diff --git a/.gitattributes b/.gitattributes
index cc49508efd8c41af7c09422a6fa3e48890d2dffc..9598360204aa402e18688d4a189f0581a39f306d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2765,6 +2765,5 @@ dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_b
 dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/663158968e3f5900af1f6e7cecef24c7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/681bd55f8fc959ac8a378c9730f00c8e.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.urdf b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c70f3c39f4901bb3bd1917079d5fb4a2384b9717
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_016">
+   <link name="basket_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_016.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_016_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>683e5f3988b05cc9a02ef32ce2d3435a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>plastic storage basket</name>
+         <color>green,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular perforated plastic basket with integrated side handles</description>
+         <min_height>0.0761</min_height>
+         <max_height>0.0761</max_height>
+         <real_height>0.0761</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131718</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074687 -0.058898 -0.032634</min>
+            <max>0.075313 0.058872 0.043504</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..15614c6679cd91473bae39a41e3ce5c0f4e24ae5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995ccdd925ff247b22f486048b63436c08286ad111f72fa9d1005a6ead27a4d8
+size 4967327
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9201c1168c5bbb75f1029fcf52362a50fcf4a386
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1c1c0648813c0545bb564c4383f8b22caecc1a755e255aa351461138da4ab7
+size 13944120
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.mtl b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9303a866caa7abc6527faa272296c6ca691693ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.mtl
@@ -0,0 +1,6 @@
+newmtl basket_016_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/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb84facb5fb3a04331b36497c8adb6c755876001
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.obj
@@ -0,0 +1,127236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_016_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_collision.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..526355ccfde4d78757b558f6fac7d0897bbd112d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2d30b347e1b8cebc656e96a1532372eb6b13b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc8ec645def83397bdbbb398ecba680ea03177ea0f8ae0ae1c015b2cff6fbf5c
+size 10593439
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material.mtl b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3ca84fd352710fea19fb18eaef35ad3ec9de9ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd basket_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material_0.png b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2d30b347e1b8cebc656e96a1532372eb6b13b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc8ec645def83397bdbbb398ecba680ea03177ea0f8ae0ae1c015b2cff6fbf5c
+size 10593439
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/basket_016.xml b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/basket_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cafe3c4100d3956d8e2e21e6831294becfbbb9c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/basket_016.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_016">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_016_geometry_Looks_material_0" type="2d" file="mesh/basket_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_016_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_016_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_016_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_016_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_016_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_016_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_016_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_016_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_016_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_016_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_016_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_016_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_016_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4808219f54fbeac0755856dc518c1d736e42778a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016.obj
@@ -0,0 +1,127236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_016_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c38881f75e85a5c474ab6dcc60166db1b453c1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision.obj
@@ -0,0 +1,13279 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_0.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d8315db58da25bf527d38fce23b8bbbbd6618a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_1.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deea2edf8526522190fa2d537257839b7069c4ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_1.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_10.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480d7a79e747089cdca18d0d519a02a178ead24a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_10.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.06972850 0.03705240 0.03058343
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_11.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213737653fc83772ba3c7f52344b0fc362001e0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_11.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_12.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c04efa4d925f01f47b4b8051200eee8d0d1164
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_12.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_13.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f1f451fc159230632ccacc92d836336fe75750
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_13.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_14.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfd313be2723fa29bad0908086fab823033b171
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_15.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b47abf27766d896b58c59f9eab34a74dffe6e68d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_16.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6a3839a657d519e12df5422ffc826772c7c6a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_17.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6038a0c32d1b50087190fde0cbd9ace1d964c868
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_17.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_18.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75103a680726b4178c72132569f284be0256214c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_19.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9472cd972f3b39b2bea18db081d50aee72b1bec7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_19.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_2.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08403666c68f42e13b9d59005607414fa50871cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_2.obj
@@ -0,0 +1,826 @@
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_20.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2039c5b903c4afaba09429a5e17d3064bdc396
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_21.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673ab12f57bbc521c1e1cf03c401182c9ad976e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_21.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_22.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97fc93969e87a6a127c804a4ed1327fada6bc29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_22.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_23.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c79026f02c0f9ba66c7999a37c504109923b78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_23.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_24.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d41e18fedec88768bf551f25d518f2962587db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_24.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_25.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b646ae5542a42ebc9e2cc5339addeeb26cab1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_25.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00015969 0.04813285 -0.01137033
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_26.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11311e6be6796f84dfb8b9074644d3b3d7bfa48d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_26.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_27.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c424a26fa6aa2b50bb79fb09e16976859b31e9f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_27.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_28.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904290ad9812c310535ed513373117f6886bf35f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_29.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac54450fe239f31a86aaa21c8db6b8bd11c9f5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_3.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365bb640e285ba9d2074a0b69857c4cca667b252
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_3.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_30.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ccc43c8306564cc3b916868644bf79ce50edcd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_30.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_31.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cfe577ccee41899fbb439707dc64198e4e42073
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04645911 -0.05179870 -0.02645770
+v 0.04645911 -0.05178284 -0.02660029
+v 0.04847966 -0.05177275 -0.02656562
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_32.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4929e4210e3307606001b9a56dc9e6d4fd72f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_32.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.07071044 -0.00124405 0.04349200
+v 0.07318091 -0.00617060 0.04288102
+v 0.07318091 -0.00124405 0.04288539
+v 0.07318091 -0.00000784 0.04288539
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_33.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1407f6388c78bd2c8786168fb38eae32fc2042a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_33.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.05729480 -0.05025740 -0.02235484
+v 0.05729480 -0.05023980 -0.02263578
+v 0.05744364 -0.05019020 -0.02235484
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+v 0.05921053 -0.04899829 -0.02506288
+v 0.05941946 -0.04913269 -0.02263578
+v 0.05944045 -0.04914549 -0.02235484
+v 0.06704132 -0.03391477 -0.02235478
+v 0.05850072 -0.03391475 -0.02855361
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+v 0.06173206 -0.04643530 -0.02748937
+v 0.06195817 -0.04666889 -0.02554829
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_34.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5497a1a04fce60191b38d542e546f952459c8b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_34.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06821076 -0.01588833 0.02870166
+v 0.06792783 -0.01602000 0.02870166
+v 0.07084676 -0.01614435 0.02870166
+v 0.06955548 -0.00000778 0.02713378
+v 0.06932835 -0.00000778 0.02713378
+v 0.06674029 -0.01675880 0.02870166
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+v 0.06871297 -0.00000778 0.02705504
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+v 0.07247127 -0.01824371 0.02870165
+v 0.07079096 -0.00000778 0.02676217
+v 0.06715448 -0.00000778 0.02637122
+v 0.06620901 -0.00000777 0.02576201
+v 0.06550639 -0.02093558 0.02870164
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+v 0.07245319 -0.00000777 0.02554926
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_35.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd2c6a900ba516adac79d6c8287fcacd90a362e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_35.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.05221189 -0.05539897 0.04302468
+v -0.05221189 -0.05384064 0.04301662
+v -0.05527166 -0.05384064 0.04302020
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+v -0.05774137 -0.05539897 0.04302557
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+v -0.05280194 -0.05896647 0.04071352
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_36.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3eac0ea0467f348d80e6057ad73d555b7223d00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_36.obj
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+f 173 175 174
+f 176 178 177
+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_37.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1526a9c70bb2dc6697d4f3b332f76443da14ef8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06959283 0.03827916 0.03076799
+v -0.06960752 0.03827916 0.03076799
+v -0.06521351 0.03827541 0.03076799
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+v -0.07225166 -0.00006836 0.02348098
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+v -0.06753380 -0.00006837 0.02674524
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_38.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21daad5c452180d565009e3b07b3bd9ce96e48c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_38.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04106445 0.05190031 -0.02572309
+v 0.04353707 0.05189948 -0.02572309
+v 0.04106445 0.05178360 -0.02670270
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_39.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7d4ee1818df3b43b50cc9a9e6f665e91ffc8f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_39.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04845869 0.04344440 -0.02845671
+v 0.04845869 0.04353263 -0.02845671
+v 0.05638472 0.03863563 -0.02845673
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+f 29 38 36
+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_4.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3642244f900daa34c7fe677d71a960535b2f8e72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_4.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.00015969 -0.00007322 -0.02860701
+v 0.00015969 -0.04710385 -0.02662579
+v 0.00015969 -0.00007321 -0.03301149
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_40.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53890761736304a66945ff32b37971e49c35179
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_40.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.06353376 0.05393366 0.03373622
+v -0.06521707 0.05549100 0.03392368
+v -0.06021227 0.05751538 0.03388092
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+v -0.05526217 0.05782521 0.03392369
+v -0.05526217 0.05591246 0.03393734
+v -0.05526217 0.05590632 0.03394644
+v -0.05526217 0.05393364 0.03697225
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+v -0.06578182 0.05623763 0.04046947
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_41.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c12774e14a84546ba1b0862db086e23723a017
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_41.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.06342081 -0.04379245 0.03136515
+v -0.06357610 -0.04379245 0.03323296
+v -0.06145730 -0.04638208 0.03360217
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_42.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7949bfe35c400f41f88237fcd0cf462cc7561a21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_42.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.05739979 0.04849988 0.03235399
+v 0.05739979 0.04853011 0.03319022
+v 0.05739979 0.05307768 0.03235400
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_43.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a194dfb085919c0f12ecf30af9abb23f3b038f57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04645911 -0.04318527 -0.02855365
+v 0.04645911 -0.04714719 -0.02645768
+v 0.04645911 -0.05108210 -0.02855368
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_44.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57a51cca37b86059b8ae363b8840e2f3100f453
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_44.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.05221189 -0.05383936 0.04301580
+v -0.05221189 -0.05293681 0.04301190
+v -0.05251687 -0.05383936 0.04301710
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_45.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f312bf7a67ff172215bab3e901236b48f534335
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_45.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.06722197 0.04738108 0.03215998
+v -0.07256261 0.04738108 0.03397537
+v -0.07256261 0.04775121 0.03400732
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_46.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d206026c39a1a4171b923bce5eada6f2e60c0db0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_46.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05729480 -0.05311451 0.03217476
+v 0.05995026 -0.05286488 0.03217477
+v 0.05729480 -0.04849163 0.03217478
+v 0.05729480 -0.05253659 0.01757911
+v 0.06089551 -0.05256131 0.03217477
+v 0.05729480 -0.05243489 0.01515339
+v 0.05729480 -0.05240406 0.01458871
+v 0.05849118 -0.05208508 0.01458871
+v 0.05729480 -0.04847314 0.03180636
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+v 0.06475893 -0.03737201 0.01869131
+v 0.06459409 -0.03737199 0.01458876
+v 0.06142866 -0.05232862 0.03217477
+v 0.05930893 -0.05180463 0.01458871
+v 0.05959225 -0.05170601 0.01458871
+v 0.05729480 -0.04766715 0.01458872
+v 0.05729480 -0.04788752 0.01969840
+v 0.07045104 -0.03737206 0.03217482
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+v 0.06446660 -0.05046098 0.03217477
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+v 0.06815745 -0.04145861 0.01458875
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+f 35 39 36
+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_5.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c4d222361447363e12c98c82e1e2c76631fbea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.05526217 0.05332660 0.03216001
+v -0.05526217 0.05335459 0.03216001
+v -0.05384624 0.04904651 0.03215999
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+v -0.05526217 0.05907036 0.03438848
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+v -0.05279922 0.05908536 0.03437675
+v -0.05033084 0.05373251 0.03216001
+v 0.00015969 0.05373451 0.03216001
+v -0.05526217 0.04917246 0.03804208
+v 0.00015969 0.04934043 0.03804208
+v -0.05526217 0.05916533 0.03803359
+v -0.05279922 0.05916734 0.03561632
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+v -0.04785703 0.05908536 0.03437781
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+v -0.02563079 0.05376150 0.03216001
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+v -0.05279922 0.05916933 0.03804212
+v 0.00015969 0.05915934 0.03561632
+v -0.00782592 0.05375351 0.03216001
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+v -0.05526217 0.04948739 0.04034308
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+v -0.01327805 0.05291165 0.04301104
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+v -0.04291486 0.05537212 0.04304732
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+v -0.01575185 0.05773762 0.04237848
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+v -0.05526217 0.05537212 0.04303239
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+
diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_6.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b195fa88eb3721fd13defd2d76e86ee0f7abc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.05739891 -0.00000756 -0.03298166
+v 0.05739891 -0.00000758 -0.02857730
+v 0.05739891 0.00217732 -0.03298230
+v 0.05836092 -0.00000756 -0.03296722
+v 0.06223449 -0.00000758 -0.02627666
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+v 0.05739891 0.04981550 -0.02627648
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_7.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c07bb875dc4445887c51cffabb9879722fec0d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_8.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3039989a6e1be159a89c674e816fb042692cd8a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_8.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_9.obj b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b39b65886cb8a75bc60da9686fd1aa222f8efb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2d30b347e1b8cebc656e96a1532372eb6b13b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mjcf/mesh/basket_016_geometry_Looks_material_0.png
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