diff --git a/.gitattributes b/.gitattributes
index f16af4fd179815247e8be57f48d368eb134e923d..d93a00384bcbefc7b58a3594e4b92ab99d5e9e0f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5255,3 +5255,5 @@ dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/lotion_
 dataset/bathroom_supplies/bath_products/5cab804b0c1b5d1888d7628af39bfde8/mesh/lotion_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/mesh/sponge_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/sponge_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.urdf b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8a1ffcfcb8d5ba51bf4ed260caf52e7deb66755a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_009">
+   <link name="basket_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>2da1ec2b7f7050c7872dd7956dca879a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>wicker gift basket</name>
+         <color>beige,white</color>
+         <shape>cuboid</shape>
+         <material>wicker</material>
+         <description>rectangular wicker basket with twin handles and white bow</description>
+         <min_height>0.1334</min_height>
+         <max_height>0.1334</max_height>
+         <real_height>0.1334</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131404</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075268 -0.048125 -0.033875</min>
+            <max>0.074732 0.044166 0.099552</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Bottom/base is merged with inner floor, and small connector patches are fragmented noise.","merge_groups":[{"colors":["Teal","Maroon"],"target_part":"basket body","reason":"same structural body; floor and walls not distinctly functional"},{"colors":["Green","Lime Green"],"target_part":"handle","reason":"lime patches are handle attachment fragments"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.usd b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c98f24dc75c8f48a71e71bb9ca94682a2d9e9a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/basket_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327b716149163f98effb7a9b86381e1a6000a560addcc99e3aca84fcf9177194
+size 5051181
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.glb b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7fc0a63bf17f21d659c647970c55a9e194edb150
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b2ab282ac452cc9e979a2390856c3f0a563675e726d30d0320aa7fad33745a4
+size 17318288
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.mtl b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be258b40aa6b002a6b1c6186e62585c820910fc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.mtl
@@ -0,0 +1,6 @@
+newmtl basket_009_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/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029228fca401429fa8946ae6840dec94a572adb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009.obj
@@ -0,0 +1,129624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_collision.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2852852479e752ba242272b1af26149ba2d078ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_collision.obj
@@ -0,0 +1,16389 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dbaaa1ff500deee1bfe79defbf5b12e0a98185a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/basket_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610272805f74a9a827091c852961fed126c6b70f63d93d2b4613793fdacf9300
+size 13757153
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/material.mtl b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8a60fc6a19cbb0676eacb8bd0379194459ad663
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_009_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/material_0.png b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mesh/material_0.png
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13757153
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/basket_009.xml b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/basket_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f9bdb57708db70794ad7860549378ea9acf012c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/basket_009.xml
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+    <mesh name="collision_mesh_0_13" file="mesh/basket_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_009_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_009_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_009_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_009_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_009_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_009_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_009_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_009_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_009_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_009_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_009_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_009_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_009_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_009_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_009_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_009_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_009_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_009_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_009_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_009_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_009_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_009_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_009_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_009_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_009_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_009_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_009_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_009_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_009_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_009_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_009_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/basket_009_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_009">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf26dcd29999681f1dc892cd0f450602ed50b18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009.obj
@@ -0,0 +1,129624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_009_geometry_Looks_material_0
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+v 0.070344 -0.020932 0.023201
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+v 0.067856 0.012054 -0.029842
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+v 0.063863 0.011259 -0.032889
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117c3734b708605f03cd6b5c42849566ef0a32c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision.obj
@@ -0,0 +1,16389 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_0.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787cedf45a368fc97f4216749a362746d469a154
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_1.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852bcf7f4ef5083dc8574a4ed2ccb2ef53405428
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_1.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_10.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60bcd85477dd5d6d18603d9c0182e1b340f9bb12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_10.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_11.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a81006854b2157540feca058bb84305b08e50ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_11.obj
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_12.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a534cb816172e9590d5da74bac76f61ef94e6574
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.04348942 0.03353580 0.04168903
+v 0.04338639 0.03289173 0.04168903
+v 0.04330789 0.03533676 0.04168904
+v 0.04193737 0.03245671 0.05226096
+v 0.04193737 0.03238345 0.05226096
+v 0.04276982 0.03116861 0.04168902
+v 0.04201096 0.03189048 0.05094018
+v 0.04189484 0.03011853 0.04910683
+v 0.04311163 0.03604188 0.04168904
+v 0.04193573 0.03489565 0.04972923
+v 0.04049815 0.03120212 0.06081087
+v 0.04089067 0.03120213 0.05834390
+v 0.04124393 0.03120213 0.05587693
+v 0.04226609 0.03058712 0.04168902
+v 0.04193573 0.02996287 0.04746218
+v 0.04193573 0.02996287 0.04718901
+v 0.03973439 0.02909896 0.06328067
+v 0.03995027 0.02881509 0.06081087
+v 0.03925029 0.02787187 0.06328066
+v 0.03939421 0.02758800 0.06081086
+v 0.04234132 0.03755743 0.04168905
+v 0.03971313 0.03514439 0.05786799
+v 0.03999443 0.03332206 0.06081088
+v 0.03973930 0.03283823 0.06270054
+v 0.03985214 0.03129826 0.06342711
+v 0.03960355 0.03054582 0.06504360
+v 0.03960355 0.02958277 0.06504360
+v 0.04132079 0.02962559 0.04168902
+v 0.03948416 0.02748881 0.05340995
+v 0.03948580 0.02748577 0.05200749
+v 0.04073856 0.02905173 0.04168902
+v 0.03727628 0.02711940 0.07045910
+v 0.03751015 0.02678669 0.06821742
+v 0.03771949 0.02663713 0.06574763
+v 0.03800897 0.02669667 0.06328066
+v 0.04215488 0.03780010 0.04168905
+v 0.03700970 0.03491238 0.06461274
+v 0.03940893 0.03484524 0.05951264
+v 0.04183597 0.03820913 0.04168905
+v 0.04068787 0.03904551 0.04168905
+v 0.03936804 0.03218042 0.06434801
+v 0.03718142 0.03265200 0.06987335
+v 0.03825592 0.03120209 0.06821743
+v 0.03745618 0.03113035 0.07045911
+v 0.03766061 0.02897378 0.07045911
+v 0.03766715 0.02874637 0.07045911
+v 0.03735315 0.02729950 0.07045910
+v 0.03594665 0.02540852 0.06574762
+v 0.03820523 0.02812835 0.04168901
+v 0.03463009 0.02503001 0.06417901
+v 0.03606113 0.02589078 0.07045910
+v 0.03493593 0.02488347 0.07045909
+v 0.03477074 0.03499173 0.06729656
+v 0.03580763 0.03334033 0.07045912
+v 0.03621159 0.03307935 0.07045912
+v 0.04060609 0.03908061 0.04168905
+v 0.03880708 0.03975978 0.04168906
+v 0.03701788 0.03238033 0.07045912
+v 0.03731717 0.03156075 0.07045912
+v 0.03482144 0.02482395 0.07045909
+v 0.03572259 0.02859080 0.04168902
+v 0.03430791 0.02503001 0.06417901
+v 0.03077039 0.02432334 0.07045909
+v 0.03324158 0.02438897 0.07045909
+v 0.03324158 0.02459044 0.06821741
+v 0.03388268 0.03499173 0.06729656
+v 0.03323177 0.03432475 0.07045913
+v 0.03345910 0.03428354 0.07045913
+v 0.03820523 0.03991240 0.04168906
+v 0.03408875 0.02957522 0.04168902
+v 0.02911693 0.02477358 0.07045909
+v 0.03097482 0.03400730 0.07045912
+v 0.03572259 0.03960869 0.04168906
+v 0.03292267 0.03124798 0.04168902
+v 0.02800481 0.02606020 0.07045910
+v 0.02786580 0.02622656 0.07045910
+v 0.03076058 0.03392946 0.07045912
+v 0.03349835 0.03828849 0.04168905
+v 0.02901880 0.03301982 0.07045912
+v 0.03275912 0.03190731 0.04168903
+v 0.02678148 0.02874637 0.07045911
+v 0.03246473 0.03611056 0.04168904
+v 0.02750763 0.03125855 0.07045911
+v 0.02887325 0.03291909 0.07045912
+v 0.03235352 0.03365485 0.04168903
+v 0.02694666 0.02963922 0.07045911
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_13.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0868be57941cdd51d103617b04fbda9948a9cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07050762 -0.00860201 -0.02063795
+v 0.07055099 -0.00860201 -0.02063795
+v 0.06271716 -0.00860202 -0.01869998
+v 0.06259413 -0.00859939 -0.02063795
+v 0.07068286 -0.00317047 -0.02063793
+v 0.07103247 -0.00317048 -0.01817764
+v 0.07061825 -0.00860202 -0.02012284
+v 0.06281363 -0.00860208 -0.00336548
+v 0.06221798 0.01815236 -0.02063785
+v 0.06286231 -0.00860210 0.00403341
+v 0.06290834 -0.00860213 0.01091718
+v 0.07070410 -0.00072445 -0.02063792
+v 0.07085722 -0.00860202 -0.01817766
+v 0.07072535 0.01155805 -0.02063788
+v 0.07091298 0.01155804 -0.01817759
+v 0.07113249 0.00910410 -0.00336542
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+v 0.07065100 0.01815235 -0.01817756
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+v 0.07124223 0.00195713 0.01616201
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+v 0.07124046 -0.00071412 0.01616200
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_14.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fd58458568589ce7ad268f4e000ba84c232b39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_14.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05823520 0.00436665 -0.02655976
+v 0.06221818 0.01815236 -0.02063843
+v 0.05825502 0.01417694 -0.02655973
+v 0.05824263 -0.00299237 -0.02655979
+v 0.07036625 0.01815236 -0.02063843
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+v 0.05827856 0.01645797 -0.02655972
+v 0.05824635 -0.00544363 -0.02655980
+v 0.05824759 -0.00562433 -0.02655980
+v 0.06259479 -0.00859939 -0.02063853
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+v 0.07041704 0.01814450 -0.02063843
+v 0.07038607 0.01815238 -0.02655971
+v 0.05838015 -0.00860199 -0.02655981
+v 0.06259356 -0.00860201 -0.02064838
+v 0.07050748 -0.00860201 -0.02063853
+v 0.07070074 0.01815237 -0.02558471
+v 0.07078746 0.01646844 -0.02558472
+v 0.07072428 0.01155805 -0.02063846
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+v 0.07045421 -0.00860199 -0.02655981
+v 0.07055084 -0.00860201 -0.02063853
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+v 0.07052110 0.01498355 -0.02655972
+v 0.07046536 0.01646845 -0.02655972
+v 0.07072428 0.01154757 -0.02063846
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+v 0.07054093 -0.00562433 -0.02655980
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+v 0.07054217 0.01401457 -0.02655973
+v 0.07070446 -0.00072445 -0.02063850
+v 0.07057190 0.00761667 -0.02655975
+f 1 2 3
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+f 23 34 24
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+f 28 36 29
+f 29 35 31
+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_15.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd2a1e6c7e6914cf2fce038288cc3367fd855f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_15.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.02895971 0.03281908 0.07530300
+v -0.03044909 0.03264151 0.07530300
+v -0.02899739 0.03273646 0.07582883
+v -0.02829481 0.03254655 0.07722129
+v -0.02713789 0.03254655 0.07722129
+v -0.02699382 0.03267726 0.07562457
+v -0.02701155 0.03268220 0.07530300
+v -0.02995041 0.03240844 0.07678747
+v -0.03129130 0.03244913 0.07530300
+v -0.02385106 0.03064625 0.08563161
+v -0.02384441 0.03146137 0.08302975
+v -0.02136433 0.03103716 0.08549813
+v -0.01888204 0.03057843 0.08563161
+v -0.01737493 0.03026151 0.08563161
+v -0.01668565 0.03009874 0.08563161
+v -0.02593220 0.03215071 0.07530300
+v -0.03129130 0.03202987 0.07623130
+v -0.02833027 0.03034784 0.08248064
+v -0.02578814 0.03033057 0.08478522
+v -0.02649958 0.03079300 0.08319355
+v -0.03298014 0.03128998 0.07530299
+v -0.02395079 0.03058706 0.08563161
+v -0.02136212 0.03100386 0.08563161
+v -0.01657927 0.03004201 0.08563161
+v -0.02418351 0.03078316 0.07530299
+v -0.01419449 0.02873365 0.08563161
+v -0.01414573 0.02869912 0.08563161
+v -0.03048677 0.03043294 0.08008607
+v -0.02998587 0.02983979 0.08173133
+v -0.02744152 0.02982745 0.08412590
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_16.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042e00f7ba1c3ae62e84bb2a11b459f624499b5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_16.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_17.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688b3e991840fd05c873a7260a922fc5fd37eeff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_17.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_18.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe928ea8caa14977a1f85ba6904517264c2b98e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_18.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_19.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4b3877dd1d15fa375b7865ef21ea419f9441a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_19.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_2.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2777a6e89bccf703c13bec80a0b9bbdb008a561b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_2.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_20.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c7da02f732c3c24e4dd4be7905d50f6bb32fa37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_20.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_21.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c19c1fdc43841c94d95028f3ebe68e072bd2ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_21.obj
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_22.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a65d96c2374cf26e00a7dc3325b8604681c9f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01639761 -0.03180198 0.01637983
+v -0.01639761 -0.03182248 0.01555865
+v -0.02384323 -0.03181662 0.01637983
+v -0.01888027 -0.03189278 0.02123470
+v -0.01879728 -0.03189278 0.02123470
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+v -0.00012158 -0.03185762 0.01637983
+v -0.02384323 -0.03186640 0.01555865
+v -0.00012158 -0.03188251 0.01555865
+v -0.02405189 -0.03186933 0.01555865
+v -0.02434592 -0.03182394 0.01637983
+v -0.02434592 -0.03192791 0.01935453
+v -0.02434592 -0.03202309 0.02123470
+v -0.00012158 -0.04542300 0.02123465
+v -0.00012158 -0.04423848 0.01555861
+v -0.02434592 -0.03187372 0.01555865
+v -0.02434592 -0.04061912 0.02123467
+v -0.00399141 -0.04526046 0.01555860
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+v -0.00012158 -0.04520044 0.02001843
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+v -0.01391495 -0.04666753 0.02123465
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+v -0.01888027 -0.04646547 0.01971952
+v -0.02273587 -0.04625318 0.02123465
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+f 14 18 19
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_23.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1299a671ba855fa905871994111a1a8abf82242
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_23.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05992819 -0.02666852 -0.02448911
+v 0.06192353 -0.00860200 -0.02448904
+v 0.06981039 -0.02666852 -0.02448911
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+v 0.06297177 -0.00860215 0.01637660
+v 0.07067189 -0.00860200 -0.02448904
+v 0.06984152 -0.02651820 -0.02448911
+v 0.07043067 -0.02580556 -0.01323882
+v 0.07000937 -0.02666855 -0.01676955
+v 0.07001493 -0.02666855 -0.01650719
+v 0.07063632 -0.02580569 0.02093001
+v 0.06320521 -0.00860217 0.02093007
+v 0.07085642 -0.00860202 -0.01817910
+v 0.07089866 -0.01053848 -0.01817911
+v 0.07061853 -0.01544945 -0.02448907
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+v 0.07089533 -0.02035698 -0.00583496
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_24.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ace52b9637175d1f69280ab5dc8fbec385921d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05468628 -0.03157792 0.01801995
+v 0.05468628 -0.03987247 0.01801992
+v 0.05468628 -0.03155829 0.01637730
+v 0.04103085 -0.03163056 0.01801995
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+v 0.05309577 -0.03999455 -0.01650956
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_25.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e2f059d1beca8acbc8154d90a537e9e52408cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_25.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.06245161 -0.02589267 0.02681572
+v -0.06246138 -0.02589267 0.02633578
+v -0.06253173 -0.02589267 0.02805475
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+v -0.05498333 -0.03203299 0.03184775
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+v -0.05498333 -0.03326136 0.03280641
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+v -0.05859436 -0.04104099 0.02561948
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+v -0.07488703 -0.02701369 0.02706671
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+v -0.05498333 -0.03427657 0.03306963
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+v -0.06852082 -0.02772527 0.03338187
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_26.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a630b199249f6ba8d185637c9253147559257045
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_26.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_27.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad5b16d82189b7f000e6aa83963e96caa49424
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_27.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_28.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c23c349813120e498d6b6aa9fd47a90744e651f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_28.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_29.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f86ebd8cf17354878e3b1de9638f852fa48774
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_29.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_3.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6d381aa3855e7ed65cbca0e85ae88e8d3dfccb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_30.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439c027766750f4c90a4f46c114ad7482f9b0112
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_30.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05610505 0.03026041 -0.02515502
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_31.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5b11a369c1313eabf435c561cdfcd05f65f208
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_31.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_32.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3587df3d58bc0b832750ca851606c5380e55241e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_32.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.07156290 -0.00860515 -0.02610794
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_33.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1291825666e512b3af9005a374fa298a8b9223
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_33.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05498332 -0.02772685 -0.02658250
+v -0.05498332 -0.04075843 -0.02658255
+v -0.05498332 -0.03152543 -0.02074310
+v -0.01152784 -0.02781142 -0.02658250
+v -0.05498332 -0.04084993 -0.02607893
+v -0.05312524 -0.04134346 -0.02658255
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+v -0.05025756 -0.04144050 -0.02658255
+v -0.05382336 -0.04110086 -0.02556101
+v -0.05010720 -0.04126029 -0.02427880
+v -0.05362466 -0.04006389 -0.02074313
+v -0.00012695 -0.04031205 -0.02074313
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_34.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43aef4c91a198b4038c6fba5547e2ccfaf1f4bb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_34.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.07153106 0.01815446 -0.00923275
+v -0.07129558 0.01815450 -0.01817962
+v -0.06344040 0.01815446 -0.00923275
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+v -0.05611202 0.03109331 -0.02311653
+v -0.05611202 0.04015451 -0.00923267
+v -0.07116879 0.02629105 -0.00923272
+v -0.07077180 0.02629109 -0.01817959
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_35.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587aba83e5701fd18855ce71291a563d6c6dd72a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_35.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00842328 0.04174159 -0.02558463
+v 0.00437747 0.04150285 -0.02649872
+v -0.00035269 0.04171393 -0.02558463
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_36.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7391878882ea8b303018769208e3337d57cc7eaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.07492191 0.01815218 0.02625296
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_37.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04d5340e3d428fd141ce2b1ac75e221dc42100f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_37.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v 0.06066337 -0.04065520 0.02625474
+v 0.06302636 -0.04004338 0.02625474
+v 0.06066337 -0.04059246 0.02872167
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_38.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc8b21f050939c4831b8ff3e3f6802ee8561c38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_38.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_39.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac88fe13c1f581512479ee33e64070b4e8529afe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_39.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_4.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a52c197b0149e7063e4908bd68300885ea0786e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_40.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea62f8ef7fa50b8e5288a621d09e2bdd0e2099a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_41.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9f41fbe16318c3edf636fc83afc866a3083d5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_42.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe7c4c4e2ed1ca27cdeedf74cee815d2ed38de0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_42.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_43.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929f06f6f47ce97afa9756ec78d531ad7a5e4e3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_43.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_44.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f9e5b96f3bf8a8705467a6b4daee84f314c7c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_44.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00035269 0.03186373 -0.02015904
+v -0.00035269 0.04079841 -0.02015901
+v 0.00097525 0.03180318 -0.02015904
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+v -0.00035269 0.04085624 -0.01570886
+v 0.00048342 0.04084269 -0.02015901
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+v -0.00035269 0.03182483 -0.00715620
+v -0.00035269 0.04089416 -0.00830401
+v 0.00097525 0.04086709 -0.02015901
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+v 0.04989254 0.04069449 -0.02015901
+v 0.04989254 0.03174614 0.01144102
+v -0.00035269 0.03183830 0.01637638
+v -0.00035269 0.04087600 0.01637641
+v 0.00097525 0.04093931 0.00403620
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+v 0.04956794 0.04074768 0.01683265
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_45.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9a91176eba0116ab1887681ce845095067c861
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_45.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05752412 0.03053397 -0.00923135
+v -0.05752412 0.03052876 -0.00830529
+v -0.05752412 0.03994459 -0.00923131
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+v -0.05362874 0.04041107 0.01884174
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_46.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c046dfafb2d2e6e48913f23e644696d77171437a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.07069683 -0.02552931 -0.02366030
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+v -0.06162558 -0.02552931 -0.02366030
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+v -0.07141013 -0.02526768 0.02089412
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_47.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45dff712d424777b6860625e985519c1724ebf93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_47.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00034935 0.03186509 0.01683432
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_48.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f011e1ff3e90ae9065b5990f43ed20aebf9f4fef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_48.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_49.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efea177acd9b91e7cda2497d86e0dcc3bc32b184
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_49.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_5.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e75f7e56f151e10dc9f9486c9ccdb9910f807ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_5.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_50.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba7a9b5389928fc362511d60b83a644f1a84763
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_50.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00011860 -0.04136591 -0.01650956
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_51.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b72ad9b65eea6bd965f27b9cbb2b8884894354e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_51.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_52.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf708614aeefe9e3b92fec3fc14be50f1334f618
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_52.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_53.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155d5785e02947a8b88e46145618785655257c61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_53.obj
@@ -0,0 +1,286 @@
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_54.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c575ddbb9ffd912b4eacae88c8730ef90f2b7b37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_54.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04813377 -0.04168307 0.02625331
+v 0.05061469 -0.04161401 0.02625331
+v 0.05077985 -0.04152492 0.02884117
+v 0.04566343 -0.04158952 0.02872173
+v 0.04566343 -0.04168084 0.02625331
+v 0.04730090 -0.04033423 0.01801992
+v 0.04813377 -0.04033089 0.01801992
+v 0.05445753 -0.04124868 0.02498247
+v 0.05468628 -0.04127875 0.02528505
+v 0.05468628 -0.04140462 0.02623897
+v 0.05468628 -0.04142244 0.02748274
+v 0.05468628 -0.04140351 0.02839367
+v 0.05212498 -0.04124870 0.02998460
+v 0.04566343 -0.04128323 0.03003716
+v 0.04566343 -0.04030862 0.01802470
+v 0.04566343 -0.04018833 0.01801992
+v 0.05061469 -0.04022174 0.01801992
+v 0.05226452 -0.04010145 0.01801992
+v 0.05309739 -0.04003240 0.01801992
+v 0.05457765 -0.03988315 0.01801992
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+v 0.05468628 -0.03050173 0.02941611
+v 0.05468628 -0.03130478 0.03111853
+v 0.05468628 -0.03091384 0.03067421
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_55.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05056604c3a35bc2f0393839c62e46fe57394854
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03961166 -0.03508978 0.03418655
+v -0.03961166 -0.03540932 0.03410844
+v -0.03961166 -0.03262624 0.03370083
+v -0.05498332 -0.03508977 0.03326391
+v -0.05498332 -0.03754390 0.03302226
+v -0.03961166 -0.03776593 0.03333469
+v -0.03961166 -0.03260392 0.03369351
+v -0.05498332 -0.03326062 0.03280505
+v -0.05498332 -0.03427799 0.03306865
+v -0.05498332 -0.03893837 0.03256339
+v -0.04866461 -0.03894424 0.03255362
+v -0.04618468 -0.03891605 0.03253898
+v -0.03961166 -0.03838504 0.03285385
+v -0.03961166 -0.03043407 0.03084507
+v -0.05498332 -0.03093688 0.03061320
+v -0.05498332 -0.03203297 0.03184825
+v -0.04122031 -0.04132670 0.03009082
+v -0.05498332 -0.04119395 0.03001759
+v -0.05493667 -0.04123977 0.02997122
+v -0.05362899 -0.04125152 0.02998830
+v -0.04785201 -0.04130086 0.03004933
+v -0.03961166 -0.04030111 0.03111353
+v -0.03961166 -0.03986175 0.03152359
+v -0.03961166 -0.02995594 0.02861904
+v -0.05498332 -0.03029662 0.02872156
+v -0.05498332 -0.03065141 0.02980528
+v -0.03961166 -0.04130556 0.03006885
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+v -0.05498332 -0.04125034 0.02991508
+v -0.05498332 -0.04149939 0.02875813
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+v -0.03961166 -0.02995827 0.02638080
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+v -0.05362899 -0.04163331 0.02625140
+v -0.05498332 -0.03039529 0.02625144
+v -0.03961166 -0.03199881 0.00925107
+v -0.05498332 -0.03148778 0.00925107
+v -0.04866461 -0.04027519 0.00925104
+v -0.04618468 -0.04032923 0.00925104
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+v -0.05362899 -0.04001204 0.00925104
+v -0.05335060 -0.04002848 0.00925104
+v -0.05114755 -0.04014948 0.00925104
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_56.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11776fbd4df3a3753c683554c227b1db03c9a5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_56.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01155437 -0.04138140 -0.00348621
+v -0.01143540 -0.04658809 -0.00009495
+v -0.01310098 -0.04138140 -0.00311217
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+v -0.02222201 -0.04138144 0.00925104
+v -0.00012158 -0.04138600 0.00925104
+v -0.00012158 -0.04156607 0.00911514
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_57.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2093c63e2b381dd03d1bd3ee32a51e274aa7ad7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_57.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.03868803 -0.04371857 0.02685404
+v 0.03953832 -0.04371857 0.02685404
+v 0.03868803 -0.04371857 0.02763120
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+v 0.03953832 -0.04371857 0.02763120
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+v 0.04566193 -0.04030939 0.01802456
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+v 0.03028896 -0.04291166 0.02884450
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+v 0.03028896 -0.04296375 0.02131879
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+v 0.04566193 -0.04158931 0.02872388
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+v 0.04566193 -0.04128237 0.03003693
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+v 0.04565140 -0.04030939 0.01801992
+v 0.04566193 -0.04018777 0.01801992
+v 0.03028896 -0.04235955 0.03004620
+v 0.03028896 -0.04150047 0.01924482
+v 0.04566193 -0.04013183 0.03127111
+v 0.04230441 -0.03429037 0.04171989
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+v 0.04085214 -0.03541775 0.04171989
+v 0.03920724 -0.03599688 0.04171989
+v 0.03820495 -0.03630382 0.04171989
+v 0.04395232 -0.03175370 0.01801995
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diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_58.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248f13d4642a0e720b27db49b742407be17b5b14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_58.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.05498332 -0.03130131 -0.01455107
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_59.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2df64607fccea4d1b69e68bde6ef6c5d6752d330
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_59.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00012158 -0.04458944 0.01882622
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_6.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61a1cbaffac0ffaa485048aa3a8cf0da059dfa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.07047105 0.00664747 0.03331995
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+v 0.06297090 -0.00860215 0.01616197
+v 0.06267504 0.01815218 0.02625260
+v 0.06273956 -0.00860219 0.02625250
+v 0.06292707 -0.00860219 0.02819906
+v 0.06297090 -0.00562454 0.02872140
+v 0.06298430 -0.00860220 0.02872139
+v 0.06278583 0.01815222 0.01616207
+f 1 2 3
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+f 1 6 2
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+f 2 10 11
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+f 39 49 40
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+f 44 54 55
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+f 46 57 52
+f 48 55 58
+f 50 59 60
+f 50 60 51
+f 52 61 62
+f 52 62 53
+f 52 57 63
+f 52 63 64
+f 52 64 61
+f 53 62 65
+f 54 58 55
+f 56 66 72
+f 56 72 65
+f 56 65 62
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+f 56 61 64
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+f 56 63 57
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 60
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+f 66 68 72
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+f 69 71 70
+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_60.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e946d6a551a636d21ae83c0dedf4891ceab785
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_60.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00097533 -0.03509001 0.03318338
+v 0.00859226 -0.03509001 0.03315949
+v 0.00859226 -0.03497301 0.03313279
+v 0.00097533 -0.03338207 0.03277024
+v -0.00012158 -0.03413650 0.03292200
+v -0.00012158 -0.03509001 0.03315247
+v -0.00012158 -0.03617451 0.03311031
+v 0.00859226 -0.03754541 0.03306252
+v 0.00859226 -0.03351479 0.03266625
+v 0.00345744 -0.03334190 0.03273792
+v 0.00097533 -0.03215437 0.03164601
+v -0.00012158 -0.03220850 0.03167973
+v -0.00012158 -0.03343445 0.03272527
+v -0.00012158 -0.03754541 0.03296274
+v 0.00859226 -0.03980172 0.03285734
+v 0.00859226 -0.03228709 0.03169098
+v 0.00345744 -0.03211420 0.03157996
+v 0.00842081 -0.03102969 0.03045855
+v -0.00012158 -0.03104017 0.03044450
+v -0.00012158 -0.03852338 0.03284891
+v 0.00859226 -0.04038326 0.03278004
+v 0.00859226 -0.03103144 0.03045574
+v 0.00859226 -0.03099302 0.03033910
+v 0.00097533 -0.03045514 0.02872161
+v -0.00012158 -0.03070138 0.02950155
+v -0.00012158 -0.03930051 0.03261564
+v 0.00859226 -0.04245446 0.03228256
+v 0.00859226 -0.03052150 0.02872161
+v 0.00593870 -0.03038003 0.02625252
+v -0.00012158 -0.03045339 0.02872161
+v -0.00012158 -0.04452215 0.03068053
+v 0.00859226 -0.04410826 0.03111758
+v 0.00206285 -0.04621264 0.03002144
+v 0.00345744 -0.04625280 0.03005517
+v 0.00482217 -0.04621438 0.03002285
+v 0.00859226 -0.03045513 0.02625252
+v -0.00012158 -0.03043941 0.02625252
+v 0.00859226 -0.03202159 0.01882697
+v 0.00347876 -0.03190459 0.01882697
+v 0.00099665 -0.03186617 0.01882697
+v 0.00097533 -0.03186617 0.01882697
+v -0.00012158 -0.04646061 0.02805826
+v 0.00113142 -0.04671908 0.02868923
+v 0.00576470 -0.04666145 0.02860351
+v 0.00859226 -0.04522245 0.02890424
+v 0.00345744 -0.04723426 0.02872155
+v -0.00012158 -0.03191506 0.01882697
+v 0.00859226 -0.04493251 0.01882692
+v -0.00012158 -0.04697579 0.02625246
+v 0.00097533 -0.04764639 0.02625245
+v 0.00345744 -0.04822095 0.02625245
+v 0.00593870 -0.04742286 0.02625246
+v 0.00737252 -0.04628248 0.02770131
+v 0.00859226 -0.04526436 0.02861756
+v -0.00012158 -0.04458847 0.01882693
+v 0.00859226 -0.04556471 0.02367938
+v 0.00612294 -0.04693736 0.02366533
+v 0.00345744 -0.04788040 0.02378617
+v 0.00345744 -0.04677843 0.02184407
+v -0.00012158 -0.04677320 0.02448742
+v -0.00012158 -0.04668064 0.02378618
+v 0.00097533 -0.04731981 0.02378618
+v 0.00748341 -0.04639599 0.02625246
+v 0.00859226 -0.04560489 0.02625246
+v 0.00859226 -0.04558568 0.02639440
+v -0.00012158 -0.04519970 0.02002001
+v -0.00012158 -0.04630866 0.02269849
+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 2
+f 2 8 15
+f 2 15 21
+f 2 21 27
+f 2 27 32
+f 2 32 45
+f 2 45 54
+f 2 54 65
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+f 2 48 38
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+f 24 30 25
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+f 27 35 32
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+f 31 43 33
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+f 33 43 46
+f 33 46 34
+f 34 46 35
+f 35 46 44
+f 37 41 47
+f 38 48 55
+f 38 55 47
+f 38 47 41
+f 38 41 40
+f 38 40 39
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 43 51 46
+f 44 46 51
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 48 56 52
+f 48 52 57
+f 48 57 58
+f 48 58 59
+f 48 59 55
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 58 52
+f 51 62 58
+f 52 56 63
+f 52 63 53
+f 52 58 57
+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 55 59 58
+f 55 58 66
+f 56 64 63
+f 58 62 66
+f 61 67 62
+f 62 67 66
+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_61.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3958e95d228883b8ed4a153465a9a12a19c2d2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_61.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05752972 0.03023215 0.02612473
+v -0.05752972 0.03082864 0.01884170
+v -0.04627557 0.03072920 0.02625522
+v -0.05752972 0.03024064 0.02706061
+v -0.05752972 0.03999008 0.01884174
+v -0.04866608 0.03187971 0.01884171
+v -0.04627557 0.03190638 0.01884921
+v -0.04627557 0.03081647 0.02863090
+v -0.05752972 0.03027942 0.02876288
+v -0.05690179 0.04009070 0.01884174
+v -0.05752972 0.04247650 0.02694817
+v -0.04627557 0.03223735 0.01884171
+v -0.04627557 0.03082133 0.02872089
+v -0.04627557 0.03168569 0.03132305
+v -0.05752972 0.03071828 0.02967626
+v -0.05611083 0.04255530 0.02663772
+v -0.05362888 0.04041196 0.01884174
+v -0.05752972 0.04247650 0.02811802
+v -0.04866608 0.04082415 0.01884174
+v -0.04627557 0.04080596 0.01884324
+v -0.04627557 0.03169297 0.03133505
+v -0.05752972 0.03161781 0.03128856
+v -0.04627557 0.04261591 0.02640525
+v -0.05114803 0.04234558 0.02486795
+v -0.05293706 0.04231042 0.02492794
+v -0.05114803 0.04064351 0.01884174
+v -0.05611083 0.04255530 0.02834149
+v -0.05752972 0.04206673 0.02916637
+v -0.05611083 0.04209340 0.02957581
+v -0.04627557 0.03330170 0.03356225
+v -0.05752972 0.03203848 0.03184048
+v -0.04627557 0.04261470 0.02854246
+v -0.05264183 0.04228373 0.03001826
+v -0.05114803 0.04231525 0.03005726
+v -0.05752972 0.04133206 0.03055668
+v -0.04627557 0.03359266 0.03392370
+v -0.05752972 0.03249309 0.03238641
+v -0.04926206 0.04230191 0.03002876
+v -0.04627557 0.04259529 0.02861595
+v -0.05752972 0.04084471 0.03131408
+v -0.05752972 0.04024340 0.03216597
+v -0.05752972 0.03994517 0.03254692
+v -0.05611083 0.03997911 0.03256342
+v -0.04627557 0.04003609 0.03263241
+v -0.04627557 0.03610577 0.03416368
+v -0.05752972 0.03611184 0.03339878
+v -0.05752972 0.03358660 0.03284085
+v -0.04627557 0.04117325 0.03118210
+v -0.04760743 0.04223039 0.02990878
+v -0.04627557 0.04215280 0.02976929
+v -0.05752972 0.03868679 0.03298035
+v -0.04627557 0.03836189 0.03367926
+v -0.05752972 0.03716413 0.03327281
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+f 1 4 9
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+f 1 15 22
+f 1 22 31
+f 1 31 37
+f 1 37 47
+f 1 47 46
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+f 1 42 41
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+f 1 5 2
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+f 10 11 16
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+f 12 19 20
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+f 19 26 25
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+f 42 51 52
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+f 45 53 46
+f 48 50 49
+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_62.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ed91b0d92392941f8548cd4f3166ee62218ea6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_62.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01577553 -0.04159115 -0.00305261
+v 0.01437054 -0.04280514 -0.00019862
+v 0.01435375 -0.04159115 -0.00248524
+v 0.01881502 -0.04159115 -0.00249524
+v 0.01820768 -0.04280514 -0.00072454
+v 0.01597145 -0.04280514 -0.00066023
+v 0.01297675 -0.04280514 0.00113191
+v -0.00011878 -0.04183624 0.00843054
+v -0.00011878 -0.04159119 0.00756162
+v 0.02323710 -0.04159116 -0.00007856
+v 0.02622341 -0.04280515 0.00373437
+v 0.01172009 -0.04280515 0.00256105
+v -0.00011878 -0.04212148 0.01154607
+v -0.00011878 -0.04159120 0.01154607
+v 0.02646970 -0.04159117 0.00221664
+v 0.02744088 -0.04280516 0.00467189
+v 0.00887092 -0.04280516 0.00654835
+v 0.00824959 -0.04280517 0.00891072
+v 0.00772902 -0.04280518 0.01154606
+v 0.00878136 -0.04280517 0.00685848
+v 0.02568045 -0.04159120 0.01154607
+v 0.02791668 -0.04159118 0.00416027
+v 0.02756683 -0.04280516 0.00487626
+v 0.02577560 -0.04280518 0.01154606
+v 0.02575321 -0.04238983 0.01154606
+v 0.02576441 -0.04159120 0.01149033
+v 0.02820775 -0.04159118 0.00499917
+v 0.02812659 -0.04280516 0.00650405
+v 0.02644451 -0.04280518 0.01104014
+v 0.02794746 -0.04159119 0.00890787
+v 0.02847084 -0.04159118 0.00650406
+v 0.02811259 -0.04280517 0.00685705
+v 0.02753324 -0.04280517 0.00948095
+v 0.02774315 -0.04280517 0.00891644
+v 0.02828332 -0.04159119 0.00761879
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 21
+f 1 21 26
+f 1 26 30
+f 1 30 35
+f 1 35 31
+f 1 31 27
+f 1 27 22
+f 1 22 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 8 9
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+f 2 12 7
+f 4 10 5
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+f 15 22 16
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+f 21 25 26
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+f 27 31 28
+f 28 31 32
+f 29 33 30
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+f 30 34 35
+f 31 35 32
+f 32 35 34
+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_63.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccda340b31510371d102d131a6d1e93673fe113
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03028683 -0.03178374 0.01154752
+v 0.03028683 -0.03178789 0.01191070
+v 0.03028683 -0.04041271 0.01154749
+v 0.01586838 -0.03180309 0.01154752
+v 0.01586838 -0.03181693 0.01637941
+v 0.02579500 -0.03188465 0.01637941
+v 0.03028683 -0.03199936 0.01835454
+v 0.01636323 -0.03185287 0.01835454
+v 0.03028683 -0.04062694 0.01835451
+v 0.02604561 -0.04510308 0.01154747
+v 0.00859438 -0.03189568 0.01154752
+v 0.00859438 -0.03189709 0.01637941
+v 0.01586838 -0.03185149 0.01835454
+v 0.02597765 -0.04480046 0.01835450
+v 0.02583536 -0.04530347 0.01154747
+v 0.00859438 -0.04470231 0.01154748
+v 0.00859438 -0.03199521 0.01835454
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_7.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11bca9de2b6d7b5d1a7393f9d7550d7348b5977
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.06291573 -0.00860200 -0.02366273
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_8.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983282ef036c781f4cdbbd4610e9b8a7e5209bda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_9.obj b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc315efbb7d69bbccea733ac548757b41577dcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2da1ec2b7f7050c7872dd7956dca879a/mjcf/mesh/basket_009_collision_9.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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