
+v -0.05096447 0.00041809 0.00139954
+v -0.05039694 0.00041810 -0.00103556
+v -0.04987176 0.00041811 -0.00347223
+v -0.04895693 0.00041813 -0.00786647
+v -0.05541533 0.02071875 -0.00786639
+v -0.05745298 0.02071869 0.00790954
+v -0.05757722 0.02056568 0.00828746
+v -0.05857205 0.00041807 0.00828738
+v -0.05448826 0.00041813 -0.00786647
+v -0.05588874 0.02071874 -0.00590883
+v -0.05456732 0.00041813 -0.00756288
+v -0.05805723 0.00041808 0.00607998
+v -0.05810522 0.00041808 0.00627289
+v -0.05666333 0.02071872 -0.00103548
+v -0.05831040 0.01783337 0.00828745
+v -0.05848641 0.00799504 0.00828741
+v -0.05633580 0.02071873 -0.00347215
+v -0.05835558 0.01740812 0.00828744
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 17
+f 1 17 22
+f 1 22 29
+f 1 29 26
+f 1 26 18
+f 1 18 10
+f 1 10 19
+f 1 19 27
+f 1 27 30
+f 1 30 28
+f 1 28 20
+f 1 20 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 2
+f 2 16 21
+f 2 21 17
+f 2 17 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 10 18 19
+f 11 20 25
+f 11 25 24
+f 11 24 23
+f 11 23 21
+f 11 21 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 17 21 23
+f 17 23 24
+f 17 24 25
+f 17 25 22
+f 18 26 19
+f 19 26 27
+f 20 28 29
+f 20 29 22
+f 20 22 25
+f 26 29 27
+f 27 29 30
+f 28 30 29
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_45.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56432ed5e0399264bf58cc39906ad620886c2fc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_45.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.06865815 -0.01077001 0.04022829
+v -0.06813391 -0.01077001 0.04023178
+v -0.07035365 -0.01077001 0.04075386
+v -0.07331588 0.00041793 0.04585956
+v -0.07061966 0.00041793 0.04542236
+v -0.06688276 -0.01077001 0.04079804
+v -0.06880042 0.00041793 0.04611769
+v -0.07072880 -0.01077001 0.04098525
+v -0.07396290 0.00041793 0.04623048
+v -0.06632246 -0.01077001 0.04106780
+v -0.06767203 0.00041792 0.04769206
+v -0.07159993 -0.01077001 0.04162709
+v -0.07437704 0.00014195 0.04644908
+v -0.07458945 0.00041793 0.04685488
+v -0.06535778 -0.01077002 0.04287007
+v -0.06752782 0.00041792 0.05012920
+v -0.06517849 -0.01077003 0.04518745
+v -0.07269713 -0.01077002 0.04286775
+v -0.07458848 -0.00430980 0.04620953
+v -0.07483404 0.00041793 0.04728626
+v -0.06865620 0.00041791 0.05186520
+v -0.06662843 -0.00922918 0.04925710
+v -0.06600188 -0.00922918 0.04769203
+v -0.06605255 -0.01077004 0.04778970
+v -0.07320286 -0.01077002 0.04367121
+v -0.07463331 -0.00676839 0.04604907
+v -0.07493343 0.00041793 0.04748742
+v -0.07061966 0.00041791 0.05210589
+v -0.06868251 -0.00184903 0.05181751
+v -0.06668105 -0.01077004 0.04913036
+v -0.06881016 -0.00430982 0.05166286
+v -0.07369981 -0.01077003 0.04527465
+v -0.07452514 -0.00878454 0.04614092
+v -0.07513221 -0.00430981 0.04769204
+v -0.07511175 -0.00184902 0.04769205
+v -0.07502600 0.00041792 0.04973270
+v -0.07076290 0.00041791 0.05206984
+v -0.07061966 -0.00184903 0.05200007
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_46.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b19b680d26de3d9ba33c128189bd01c8b6284b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_46.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_47.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8eb18dff5f7d27066836c4f65d6effd09a3b04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_48.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bfc9a3c9cbbff53189929500b4244fb3a6221c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_48.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_49.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b248bf1b42b36d385a1ec02564a983725e1a804
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_49.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.05622652 0.02591781 0.00674299
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_5.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f39507343d766218ac54d007b1f6c0045dbc9b7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_5.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.05509768 -0.02192121 0.00800959
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_50.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4896a3a29a3f03fed0677ec96f3f97235b5fed39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_50.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.05693808 -0.02361171 0.01357076
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+f 5 67 66
+f 5 66 65
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+f 5 56 55
+f 5 55 41
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+f 5 24 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 8 10 11
+f 9 15 16
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+f 10 16 28
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+f 29 47 30
+f 30 48 33
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+f 30 49 31
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+f 30 51 48
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+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
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+f 44 61 45
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+f 53 63 64
+f 53 64 65
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_51.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e76ed7f79cfc4aa136c2e0ad1444660408f85d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_51.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.05389334 -0.00365731 0.00674432
+v 0.05286367 0.01462667 0.00674438
+v 0.05948426 -0.00365731 0.00674432
+v 0.05235843 -0.00365737 0.02094017
+v 0.05130451 0.01462661 0.02088972
+v 0.05899923 0.01462667 0.00674438
+v 0.05963684 -0.00232396 0.00674432
+v 0.05966008 -0.00365732 0.00806555
+v 0.05232205 -0.00365737 0.02148514
+v 0.05222000 -0.00365738 0.02332741
+v 0.05119033 0.01462660 0.02332747
+v 0.05944687 0.01254163 0.00674438
+v 0.06032901 0.01462664 0.01359242
+v 0.05987935 0.00000450 0.00674433
+v 0.05993493 -0.00057360 0.00753919
+v 0.05973081 -0.00365732 0.00865039
+v 0.05230993 -0.00365738 0.02567212
+v 0.05125197 0.01462660 0.02576256
+v 0.05980154 0.01071788 0.00674437
+v 0.06001071 0.00970130 0.00696236
+v 0.05994301 0.00992682 0.00674437
+v 0.06151227 0.01462661 0.02201156
+v 0.05995109 0.00085462 0.00674433
+v 0.06000061 0.00106580 0.00698890
+v 0.06151227 -0.00365739 0.02718740
+v 0.05270401 -0.00365739 0.02819228
+v 0.05159654 0.01291202 0.02820031
+v 0.05150661 0.01462659 0.02820031
+v 0.06002688 0.00920376 0.00674436
+v 0.06151227 0.01462657 0.03158180
+v 0.06033204 0.00553120 0.00871157
+v 0.06018047 0.00553121 0.00674435
+v 0.06011277 0.00796347 0.00674436
+v 0.05998545 0.00126805 0.00674433
+v 0.06001677 0.00172802 0.00674434
+v 0.06151227 -0.00365740 0.03065130
+v 0.06009761 0.00315086 0.00674434
+v 0.06026030 0.00307389 0.00871156
+v 0.06016632 0.00505693 0.00674435
+v 0.05319106 -0.00365740 0.03052635
+v 0.05249383 0.00215031 0.02932743
+v 0.05212097 0.01291201 0.03020740
+v 0.05208055 0.01462658 0.03037223
+v 0.06091609 0.01462657 0.03250160
+v 0.06056647 -0.00184798 0.03248293
+v 0.06151227 -0.00184797 0.03080017
+v 0.06151227 -0.00205558 0.03078953
+v 0.06080292 -0.00365741 0.03196189
+v 0.05349218 -0.00365740 0.03107664
+v 0.05262722 0.01462657 0.03158977
+v 0.05244432 0.01462658 0.03122025
+v 0.06059578 0.00061291 0.03250155
+v 0.06041894 0.01462657 0.03283124
+v 0.06052807 -0.00365741 0.03244837
+v 0.05869508 -0.00184798 0.03364997
+v 0.05919021 -0.00365741 0.03330704
+v 0.05435815 -0.00365741 0.03252281
+v 0.05387009 0.01462657 0.03282593
+v 0.05869508 0.01462657 0.03328051
+v 0.05869508 0.01291200 0.03337887
+v 0.05869508 0.01045290 0.03350381
+v 0.05869508 0.00799201 0.03359418
+v 0.05869508 0.00553111 0.03364202
+v 0.05869508 0.00307380 0.03366062
+v 0.05869508 0.00061291 0.03366593
+v 0.05620933 0.01462657 0.03390258
+v 0.05620933 0.01291200 0.03388663
+v 0.05686613 -0.00365741 0.03369516
+v 0.05869508 -0.00365741 0.03361541
+v 0.05482398 -0.00365741 0.03283118
+v 0.05620933 -0.00365741 0.03368985
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 21
+f 1 21 29
+f 1 29 33
+f 1 33 32
+f 1 32 39
+f 1 39 37
+f 1 37 35
+f 1 35 34
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+f 1 7 3
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+f 1 25 36
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+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 18 28
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+f 2 43 51
+f 2 51 50
+f 2 50 58
+f 2 58 66
+f 2 66 59
+f 2 59 53
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+f 2 30 22
+f 2 22 13
+f 2 13 6
+f 3 7 8
+f 4 9 5
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+f 22 25 31
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+f 30 44 45
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+f 36 47 48
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+f 40 49 50
+f 40 50 51
+f 40 51 43
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+f 55 69 56
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+f 59 66 60
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_52.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f9f47bb760e25fcc47a2f3f2b5110abbece028
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.06151383 0.01290078 0.02578380
+v 0.06181222 0.01290077 0.02820062
+v 0.06151383 0.01290076 0.02991201
+v 0.06151383 0.01373291 0.02332172
+v 0.06595672 0.01620272 0.03277207
+v 0.06181112 0.01290077 0.02821455
+v 0.06565558 0.01602037 0.03277207
+v 0.06151383 0.01320315 0.03063717
+v 0.06151383 0.01537410 0.02091999
+v 0.06704239 0.01764193 0.03277207
+v 0.06314509 0.01562566 0.03277207
+v 0.06274980 0.01558527 0.03277207
+v 0.06167459 0.01547678 0.03277207
+v 0.06151383 0.01547101 0.03277207
+v 0.06151383 0.01782201 0.02161035
+v 0.06709084 0.02029412 0.03277208
+v 0.06713709 0.01783467 0.03277208
+v 0.06151383 0.02469021 0.03277210
+v 0.06151383 0.02254356 0.02577106
+v 0.06581358 0.02200455 0.03277209
+v 0.06151383 0.02462905 0.03052583
+v 0.06298268 0.02434167 0.03277210
+v 0.06151383 0.02368383 0.02740240
+v 0.06272888 0.02420433 0.03116049
+v 0.06403037 0.02354185 0.03277210
+v 0.06236827 0.02391695 0.02953613
+v 0.06151383 0.02432436 0.02879240
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 21
+f 1 21 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
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+f 5 20 25
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+f 5 11 7
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+f 20 26 24
+f 21 22 24
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+f 22 25 24
+f 23 27 26
+f 24 26 27
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_53.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174b7fb3af6eefb54f2b8f9c7556f3931f514f3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_53.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06118940 -0.01052156 0.02578376
+v 0.06118940 -0.01052156 0.03091742
+v 0.06118940 0.01289963 0.02578376
+v 0.06118940 0.01289963 0.03091742
+v 0.06218940 -0.01052156 0.02578376
+v 0.06218940 -0.01052156 0.03091742
+v 0.06218940 0.01289963 0.02578376
+v 0.06218940 0.01289963 0.03091742
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_54.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf22341ec5f674c3895287378c40c0bd362bde86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_54.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06864280 -0.00935900 0.04081415
+v 0.07112906 -0.00935900 0.04137927
+v 0.06641816 -0.00935901 0.04255433
+v 0.06928817 0.00165818 0.04610250
+v 0.07033654 0.00165818 0.04570134
+v 0.07112906 0.00165818 0.04539965
+v 0.07255830 0.00165818 0.04555487
+v 0.07361628 0.00165818 0.04568166
+v 0.07306805 -0.00935901 0.04279699
+v 0.07438476 0.00165818 0.04608173
+v 0.07495222 0.00165818 0.04638342
+v 0.06632679 -0.00935901 0.04265162
+v 0.06817345 0.00165817 0.04769293
+v 0.07361724 -0.00935901 0.04378623
+v 0.07510803 -0.00430875 0.04617570
+v 0.07508302 -0.00676864 0.04606968
+v 0.07532732 0.00165818 0.04713655
+v 0.06624023 -0.00935901 0.04285602
+v 0.06579299 -0.00935902 0.04504655
+v 0.06810900 0.00165817 0.05012939
+v 0.07443958 -0.00920157 0.04532419
+v 0.07437321 -0.00935902 0.04532637
+v 0.07559951 0.00165817 0.04769293
+v 0.07560528 0.00061102 0.04769292
+v 0.07561779 -0.00184887 0.04769291
+v 0.07552160 -0.00430876 0.04769290
+v 0.07496953 -0.00836363 0.04618116
+v 0.06582472 -0.00935902 0.04525642
+v 0.06720491 -0.00676865 0.04922757
+v 0.06922277 0.00165816 0.05179524
+v 0.06636141 -0.00935902 0.04755625
+v 0.07496953 -0.00836363 0.04688619
+v 0.07379325 -0.00935903 0.04780985
+v 0.07550622 0.00165817 0.04980038
+v 0.07551103 0.00061102 0.04980693
+v 0.07544947 -0.00184887 0.04969105
+v 0.07527250 -0.00430876 0.04942433
+v 0.07515420 -0.00683228 0.04769616
+v 0.06714624 -0.00922854 0.04920898
+v 0.06642777 -0.00922854 0.04769289
+v 0.06922181 0.00061101 0.05180070
+v 0.07112906 0.00061101 0.05197887
+v 0.07112906 0.00165816 0.05196685
+v 0.06711739 -0.00935903 0.04912700
+v 0.07505321 -0.00605473 0.04913794
+v 0.07463002 -0.00769502 0.04851051
+v 0.07252175 -0.00935903 0.04902863
+v 0.07471947 0.00165816 0.05050104
+v 0.07414238 0.00061101 0.05102571
+v 0.07355376 -0.00205270 0.05099072
+v 0.07361628 -0.00430877 0.05050538
+v 0.06715778 -0.00935903 0.04919259
+v 0.06949496 -0.00430877 0.05154381
+v 0.06926605 -0.00184888 0.05172636
+v 0.07062892 -0.00430877 0.05154381
+v 0.07135604 -0.00205270 0.05171543
+v 0.07268333 -0.00136790 0.05145527
+v 0.07289878 0.00061101 0.05152633
+v 0.07186484 0.00165816 0.05177994
+v 0.07372688 -0.00683228 0.04962982
+v 0.07297187 -0.00861707 0.04924287
+v 0.07114349 -0.00935903 0.04951177
+v 0.07412507 0.00165816 0.05101916
+v 0.07233708 -0.00300819 0.05133722
+v 0.07187157 -0.00430877 0.05120932
+v 0.06852065 -0.00935903 0.04965386
+v 0.06975464 -0.00568916 0.05139624
+v 0.07008262 -0.00568916 0.05139624
+v 0.07288146 0.00165816 0.05151869
+v 0.07341045 0.00165816 0.05130664
+v 0.07099825 -0.00661337 0.05080161
+v 0.07113964 -0.00935472 0.04951504
+v 0.07113195 -0.00935903 0.04951395
+v 0.06864280 -0.00935903 0.04966152
+f 1 2 9
+f 1 9 14
+f 1 14 22
+f 1 22 33
+f 1 33 47
+f 1 47 62
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+f 1 73 74
+f 1 74 66
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+f 1 19 18
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+f 4 43 59
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+f 42 58 59
+f 42 59 43
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+f 45 61 46
+f 46 61 47
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+f 48 63 49
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+f 49 57 50
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+f 50 64 51
+f 51 64 65
+f 51 65 60
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+f 53 68 55
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+f 55 64 56
+f 56 64 57
+f 58 69 59
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+f 58 70 69
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+f 62 72 73
+f 65 68 71
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+f 68 74 73
+f 68 73 72
+f 68 72 71
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_55.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8ca8710e911adaa2df72a728c9aeab5a206c98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_55.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06151327 0.02029423 0.03879201
+v 0.05620723 0.01462657 0.03390140
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+v 0.05130436 0.01462661 0.02089226
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+f 1 2 3
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+f 1 30 36
+f 1 36 50
+f 1 50 42
+f 1 42 32
+f 1 32 26
+f 1 26 19
+f 1 19 13
+f 1 13 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
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+f 2 35 49
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+f 32 43 44
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+f 33 57 56
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+f 35 48 49
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+f 52 62 58
+f 53 55 54
+f 59 61 60
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_56.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1ff604bcce95eff4779ab738aa4163d0a2fd38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_56.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.07437340 -0.00935902 0.04532510
+v 0.07361685 -0.00935901 0.04378480
+v 0.07379308 -0.00935903 0.04780850
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+v 0.07279358 -0.01367762 0.04281884
+v 0.07259468 -0.01349193 0.04119043
+v 0.07254559 -0.01169046 0.04128671
+v 0.07307304 -0.00946353 0.04276664
+v 0.07306800 -0.00935901 0.04279601
+v 0.07252167 -0.00935903 0.04902899
+v 0.07300003 -0.01110761 0.04714440
+v 0.07271301 -0.01335913 0.04462673
+v 0.07191996 -0.01490729 0.04281884
+v 0.07082856 -0.01642470 0.04038438
+v 0.07043329 -0.01627467 0.03794830
+v 0.07004935 -0.01582706 0.03648306
+v 0.07004935 -0.01502900 0.03648306
+v 0.07112942 -0.00935900 0.04137810
+v 0.06780738 -0.01474247 0.03365212
+v 0.06663920 -0.01407353 0.03299293
+v 0.06654479 -0.01397762 0.03299293
+v 0.06514623 -0.01285739 0.03299293
+v 0.07114326 -0.00935903 0.04951196
+v 0.07197534 -0.01025915 0.04876791
+v 0.07202696 -0.01274800 0.04625187
+v 0.07024824 -0.01562173 0.04431507
+v 0.07067624 -0.01604597 0.04281883
+v 0.06941868 -0.01765437 0.04038438
+v 0.06844309 -0.01861104 0.03794829
+v 0.06968680 -0.01750434 0.03794830
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+v 0.06792571 -0.01661035 0.03349221
+v 0.06758457 -0.01661035 0.03299292
+v 0.06864198 -0.00935900 0.04081354
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+v 0.07036909 -0.01315625 0.04670874
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+v 0.06856646 -0.01717358 0.04266708
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+v 0.06151454 -0.01553317 0.03705577
+v 0.06636226 -0.00935902 0.04755559
+v 0.06582474 -0.00935902 0.04525494
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+f 85 88 86
+f 87 92 89
+f 89 92 90
+f 90 92 91
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_57.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b87b1f8c621096c0b52b422266b52f29ce372c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_57.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05693514 -0.01126231 0.00163280
+v 0.05539118 -0.01126227 -0.00803338
+v 0.05092773 -0.01126231 0.00163280
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+v 0.05604226 -0.02192117 -0.00347283
+v 0.05660583 -0.02192116 -0.00552321
+v 0.05670557 -0.02192116 -0.00590925
+v 0.05678742 -0.02192115 -0.00795962
+v 0.05678930 -0.02184603 -0.00803342
+v 0.05678648 -0.02158102 -0.00803342
+v 0.05678554 -0.02153094 -0.00803342
+v 0.05666322 -0.01938581 -0.00803341
+v 0.05663406 -0.01907071 -0.00803341
+v 0.05624737 -0.01660945 -0.00803340
+v 0.04964723 -0.01126227 -0.00803338
+v 0.05086564 -0.01126231 0.00139909
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+v 0.04732518 -0.02192119 0.00163276
+v 0.04757168 -0.02192118 0.00075281
+f 1 2 15
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+f 1 22 23
+f 1 23 16
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+f 1 3 17
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+f 1 24 28
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+f 1 25 18
+f 1 18 4
+f 1 4 5
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+f 21 27 28
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+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_58.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97867696e3d2d89d84b86049fc6f0fdc558f118a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_58.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.04177234 0.03090671 0.02576378
+v -0.04188179 0.03090670 0.02787432
+v -0.04668974 0.02544170 0.02576376
+v -0.04670744 0.02544170 0.02526159
+v -0.04678310 0.02544170 0.02332633
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+v -0.05444812 0.02747562 0.01010646
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_59.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cbb313e9ea77508400bdce92f893cdf9c42c6b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_59.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_6.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc27397840783bd77b4508fa29e4dbcc402b8d9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_6.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_60.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1ad85adc5346c51c9b82cd99314f50a4e3f415
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_60.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_61.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43c23a6c12e8e8c851cfdc277efa50dc0dcc159
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_61.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_62.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4693f29d341c26a291adb70ce23bb0fafc56641
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_62.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.07112890 0.00165926 0.04539969
+v 0.07255852 0.00165926 0.04555472
+v 0.07033670 0.00165926 0.04570089
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_63.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1581e591a6af157580c4fe330a11a8e7083967f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_63.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.07449087 0.01263292 0.04552140
+v 0.07263239 0.01689355 0.04445797
+v 0.07320276 0.01544216 0.04526376
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_64.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f804eab977e760ee901da12211d8c1408e682b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_64.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05983794 -0.00365808 0.00999265
+v 0.05438589 -0.00365808 0.00999265
+v 0.05925958 -0.01050378 0.00999262
+v 0.05973113 -0.00365807 0.00864622
+v 0.05146994 -0.01126157 0.00383925
+v 0.05320802 -0.01126160 0.00999262
+v 0.04994647 -0.00365801 -0.00803159
+v 0.05086640 -0.01126157 0.00139873
+v 0.05915076 -0.01126160 0.00999262
+v 0.05887771 -0.00430941 0.00383574
+v 0.05930895 -0.00365806 0.00562688
+v 0.05934724 -0.00430942 0.00627274
+v 0.05942180 -0.00365806 0.00627275
+v 0.05965959 -0.00365807 0.00806388
+v 0.05571993 -0.00365801 -0.00803159
+v 0.04987997 -0.00430937 -0.00803160
+v 0.04965931 -0.00666845 -0.00803160
+v 0.05045732 -0.01126156 -0.00103650
+v 0.05539046 -0.01126153 -0.00803162
+v 0.05896235 -0.00365805 0.00383575
+v 0.05638998 -0.00365802 -0.00590870
+v 0.04954445 -0.00922926 -0.00803161
+v 0.04962404 -0.01126153 -0.00802809
+v 0.04964722 -0.01126153 -0.00803162
+v 0.05711242 -0.00365803 -0.00342053
+v 0.05729983 -0.00365803 -0.00276408
+v 0.05756986 -0.00365803 -0.00176881
+v 0.05775929 -0.00365804 -0.00104883
+v 0.05822983 -0.00365804 0.00075642
+v 0.05839507 -0.00365805 0.00139876
+v 0.05881826 -0.00365805 0.00318989
+f 1 2 6
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+f 1 9 3
+f 1 3 4
+f 1 4 14
+f 1 14 13
+f 1 13 11
+f 1 11 20
+f 1 20 31
+f 1 31 30
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+f 19 31 20
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_65.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2bc897186c29dba5292f88e7ec8a88acc50fec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_65.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04893731 0.02071781 0.02342094
+v -0.04893974 0.02071781 0.02568160
+v -0.05078532 0.01234041 0.02576450
+v -0.05082652 0.01234041 0.02389700
+v -0.05085803 0.01234041 0.02332877
+v -0.05100708 0.01234042 0.02146127
+v -0.04898457 0.02071782 0.02285271
+v -0.05079502 0.01234040 0.02633273
+v -0.04920027 0.02071780 0.02820026
+v -0.05083501 0.01234040 0.02820023
+v -0.05240551 0.01234047 0.00829050
+v -0.04915180 0.02071782 0.02089306
+v -0.04941719 0.02071779 0.02935823
+v -0.05137669 0.01234039 0.03066975
+v -0.05831793 0.01234047 0.00829050
+v -0.05110039 0.02071787 0.00829053
+v -0.04969712 0.02071779 0.03015991
+v -0.05156815 0.01234039 0.03113970
+v -0.05837004 0.01494867 0.00829050
+v -0.05885355 0.01234046 0.01061565
+v -0.06026531 0.01537432 0.01358277
+v -0.05976362 0.01537433 0.01168763
+v -0.05983390 0.01783408 0.01135899
+v -0.05934676 0.01783408 0.01014266
+v -0.05745997 0.02071787 0.00829053
+v -0.04987162 0.02071779 0.03058378
+v -0.05189897 0.01234038 0.03193830
+v -0.05835550 0.01740759 0.00829051
+v -0.05895292 0.01234046 0.01127296
+v -0.06131716 0.01348785 0.02387550
+v -0.06131716 0.01530458 0.02195580
+v -0.06031984 0.01783407 0.01358278
+v -0.05959396 0.01986323 0.01180743
+v -0.05904259 0.02052840 0.01105799
+v -0.05757630 0.02056532 0.00829053
+v -0.05831066 0.01783409 0.00829052
+v -0.05890566 0.02071786 0.01106720
+v -0.04996493 0.02071779 0.03076500
+v -0.05093438 0.02071778 0.03223627
+v -0.05119734 0.02071778 0.03254650
+v -0.05317016 0.01234038 0.03295191
+v -0.06095240 0.01234041 0.02492904
+v -0.06101663 0.01234041 0.02562014
+v -0.06123597 0.01234040 0.02820023
+v -0.06131716 0.01314993 0.02560785
+v -0.06131716 0.01703682 0.02275747
+v -0.06131716 0.01771593 0.02311378
+v -0.06131716 0.02037908 0.02509800
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+v -0.05911409 0.02071786 0.01162008
+v -0.05267817 0.02071778 0.03356010
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+v -0.06131716 0.01892319 0.03934688
+v -0.05376395 0.01234038 0.03328057
+v -0.06106995 0.01234039 0.03064825
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+v -0.06131716 0.01267093 0.02817259
+v -0.06131716 0.02071776 0.03941446
+v -0.06131716 0.01774786 0.03800462
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+v -0.05664927 0.01234037 0.03426346
+v -0.05658868 0.01234037 0.03426346
+v -0.05612092 0.01234037 0.03420510
+v -0.05582887 0.01234037 0.03414367
+v -0.06001325 0.01234038 0.03232839
+v -0.06131716 0.01765600 0.03788789
+v -0.05801740 0.01234038 0.03366143
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+f 1 16 25
+f 1 25 37
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+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_66.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2406bcd3f0840a817e3ab7e06a85f6929019495
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_66.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.05915128 -0.01126234 0.00999439
+v 0.05943522 -0.01353059 0.00999438
+v 0.05811429 -0.01126232 0.00584879
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+v 0.05966608 -0.01628817 0.00999437
+v 0.05757111 -0.01126231 0.00378049
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+v 0.04740738 -0.02192120 0.00627272
+v 0.04762713 -0.02192121 0.00704046
+v 0.04816784 -0.02192121 0.00834102
+v 0.04830364 -0.02192121 0.00865122
+v 0.04892213 -0.02192122 0.00999435
+v 0.05963768 -0.01659178 0.00999437
+v 0.05693534 -0.01126231 0.00163280
+v 0.05699336 -0.01126231 0.00182351
+v 0.05092697 -0.01126231 0.00163280
+v 0.04731973 -0.02192120 0.00584466
+v 0.05614278 -0.02192122 0.00999435
+v 0.05688719 -0.01144594 0.00163280
+v 0.05688966 -0.01143655 0.00163280
+v 0.05838218 -0.01910417 0.00999436
+v 0.05350833 -0.02192119 0.00163276
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+v 0.04759750 -0.02051475 0.00383693
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+v 0.05696743 -0.02104376 0.00999435
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+v 0.04720739 -0.02192119 0.00248316
+v 0.04705555 -0.02192119 0.00383693
+f 1 2 3
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+f 1 6 15
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+f 1 7 4
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+f 22 28 27
+f 23 30 31
+f 23 31 32
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+f 23 33 24
+f 24 33 26
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_7.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1000c3930b5faac668b72028a9160ed1c91e7b54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_7.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.00010753 -0.04874425 0.01472054
+v 0.00010753 -0.05043155 0.02089213
+v 0.00010753 -0.04304074 0.01472056
+v 0.00017335 -0.04874126 0.01472054
+v 0.00895928 -0.05037172 0.02089213
+v 0.00647178 -0.05047793 0.02089213
+v 0.00398775 -0.05050784 0.02089213
+v 0.00010753 -0.05050036 0.02196289
+v 0.00398775 -0.05070231 0.02332902
+v 0.00010753 -0.04242447 0.01717407
+v 0.03549722 -0.03575765 0.01472059
+v 0.02071774 -0.04777048 0.01472054
+v 0.01798772 -0.04986614 0.02199428
+v 0.00895928 -0.05058414 0.02332902
+v 0.00647178 -0.05070530 0.02332902
+v 0.02138984 -0.04773159 0.01472054
+v 0.02283453 -0.04761193 0.01472055
+v 0.00010753 -0.05057367 0.02332902
+v 0.00010753 -0.05065595 0.02820095
+v 0.00010753 -0.04227042 0.01788667
+v 0.03549722 -0.03547947 0.02367984
+v 0.03549722 -0.04291958 0.01472056
+v 0.00010753 -0.04162124 0.02089217
+v 0.00010753 -0.04111717 0.02332906
+v 0.00010753 -0.04093169 0.02469335
+v 0.00010753 -0.04078660 0.02576410
+v 0.01798772 -0.04986614 0.02232474
+v 0.02431387 -0.04736512 0.01472055
+v 0.02499637 -0.04723050 0.01472055
+v 0.03012034 -0.04737412 0.02208106
+v 0.02636484 -0.04836736 0.02820096
+v 0.01144678 -0.05027601 0.02820096
+v 0.00895928 -0.05043157 0.02820095
+v 0.01393428 -0.05008156 0.02820096
+v 0.00647178 -0.05054376 0.02820095
+v 0.00398775 -0.05061855 0.02820095
+v 0.00150025 -0.05065296 0.02820095
+v 0.00010753 -0.05025957 0.03051231
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diff --git a/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_8.obj b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5cd458049bbebecf56dc27caf979457103d805
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mjcf/mesh/basket_018_collision_8.obj
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