diff --git a/.gitattributes b/.gitattributes
index cfe5cf0b3e8ae1513664ee35fdb23f815a3b8fbe..719dc3166d8d3813b7cc1420ff7dd2b0559ec27e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2769,5 +2769,5 @@ dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.urdf b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..75174358c55b853de0c5a44cfe0277dbae2dd8db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_030">
+   <link name="basket_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>6cc80f29778353b7822b2e1c10f0dcfe</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>gray handled basket</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>round gray woven basket with two loop handles</description>
+         <min_height>0.1133</min_height>
+         <max_height>0.1133</max_height>
+         <real_height>0.1133</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132326</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075602 -0.070431 -0.038867</min>
+            <max>0.074398 0.070694 0.074458</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.usd b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6da64860df150d8e980f8f60b8a631ae9e979458
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f05378be2ef63a33e0ed9dca4985145060ab8ea683b765574b22892cc0a8879
+size 4893388
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.glb b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6c9cfcfc810569aab409c2e5914976d4bc02ad0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482b70c19efa43dffa02ca127ac66dfabdb580192618755bddf7c8890d83c382
+size 11525880
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.mtl b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75c4c4d86e48d9c56a2ea2770f24f7d0cd5550b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.mtl
@@ -0,0 +1,6 @@
+newmtl basket_030_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/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93328f0b743108926b5c3bf690d2e6e799da8d69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.obj
@@ -0,0 +1,105314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_030_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_collision.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4556bc172f615ebc8515cd64a0a0b173490f9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc2c60048970f6736bdf5c3ebf6c95f69e7880d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79095146f6e4728bb104eaa410366e79c9c07217c99f6a8a2900e4cc52886568
+size 8207227
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material.mtl b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10a3a6d14ab4049a1a0020c7e353e552b7b17529
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material_0.png b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc2c60048970f6736bdf5c3ebf6c95f69e7880d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79095146f6e4728bb104eaa410366e79c9c07217c99f6a8a2900e4cc52886568
+size 8207227
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/basket_030.xml b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/basket_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba21c762e580cf403177bd5a7323a0eed6b7646d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/basket_030.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_030">
+  <asset>
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+    <texture name="texture_0_basket_030_geometry_Looks_material_0" type="2d" file="mesh/basket_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_58" file="mesh/basket_030_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="basket_030">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" 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/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59f55b296b44debf5887bc4fdf6fe3366796b12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030.obj
@@ -0,0 +1,105314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_030_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74179897e70b22c724e05fcb3983b8895c568398
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision.obj
@@ -0,0 +1,38808 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_0.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063a781ddb5a69f4cdf4ed1ebf647659ba56a606
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_0.obj
@@ -0,0 +1,2611 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_1.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242924790d8aec3b7fce6b7f183a2adb3e4d66c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_10.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f46609f961e52e9da4771e50e5b4c4b59535d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_10.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_11.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aefc6db7e352b3403edfbaad737c7ee27e6e8e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_11.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_12.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48aea588164fd5e0b50966bd4ac559cf212be79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_13.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab5b2c3f5e6b26501c13a4bf07a918e51cb9ab7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_14.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e8b0c0611b436bd02531e4dc186d730c206acc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_14.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_15.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2096de70c2ec9d144d8faac1f01bacc5b3b80ab4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_15.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_16.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56925b7f965cf3fd22716228b6ddc443a576aa1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_16.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_17.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e1de081a1ec4175f3a368d4b6d72f4ffd9723e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_17.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_18.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bbf951187c1fd53874dc4644005d7d0bafaca0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_19.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f85b495265456ff89c7407cea4c7543b9b82c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_2.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9677351776a5f867e33b8f3578b2ce6d093c7e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_20.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..643fb6313f94a0a4ffba20c05add2f95e9741e95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_20.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_21.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e414aa81b8e6ecf452a4e1ddb16392cad6af4164
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_21.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_22.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdea958a00045297766dae92950257c16c06445
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_23.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a8ede0443086b381db5a0f48c01b5b4e00b122
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_24.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e7731d2967902eed927aaf6e329579dedb5a6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_25.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9663a992e26555c2987e0a73021bced876667f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_26.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadbddaece2c8d4b830948f7225e2a86e4f484f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_27.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d528ec811cefc37dbcdcf63ba1ec386363ea60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_28.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236c516d2b701d97a2293b919659c35dd429ce86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_29.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e92a792c2219d93bc4a4f0a498868eba15b11e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_3.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..598c930237704067525fadb12c7db2198cd1ed96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_30.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92490bfa24e9098de142b77fc7f90f36fa18e6c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_30.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_31.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2660a0b1f588be6a328a4f3fd04ce32d80e14b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_31.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_32.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67fcfeda3340deea32707b35f357f9ab7240b948
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_33.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c62ed3b7ec6b6fe9fe011db94e83f261a1966fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_33.obj
@@ -0,0 +1,1519 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_34.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895aad29351358152332bf96cdb9c25ca484834c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_35.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1263f2925ed89f2589f89749f5e3ec158a50f3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_35.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_36.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5f4dbebdcb74eb50d6be46e278cae691452cf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_36.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_37.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b879ec44e9b29572767a678c07a7acc2d85b1961
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_37.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_38.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8041f5901f54b77917b41c21ef0b5c666a703e63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_38.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_39.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed496d348f2bcbad230185f521725817e8050cf7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_39.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_4.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b7599a2e71469fde7472a2bbacd12fd7344ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_4.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_40.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca171a49530d06b7639c402c00e21f415140ee9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_40.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_41.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862bed1070a4bc100003922a7bbcd1a891487899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_41.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_42.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b45302e2432adc355f4f02328c147d2f473e0a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_42.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_43.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2836f7b7a87e6a85a0016f25dab73da6c2f867f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_43.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03978497 -0.02081676 -0.03103963
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+
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_44.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4390de3f502f1b8feec68830228fa09010363e9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_44.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.04944791 -0.02221580 -0.02902768
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_45.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1632ebcb78b67f94d948e8dacc25197945637853
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_45.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_46.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571fe1dde21e53f2e44419de72b65147a9998320
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_46.obj
@@ -0,0 +1,817 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_47.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cd0b1240c47700061911a2f95138cf4a12409a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_47.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06220273 0.02162514 -0.02949601
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_48.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..825506a8043ddfa0c2eea34f75fcab4cb5f2791c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_48.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_49.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa232292eedcae1a423a4db47b3148304235d7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_49.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_5.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e0a6073430bc9a61a8aa44248e1c0595de29f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_5.obj
@@ -0,0 +1,772 @@
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_50.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc627ed082d2080f83c45593d0111c8c40e69da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_50.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_51.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03430f246617e03ead1c1c3264be5e99d72ae841
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_51.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_52.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a92c36ee689e18e817cea2f5d9076b38089880
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_52.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_53.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5973b09b78a639ff87e908616cd864289f4d012
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_53.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_54.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e905d983845d7d545f05420267c704d4d21cb2ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_54.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_55.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65ad8d72566c5025e432870bc5c54d0825eeab8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_56.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f425f40a3a824ce9b276c46c7f0fcf72dc47d1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_56.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_57.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddcbc6c2c61a44a2af75ea821803139cdb859a3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_57.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_58.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f376b2ff4860c53e843d338f389e731844a2c98a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_58.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_59.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709da3a9423eccd60aedd0ce07dcc346b7356430
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_59.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_6.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0748d0a6dc283d0b0b6083d8e47f860490f0b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_6.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_60.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ff3edffe3bfdc2147dd71f15b8c5b63c88a679
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_60.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_61.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3156dbbb9ae6400dff6d86243e2cb3f1af7407e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_61.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_62.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61172ab2cad5cf9f80c0fcaafa1ac0f8da72269
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_62.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_63.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0517a52c698a372c24b80e0c97970e3e564b8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_63.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_64.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7433675b1882a6b115006caf75a8391da257943
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_64.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_65.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8629f49518f6aec919549baa89bc233116a9d50e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_65.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_66.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c6f2a200402d14a636192f5bcddd31d36c17f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_66.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_7.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764931a28f2bfd8692489013ad3035e06a7f8a3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_8.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc3449dfbc72836313cea29c5804e60b698e39e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_8.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_9.obj b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da053e5b054c3458d365e438ad80bd9b8bb86ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mjcf/mesh/basket_030_collision_9.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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