diff --git a/.gitattributes b/.gitattributes
index a5b3f0c342df6bf1d6a644087ce6655cdcd7a8d5..53cfa6c9c82db7e79b11b04934b74340d829d730 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2857,3 +2857,6 @@ dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/jewelry_box_00
 dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/mesh/jewelry_box_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_box_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.urdf b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd7d87ad55dd433e48c6893e0174a3a0ef8772
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gray_basket">
+   <link name="gray_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>0.554926</scale>
+         <version>v0.1.7</version>
+         <category>gray basket</category>
+         <description>rectangular wireframe basket with rounded edges and open top</description>
+         <min_height>0.150</min_height>
+         <max_height>0.210</max_height>
+         <real_height>0.180</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20260117183130</generate_time>
+         <gs_model>mesh/gray_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.465483665466309</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.usd b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f486c2bfdc2d5a4fe7ee72ff7d760908610b71ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f651c084f4862a41df096480d59cdd62ee94fe7793451d0e6cf23793b48f1d84
+size 543214
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.glb b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..89e70ffc8a4e997a9fc6a3a0d2db220f1015e0e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9fc67cc1fffddab28c04bba00994d7312222d655765dcce2f3e47590fae5f9
+size 5254344
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb37b8ffb41c46c1b959747e5d0cfef5104f14af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket.obj
@@ -0,0 +1,41049 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565435c30ac44c73a5614d98a6f8682ea4e4deb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_collision.obj
@@ -0,0 +1,16351 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_gs.ply b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3bcd441db74a0a440d4831f1410d2db057f7c716
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/gray_basket_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f57f2ced772d046ed82342d956e8598bc1f295d7252deddce069dfabeb4589
+size 1767945
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/material.mtl b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/material_0.png b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mesh/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35302e06015ae928d1d9dff03434aff27dc0f7111195dd2b39a6211af396f1be
+size 4815486
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/f3011ec550bb59f5af91dc1ba6b11a26.xml b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/f3011ec550bb59f5af91dc1ba6b11a26.xml
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index 0000000000000000000000000000000000000000..73beb523f09b6ee9463598b51f62f572353b62c9
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e06f970162d1863964d3f38a3ba9d56348db753d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket.obj
@@ -0,0 +1,41049 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd0a68ccff5bc3be02f1454f643d694ec70eb3f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision.obj
@@ -0,0 +1,16351 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_0.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb22abcefdd0dda3b0d73a4963e7a4339eb85d25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_0.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_1.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81118d8c4a8cd83be2bb8e8e1e49f87d74e9a0fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.00069871 -0.10622551 0.08967448
+v 0.00069871 -0.10375955 0.08909240
+v 0.00069871 -0.11018175 0.08836759
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_10.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1425427be7ed49aabc2cff0f09934e62422c04ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.13474298 0.09688149 0.06150022
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_11.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b79b0e21b86e1fb9257972d16d0c5166d6b010
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_11.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_12.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ba3f8fcd6453daafa2eda1317ed9bc5638ffef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_13.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e65ec55a14532e74c31e381649c91f29dd0d3b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_14.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383599089a79819c5e419b6a666bcaf7a392cda5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_14.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_15.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22aea747b1954f1f005acf3c98735f35d11c779e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_15.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_16.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e59f1b730bb3af16c3816c8bb8a1c2e184fe43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_17.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6815090afb597b7d829f30eb58dbfa1ac428728f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_18.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7942ddc81b13ed147a0d6ec3ba43bad58650875
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_19.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9376e674e91178cf92e4adbdb40b6b6b047f494
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.13431717 -0.04605498 -0.04122755
+v -0.13739628 -0.04605497 -0.04282297
+v -0.13060875 -0.04605498 -0.04194985
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+v -0.14431368 -0.03902544 0.01400923
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+v -0.12945502 -0.04605496 -0.04629165
+v -0.13670454 -0.03508985 0.00750846
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+v -0.13691930 -0.01694555 0.01185032
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+v -0.12803657 -0.04605492 -0.05719771
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+v -0.12912289 -0.04605490 -0.06256343
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+v -0.13291621 -0.04605490 -0.06286506
+v -0.13263902 -0.03933275 -0.06706393
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_2.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cc6e8812e1e6c5aab20449dda84727665d1d34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_2.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.16148446 0.00015806 0.08780627
+v 0.16165472 0.06339550 0.08784806
+v 0.16162187 0.07433635 0.08785641
+v 0.15709637 0.08381951 0.08792292
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+v 0.16439093 0.05792508 0.08673452
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+v 0.16167265 0.06886593 0.08784808
+v 0.16142173 0.07980677 0.08783149
+v 0.16437002 0.07433635 0.08666810
+v 0.16111107 0.08381951 0.08776503
+v 0.15411223 0.08381951 0.08746588
+v 0.15563566 0.00015806 0.08670937
+v 0.16423560 0.00015806 0.08662627
+v 0.16424157 0.00321265 0.08663460
+v 0.16679856 0.00015807 0.08390064
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+v 0.16784107 0.01963214 0.07911423
+v 0.16781418 0.03057299 0.07911427
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+v 0.16773652 0.05792511 0.07911437
+v 0.16771262 0.06339553 0.07911439
+v 0.16767678 0.06886596 0.07911441
+v 0.16748560 0.07433638 0.07911443
+v 0.16649087 0.07980678 0.08365995
+v 0.16386221 0.08381951 0.08587039
+v 0.15150446 0.08381952 0.08459067
+v 0.15225125 0.00015808 0.08183148
+v 0.14867566 0.00015834 0.01063256
+v 0.14897737 0.00044496 0.01087354
+v 0.14909684 0.01665969 0.01000938
+v 0.14909684 0.01738035 0.01000938
+v 0.14676091 0.03604369 0.00302916
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+v 0.14573932 0.07433666 0.00302930
+v 0.16699869 0.07980680 0.07911445
+v 0.16630268 0.08381953 0.08192320
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+v 0.14968829 0.08381954 0.07911447
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+v 0.16570826 0.08381955 0.07611461
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+v 0.14060146 0.00015837 0.00302903
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+v 0.15275906 0.08381962 0.05733431
+v 0.15532201 0.08381961 0.05856417
+v 0.14029379 0.07761236 0.00302932
+v 0.14722690 0.08381962 0.05807389
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+v 0.14046703 0.00173071 0.00302904
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_20.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b64c1d83a01bd3f92a7d28630392fba62c449bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_20.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.09090121 -0.06777134
+v 0.00293907 0.09152943 -0.06777133
+v 0.00087428 0.08542983 -0.06777136
+v 0.00087428 0.09908025 0.01004069
+v 0.00321075 0.09160102 -0.06777133
+v 0.00321075 0.08484278 -0.06777136
+v 0.00087428 0.08515413 -0.04629056
+v 0.00087428 0.10189726 0.04097390
+v 0.00318747 0.10279394 0.04097391
+v 0.00321075 0.10280111 0.04097391
+v 0.01683371 0.09356084 -0.06777133
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+v 0.06920641 0.08465656 -0.04629056
+v 0.01970579 0.08451696 -0.04629056
+v 0.01970579 0.08465834 -0.04084053
+v 0.00087428 0.08695992 -0.01902974
+v 0.00087428 0.09657444 0.04097388
+v 0.04720010 0.10188474 0.04097390
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+v 0.01722959 0.09356084 -0.06777133
+v 0.07332823 0.08622987 -0.06777135
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+v 0.06920641 0.08496976 -0.04084053
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+v 0.00087428 0.08734292 -0.01356906
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_21.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b3cc52871272b2440511c56773a408e8747b97
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.14546083 0.00015837 0.00302903
+v 0.14568419 0.00275773 0.00302904
+v 0.14060057 0.00015837 0.00302903
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+v 0.13893824 0.00015861 -0.06262933
+v 0.13850440 0.01607159 -0.06714094
+v 0.13850440 0.01824568 -0.06714093
+v 0.13913369 0.01989468 -0.06292726
+v 0.13960618 0.04449091 -0.04061830
+v 0.13728666 0.04449091 -0.04011931
+v 0.13496713 0.04449091 -0.03975201
+v 0.13885878 0.04449099 -0.06140249
+v 0.13212787 0.04449092 -0.04248950
+v 0.13154584 0.04449099 -0.06221334
+v 0.12977398 0.03970454 -0.06777152
+v 0.13631590 0.00015863 -0.06777167
+v 0.13825742 0.00015862 -0.06625391
+v 0.13821232 0.00015862 -0.06648955
+v 0.13800829 0.00015862 -0.06662815
+v 0.13766251 0.01770324 -0.06777160
+v 0.13766251 0.01894868 -0.06777160
+v 0.13593361 0.03603765 -0.06777154
+v 0.13531936 0.04449099 -0.06339844
+v 0.13576608 0.03641519 -0.06777154
+v 0.13408658 0.03967416 -0.06777152
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 25
+f 1 25 14
+f 1 14 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 28
+f 1 28 40
+f 1 40 43
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+f 1 41 29
+f 1 29 18
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+f 7 17 13
+f 9 18 10
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+f 19 20 22
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+f 20 23 22
+f 21 24 33
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+f 21 34 35
+f 21 35 25
+f 23 32 31
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+f 23 36 24
+f 24 36 47
+f 24 47 38
+f 24 38 37
+f 24 37 35
+f 24 35 34
+f 24 34 33
+f 25 35 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 40
+f 30 40 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 36
+f 36 46 48
+f 36 48 49
+f 36 49 47
+f 38 47 39
+f 39 47 49
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_22.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1674a805b98e4aca7b34554731725390ec8a04ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.14302199 0.07730683 0.01026430
+v -0.14341168 0.07736726 0.01914179
+v -0.14158861 0.07730683 0.01026430
+v -0.14383459 0.07619586 0.01026430
+v -0.14809697 0.07710267 0.03760824
+v -0.14199793 0.07736726 0.01914179
+v -0.14817250 0.07712534 0.04094969
+v -0.14823895 0.07714043 0.04640078
+v -0.14781755 0.07714043 0.04642202
+v -0.13986221 0.07637724 0.01026430
+v -0.14494021 0.07433667 0.01026429
+v -0.14891863 0.07383024 0.03004396
+v -0.14923884 0.07482027 0.03567203
+v -0.15131415 0.07407958 0.04642201
+v -0.15126884 0.07414004 0.04642201
+v -0.14219428 0.07729166 0.02459288
+v -0.14825104 0.07713287 0.04642202
+v -0.14241028 0.07717073 0.02854669
+v -0.14507162 0.07534171 0.04642202
+v -0.13874149 0.07516801 0.01026430
+v -0.14814380 0.07197864 0.02132575
+v -0.14841416 0.07281753 0.02459287
+v -0.14555647 0.03604206 0.01026415
+v -0.15209503 0.03604193 0.04642187
+v -0.14214897 0.07260584 0.04642201
+v -0.14172757 0.07339941 0.04094968
+v -0.13676738 0.07253039 0.01026429
+v -0.13742591 0.07346754 0.01026429
+v -0.14814380 0.07141938 0.02132575
+v -0.14463361 0.00015834 0.01026402
+v -0.14813322 0.01676245 0.02143174
+v -0.15130509 0.00015821 0.04642174
+v -0.14213992 0.07259828 0.04640077
+v -0.14214142 0.07080712 0.04642200
+v -0.13690483 0.07213740 0.01172970
+v -0.13684894 0.05552568 0.01220750
+v -0.13667222 0.05575997 0.01026422
+v -0.13666467 0.00015834 0.01026402
+v -0.14831448 0.00015829 0.02566512
+v -0.14227434 0.00015821 0.04642174
+v -0.13684441 0.00015833 0.01246570
+v -0.13684441 0.00083851 0.01246570
+v -0.13666467 0.00109548 0.01026402
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 20
+f 1 20 28
+f 1 28 27
+f 1 27 37
+f 1 37 43
+f 1 43 38
+f 1 38 30
+f 1 30 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
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+f 2 7 8
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+f 3 6 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
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+f 6 16 10
+f 6 9 16
+f 7 17 8
+f 7 15 17
+f 8 17 9
+f 9 18 16
+f 9 17 15
+f 9 15 14
+f 9 14 24
+f 9 24 32
+f 9 32 40
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+f 9 34 25
+f 9 25 19
+f 9 19 18
+f 10 16 18
+f 10 18 20
+f 11 21 22
+f 11 22 12
+f 11 23 21
+f 12 22 14
+f 12 14 13
+f 14 22 21
+f 14 21 24
+f 18 19 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 20
+f 21 23 29
+f 21 29 24
+f 23 30 31
+f 23 31 29
+f 24 29 31
+f 24 31 32
+f 25 33 26
+f 25 34 33
+f 26 33 27
+f 27 33 35
+f 27 35 36
+f 27 36 37
+f 30 38 41
+f 30 41 40
+f 30 40 32
+f 30 32 39
+f 30 39 31
+f 31 39 32
+f 33 34 36
+f 33 36 35
+f 34 40 41
+f 34 41 42
+f 34 42 36
+f 36 42 37
+f 37 42 43
+f 38 43 42
+f 38 42 41
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_23.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11075e8bd148b12cc070958c83a4053ba1198a6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.11228465 0.08135169 -0.06426608
+v -0.11006117 0.08135169 -0.06433193
+v -0.11510206 0.08135170 -0.06814632
+v -0.11872663 0.07427715 -0.06889606
+v -0.11872663 0.06976814 -0.06896192
+v 0.00319892 0.06969610 -0.06901004
+v 0.03620075 0.06975936 -0.06908603
+v 0.03685561 0.06975936 -0.06908856
+v -0.05933247 0.08135170 -0.06894162
+v 0.03685561 0.07389408 -0.06908855
+v 0.03685561 0.07663008 -0.07151242
+v 0.03620075 0.07896893 -0.07420478
+v -0.11551325 0.08135170 -0.06872887
+v -0.11872663 0.07636651 -0.07234572
+v -0.11872663 0.06839226 -0.07356149
+v -0.11068557 0.06340179 -0.07755573
+v -0.10678688 0.06340179 -0.07493175
+v -0.07378505 0.06340178 -0.07337408
+v 0.00319892 0.06361967 -0.07329050
+v 0.00351874 0.06361967 -0.07338168
+v 0.03685561 0.06801271 -0.07356149
+v -0.04143808 0.08135172 -0.07347532
+v 0.03620075 0.08047489 -0.07900948
+v 0.03685561 0.08051707 -0.07965535
+v 0.03685561 0.08081581 -0.08446260
+v 0.03685561 0.07885121 -0.07423770
+v 0.03685561 0.07903220 -0.07477466
+v -0.11595490 0.08135172 -0.07318659
+v -0.11872663 0.07654223 -0.07315875
+v -0.11872663 0.07017057 -0.07752024
+v -0.11071603 0.06340183 -0.08837330
+v -0.11158411 0.06340182 -0.08446267
+v -0.11099015 0.06340180 -0.07859418
+v -0.02980291 0.06340178 -0.07350832
+v 0.00086884 0.06340178 -0.07415165
+v 0.00738697 0.06361967 -0.07480258
+v 0.03685561 0.06970668 -0.07900952
+v 0.00778293 0.06361969 -0.07900955
+v 0.00650367 0.06361970 -0.08200838
+v 0.00639707 0.06361970 -0.08221101
+v -0.04134670 0.08135174 -0.07790012
+v 0.01419445 0.08113563 -0.08446260
+v 0.03685561 0.08035891 -0.07900948
+v 0.03685561 0.07930814 -0.08882408
+v -0.11578738 0.08135173 -0.07700351
+v -0.11872663 0.07477097 -0.07755822
+v -0.11872663 0.07443007 -0.07799639
+v -0.11086833 0.07434225 -0.08856322
+v -0.10678688 0.07434225 -0.09014115
+v -0.10678688 0.06340184 -0.08877854
+v 0.00086884 0.06340181 -0.08302150
+v 0.03685561 0.07192606 -0.08539723
+v 0.00319892 0.06361971 -0.08334824
+v -0.04142285 0.08135174 -0.07840161
+v 0.03620075 0.07930814 -0.08882915
+v 0.00869669 0.07936261 -0.08884181
+v -0.10128911 0.07917284 -0.08910269
+v -0.07378505 0.08081230 -0.08446260
+v -0.11240648 0.08135174 -0.07908800
+v -0.09579135 0.08135174 -0.07938434
+v -0.07846043 0.08135174 -0.07939954
+v 0.03685561 0.07465679 -0.08882410
+v -0.02980291 0.07434225 -0.08956367
+v -0.07378505 0.07434225 -0.08992080
+v -0.11374666 0.08135174 -0.07844213
+v -0.11048759 0.07801482 -0.08817315
+v -0.10678688 0.07882139 -0.08888993
+v -0.04081367 0.07923961 -0.08901404
+v -0.03531591 0.07924840 -0.08900138
+v 0.02518999 0.07929409 -0.08886460
+v 0.03685561 0.07433522 -0.08851763
+v 0.01969222 0.07930463 -0.08886967
+v 0.01419445 0.07933274 -0.08885700
+v -0.10678688 0.08047667 -0.08446260
+v -0.10128911 0.08066469 -0.08446260
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+f 1 9 22
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+f 1 54 61
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+f 69 72 70
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_24.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e8d56acca8fa5f5fbf4746b26e5ba5bf5fb0e46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.14107305 0.00015836 0.00599856
+v 0.14153212 0.00015833 0.01368760
+v 0.14595748 0.00015836 0.00599856
+v 0.14014528 -0.01867801 0.00599849
+v 0.14207786 0.00015830 0.02212848
+v 0.14867177 0.00015834 0.01063305
+v 0.14745989 -0.01845025 0.00599849
+v 0.14223998 0.00015829 0.02459101
+v 0.13801527 -0.07268169 0.00599829
+v 0.14909873 0.00015833 0.01257256
+v 0.14897995 -0.01592205 0.01081096
+v 0.14897995 -0.01615741 0.01081096
+v 0.14654336 -0.07338777 0.00599829
+v 0.14264288 0.00015827 0.03004271
+v 0.13809231 -0.07565785 0.00599828
+v 0.14173919 -0.07338786 0.03004244
+v 0.14318059 -0.07232497 0.03945307
+v 0.14318059 -0.07029025 0.03945308
+v 0.14333148 0.00015824 0.03906108
+v 0.15408108 0.00015822 0.04309992
+v 0.15409873 -0.00003159 0.04309992
+v 0.15441173 -0.01665102 0.04309986
+v 0.14915651 -0.05465773 0.01509300
+v 0.14933308 -0.07338782 0.01970563
+v 0.14913886 -0.07631843 0.02073712
+v 0.14593661 -0.07489103 0.00599828
+v 0.14275684 -0.07384341 0.03594451
+v 0.13852891 -0.07631078 0.00599828
+v 0.14317097 -0.07640960 0.03442631
+v 0.14353694 -0.07597684 0.03806199
+v 0.14448557 -0.07367641 0.04309965
+v 0.14568782 -0.00205872 0.04309991
+v 0.14582105 -0.00081359 0.04309992
+v 0.14592538 0.00015822 0.04309992
+v 0.14503613 -0.03538110 0.04309979
+v 0.15341816 -0.07338791 0.04309965
+v 0.14942137 -0.07656899 0.02459073
+v 0.14484833 -0.07712315 0.00599828
+v 0.15240852 -0.07511135 0.04309964
+v 0.14068782 -0.07712315 0.00599828
+v 0.14208108 -0.07710043 0.01913902
+v 0.14242779 -0.07695619 0.02459073
+v 0.14281784 -0.07670567 0.03004243
+v 0.14699440 -0.07703978 0.04309964
+v 0.14527049 -0.07503542 0.04309964
+v 0.15116615 -0.07700182 0.04309964
+v 0.14976647 -0.07679678 0.03004243
+v 0.14502490 -0.07717631 0.00823562
+v 0.14112763 -0.07717631 0.00823562
+v 0.14172956 -0.07717633 0.01368732
+v 0.14621270 -0.07737379 0.03004243
+v 0.14621270 -0.07740414 0.02459073
+f 1 2 5
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+f 1 8 14
+f 1 14 19
+f 1 19 34
+f 1 34 20
+f 1 20 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 26
+f 1 26 38
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+f 1 28 15
+f 1 15 9
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+f 3 6 7
+f 4 8 5
+f 4 9 8
+f 6 10 11
+f 6 11 7
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+f 8 9 14
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+f 20 32 35
+f 20 35 31
+f 20 31 45
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+f 20 39 36
+f 20 36 22
+f 20 22 21
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+f 23 36 24
+f 24 36 25
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+f 25 38 26
+f 25 36 39
+f 25 39 37
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
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+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 37 39 46
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+f 37 47 38
+f 38 47 46
+f 38 46 48
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+f 38 49 40
+f 40 49 50
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+f 42 44 43
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+f 46 52 48
+f 48 52 49
+f 49 52 51
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_25.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e157be0f447f22f943aa8689d137dbc72a965c0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.07246175 -0.08981053 -0.05262171
+v -0.07246175 -0.09317367 -0.05112399
+v -0.07246175 -0.08606184 -0.05141345
+v -0.06099705 -0.08615521 -0.07703848
+v -0.06088042 -0.08981044 -0.07693781
+v -0.07246175 -0.09332223 -0.04629098
+v -0.06021308 -0.09262447 -0.07639662
+v -0.06829895 -0.10182142 0.05137611
+v -0.07238400 -0.10039605 0.05137611
+v -0.06162227 -0.08562613 -0.07355216
+v -0.07246175 -0.08557784 -0.04629095
+v -0.04510067 -0.08597496 -0.07720210
+v -0.04510067 -0.08853862 -0.07720211
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+v -0.04597858 -0.08652092 -0.02420259
+v -0.05139184 -0.09542226 0.05137613
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+f 1 11 3
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+f 23 44 38
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+f 27 48 49
+f 27 49 50
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+f 28 52 45
+f 28 45 29
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+f 33 54 36
+f 33 36 35
+f 33 35 34
+f 33 53 59
+f 33 59 41
+f 33 41 40
+f 33 40 39
+f 33 39 38
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+f 33 44 62
+f 33 62 58
+f 33 58 57
+f 33 57 56
+f 33 56 54
+f 36 54 56
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+f 36 58 62
+f 36 62 55
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+f 44 47 46
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+f 60 64 61
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_26.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5438ed23a467b3b301dfae493dfc103466acbb99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_26.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.13631775 0.00015863 -0.06777167
+v 0.13408741 0.00015865 -0.07250696
+v 0.13631775 0.00193220 -0.06777166
+v 0.12817163 0.00015863 -0.06777167
+v 0.13408741 0.00169182 -0.07250695
+v 0.12852944 0.00015866 -0.07691755
+v 0.13563791 0.00228195 -0.06822985
+v 0.13559020 0.00250894 -0.06777166
+v 0.12817163 0.00248211 -0.06777166
+v 0.07540083 0.00015863 -0.06923987
+v 0.12852944 0.00129873 -0.07691755
+v 0.11261293 0.01069900 -0.08808342
+v 0.11362672 0.01069900 -0.08726465
+v 0.11536209 0.01069899 -0.08565700
+v 0.11262486 0.00015870 -0.08812330
+v 0.12919139 0.00259355 -0.06777166
+v 0.11684699 0.01069898 -0.08150340
+v 0.11684699 0.01069898 -0.08058901
+v 0.11499832 0.01069897 -0.07921444
+v 0.11320928 0.01069897 -0.07836180
+v 0.07540083 0.00206942 -0.06923986
+v 0.07540083 0.00015869 -0.08431832
+v 0.11263082 0.00321060 -0.08811133
+v 0.11261889 0.00868194 -0.08809139
+v 0.10928531 0.01069900 -0.08808342
+v 0.10922567 0.00015870 -0.08812330
+v 0.11133079 0.01069897 -0.07851918
+v 0.07540083 0.00458071 -0.07376597
+v 0.07540083 0.00311670 -0.08433026
+v 0.10927934 0.00868194 -0.08809139
+v 0.07540083 0.00322297 -0.08433026
+v 0.07540083 0.00603549 -0.07901126
+v 0.10827151 0.01069900 -0.08579445
+v 0.10836097 0.01069897 -0.07921045
+v 0.10769306 0.01069899 -0.08446371
+f 1 2 5
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+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 22
+f 1 22 26
+f 1 26 15
+f 1 15 6
+f 1 6 2
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+f 10 29 22
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+f 12 27 20
+f 12 20 19
+f 12 19 18
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+f 12 17 14
+f 12 14 13
+f 15 24 23
+f 15 26 30
+f 15 30 24
+f 16 20 21
+f 20 27 21
+f 21 27 28
+f 22 29 26
+f 25 30 26
+f 25 26 31
+f 25 31 32
+f 25 32 33
+f 26 29 31
+f 27 34 28
+f 28 34 32
+f 32 34 35
+f 32 35 33
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_27.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa4db2555ca56271ad459bbe6cae2bd2be15097e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.14748853 -0.07821709 0.05650821
+v 0.14797234 -0.07821711 0.06261942
+v 0.14772659 -0.07821708 0.05486862
+v 0.12975663 -0.09658495 0.05822061
+v 0.12975663 -0.09658247 0.06194696
+v 0.14801585 -0.07821711 0.06289103
+v 0.14905514 -0.07821708 0.05315118
+v 0.13735675 -0.09141366 0.05130949
+v 0.13679614 -0.09481207 0.05130948
+v 0.12975663 -0.10075243 0.05775687
+v 0.12975663 -0.10071000 0.06243054
+v 0.13719803 -0.09627536 0.06822875
+v 0.13833460 -0.09352618 0.06822876
+v 0.14880173 -0.07821712 0.06401390
+v 0.14814128 -0.07821711 0.06325704
+v 0.15171224 -0.07821707 0.05242082
+v 0.14071267 -0.08950596 0.05130950
+v 0.13678591 -0.09528150 0.05130948
+v 0.12975663 -0.10372385 0.05956704
+v 0.13728763 -0.09811059 0.05130947
+v 0.13739259 -0.09839275 0.05130947
+v 0.12975663 -0.10075245 0.06242557
+v 0.13719803 -0.09854763 0.06822874
+v 0.14107873 -0.09127638 0.06822876
+v 0.15155609 -0.07821712 0.06642526
+v 0.15550591 -0.07821709 0.05598486
+v 0.14516933 -0.09529398 0.05130948
+v 0.14491847 -0.09063710 0.05130950
+v 0.13315352 -0.10364894 0.05972271
+v 0.12975663 -0.10372385 0.06051932
+v 0.14042597 -0.09864245 0.05130947
+v 0.14066659 -0.09863496 0.05130947
+v 0.12975663 -0.10370388 0.06053920
+v 0.13721596 -0.09855511 0.06822874
+v 0.14506693 -0.09126889 0.06822876
+v 0.15430279 -0.07821713 0.06674821
+v 0.15585659 -0.07821709 0.05737107
+v 0.15500417 -0.08322106 0.05923919
+v 0.15002020 -0.09390069 0.05887812
+v 0.14492615 -0.09582335 0.05130948
+v 0.13315352 -0.10364894 0.06035868
+v 0.14371023 -0.09824044 0.05130947
+v 0.14071267 -0.10053269 0.05730971
+v 0.14479816 -0.09906446 0.05730972
+v 0.14484679 -0.09908695 0.06276012
+v 0.14071267 -0.09950148 0.06822873
+v 0.14613438 -0.09526658 0.06822875
+v 0.15575932 -0.07821712 0.06485357
+v 0.15587707 -0.07821709 0.05788613
+v 0.15590524 -0.07821711 0.06320238
+v 0.15500417 -0.08322106 0.06082744
+v 0.15002020 -0.09390069 0.06119839
+v 0.14452425 -0.09897211 0.06822874
+f 1 2 6
+f 1 6 15
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+f 1 14 25
+f 1 25 36
+f 1 36 48
+f 1 48 50
+f 1 50 49
+f 1 49 37
+f 1 37 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
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+f 1 5 2
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+f 4 33 22
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+f 19 21 31
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+f 24 36 25
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+f 29 44 45
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+f 30 34 33
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+f 41 53 46
+f 42 44 43
+f 45 52 53
+f 47 53 48
+f 48 53 52
+f 48 52 51
+f 48 51 50
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_28.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4251b1ea317bb111f642400930ef3163e134ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.08566869 -0.06308086
+v -0.05934763 0.08135347 -0.06893926
+v -0.04144730 0.08135349 -0.07347165
+v 0.00087428 0.08540340 -0.06810691
+v 0.00087428 0.09086913 -0.06308084
+v -0.10934915 0.08196141 -0.06308087
+v -0.11007499 0.08135346 -0.06433019
+v -0.04135364 0.08135351 -0.07790180
+v 0.00087428 0.08554143 -0.07355791
+v -0.04143560 0.08135351 -0.07840344
+v 0.00087428 0.09091435 -0.06519926
+v -0.01604264 0.09349969 -0.06517688
+v -0.04630580 0.09156514 -0.06308083
+v -0.11226424 0.08192096 -0.06308087
+v -0.11229937 0.08135346 -0.06426469
+v 0.00087428 0.08613870 -0.07594951
+v 0.00087428 0.08673358 -0.07730907
+v -0.07846552 0.08135351 -0.07940035
+v 0.00087428 0.09089771 -0.06810689
+v -0.01601923 0.09350686 -0.07093942
+v -0.01601923 0.09350685 -0.06810688
+v -0.01606606 0.09349969 -0.06517688
+v -0.09579220 0.09182926 -0.06308083
+v -0.11699396 0.08196736 -0.06308087
+v -0.11510909 0.08135347 -0.06814526
+v 0.00087428 0.08923326 -0.07730906
+v -0.09579220 0.08135351 -0.07938596
+v -0.02979862 0.08949739 -0.07750237
+v 0.00087428 0.09050748 -0.07355789
+v -0.01330316 0.08954736 -0.07731545
+v -0.01607777 0.09350686 -0.07093942
+v -0.01607777 0.09350685 -0.06810688
+v -0.09579220 0.09170436 -0.06810688
+v -0.11229937 0.09100477 -0.06308084
+v -0.11872663 0.08390428 -0.06308086
+v -0.11578813 0.08135350 -0.07700075
+v -0.11596373 0.08135349 -0.07318409
+v -0.11551885 0.08135347 -0.06872678
+v -0.11241643 0.08135351 -0.07909041
+v -0.09579220 0.08913095 -0.07733782
+v -0.09579220 0.09091081 -0.07355789
+v -0.11229937 0.08970557 -0.06810689
+v -0.11524958 0.08823861 -0.07125576
+v -0.11746226 0.08979478 -0.06308084
+v -0.11872663 0.08783525 -0.06308085
+v -0.11872663 0.08528798 -0.06397072
+v -0.11375107 0.08135351 -0.07844498
+v -0.11523788 0.08294777 -0.07655023
+v -0.11229937 0.08381391 -0.07733144
+v -0.09908192 0.08868954 -0.07702628
+v -0.11229937 0.08856936 -0.07200503
+v -0.11229937 0.08654915 -0.07473214
+v -0.11764956 0.08973648 -0.06308084
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 26
+f 1 26 29
+f 1 29 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 23
+f 1 23 34
+f 1 34 44
+f 1 44 53
+f 1 53 45
+f 1 45 35
+f 1 35 24
+f 1 24 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 7 15
+f 2 15 25
+f 2 25 38
+f 2 38 37
+f 2 37 36
+f 2 36 47
+f 2 47 39
+f 2 39 27
+f 2 27 18
+f 2 18 10
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+f 2 8 3
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+f 6 14 15
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+f 11 19 20
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+f 12 22 23
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+f 19 29 20
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+f 20 32 21
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+f 22 32 23
+f 23 33 34
+f 23 32 31
+f 23 31 33
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 26 28 30
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+f 27 40 28
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+f 33 41 34
+f 34 42 43
+f 34 43 44
+f 34 41 42
+f 35 45 46
+f 35 46 36
+f 36 46 45
+f 36 45 43
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+f 36 48 47
+f 39 47 48
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+f 39 49 50
+f 39 50 40
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+f 43 53 44
+f 48 52 49
+f 49 52 50
+f 50 52 51
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_29.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba073fd240ef12c9eb75fce2c910a5831fc481fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_29.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.14982227 -0.07821717 0.07840445
+v 0.14996841 -0.07821717 0.07942182
+v 0.15175066 -0.07821714 0.07086211
+v 0.12975763 -0.09729484 0.07864539
+v 0.12975763 -0.09734051 0.08339639
+v 0.15094152 -0.07821719 0.08316731
+v 0.12975763 -0.09735029 0.08343985
+v 0.15464861 -0.07821714 0.06997314
+v 0.14107852 -0.09127902 0.06823074
+v 0.13833741 -0.09352882 0.06823074
+v 0.12975763 -0.09794695 0.07631631
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+v 0.15130867 -0.07821719 0.08426172
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_3.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b54a8e9f75ab3d82af05e5fb05908c6fb8cd70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.13443504 -0.07821674 -0.03541428
+v 0.13109158 -0.07821674 -0.03557773
+v 0.13762450 -0.07821673 -0.03728574
+v 0.14071130 -0.07741132 -0.00267614
+v 0.13063849 -0.07821674 -0.03653388
+v 0.14068451 -0.07711982 0.00599464
+v 0.14484712 -0.07712749 0.00599464
+v 0.13767584 -0.07821672 -0.04066905
+v 0.12866098 -0.07821672 -0.04074261
+v 0.13852845 -0.07631428 0.00599464
+v 0.12861634 -0.07821672 -0.04084068
+v 0.14459267 -0.07705077 0.00277477
+v 0.14593408 -0.07489499 0.00599464
+v 0.13767808 -0.07821671 -0.04283471
+v 0.13756201 -0.07821670 -0.04647137
+v 0.13809098 -0.07565450 0.00599464
+v 0.13796153 -0.07612248 0.00550431
+v 0.12465908 -0.07821666 -0.05707899
+v 0.14420654 -0.07682059 -0.00267614
+v 0.13859987 -0.07679739 -0.05174248
+v 0.13830972 -0.07648283 -0.05719339
+v 0.14381595 -0.07649068 -0.00812705
+v 0.14654339 -0.07339132 0.00599465
+v 0.13658219 -0.07821667 -0.05473354
+v 0.13801511 -0.07267784 0.00599465
+v 0.13792135 -0.07247070 0.00569228
+v 0.12465908 -0.07821666 -0.05801880
+v 0.13792135 -0.07059877 0.00569229
+v 0.13783878 0.00015838 -0.00127022
+v 0.12465908 0.00015863 -0.06848719
+v 0.13626525 -0.07821666 -0.05738136
+v 0.13806197 -0.07623732 -0.06033154
+v 0.14355481 -0.07623750 -0.01140413
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+v 0.14745850 -0.01845346 0.00599485
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+v 0.13968237 -0.05150340 -0.05719330
+v 0.14014439 -0.01868362 0.00599485
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+v 0.13820258 0.00015838 0.00046230
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_30.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc68343b550bed2e7e8fba8f861026622e19e8e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.12351077 0.00015863 -0.06707174
+v -0.13274092 0.00015863 -0.06707174
+v -0.12365459 -0.00281847 -0.06707175
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+v -0.09507172 0.00015863 -0.06929258
+v -0.13194808 0.00015864 -0.07156306
+v -0.13274092 -0.00150674 -0.06707175
+v -0.12851120 -0.00416377 -0.06707176
+v -0.10678366 -0.01056182 -0.07779968
+v -0.10277151 -0.01056182 -0.07987164
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+v -0.09507172 0.00015866 -0.07732403
+v -0.13194808 -0.00026636 -0.07156306
+v -0.12696977 0.00015866 -0.07685050
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+v -0.12625068 -0.00511451 -0.07038649
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+v -0.10394049 0.00015870 -0.08731165
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+v -0.10869016 -0.01056179 -0.08812848
+v -0.10680578 -0.01056179 -0.08818638
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_31.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ceecd3d7c48e98db5e703358c6233942366f34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_31.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03939331 0.00015921 -0.06912374
+v 0.03939331 0.00015926 -0.08274902
+v 0.03939331 0.00204116 -0.06912373
+v 0.03873426 -0.00143060 -0.06912375
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+v 0.03069688 0.00204116 -0.06913065
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_32.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31236520bddcec2adad3e7b93287bdbd426726ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.10249155 0.06795625 -0.07355569
+v 0.07504307 0.06473835 -0.07901055
+v 0.10249155 0.06901816 -0.07901054
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_33.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b34988dd429260e29e29b9b3a19d680e7cd4bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_33.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_34.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1376c8afa4919adfe74fe917d8f5a84394385d37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_34.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.09457391 -0.08880185 -0.06409585
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_35.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b76cfad8122eeb030aed5fb3983bc158656a92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_35.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.11991278 0.08381834 -0.04409720
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+v 0.13734534 0.07468896 0.00302930
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+v 0.13747679 0.07069999 0.00302929
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+v 0.13735798 0.07474677 0.00302930
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+v 0.13158420 0.06694581 -0.06270531
+v 0.12613652 0.08381841 -0.06157560
+v 0.12971101 0.07698680 -0.06777139
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+v 0.13556569 0.06694581 -0.06351616
+v 0.12507227 0.08381829 -0.03052753
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_36.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a03ba5dd1da29f46807a3d041df68253ef1388
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_36.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v 0.08790368 0.09332381 0.03399102
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_37.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972204c31c2d7a6f39bd86ba868ddbe991ecdd55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_37.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.12418079 -0.08500416 -0.02741123
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+v 0.12971212 -0.08466338 -0.02448308
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_38.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cb48f13f59a6bc237295c8b2a999bd7c369101
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_38.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_39.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dde3c3bd2b199e301279541ef8fc251b255d1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_39.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00069871 -0.08644338 -0.02666220
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_4.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88510d7cab976678e081eb0608fac0d07f3aac94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.14494745 0.00015028 0.01402481
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+v -0.16180354 0.00015000 0.08990715
+v -0.16488628 -0.08206215 0.08721071
+v -0.15937081 0.00015000 0.09023759
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_40.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb5ae48fb7403fe62db05c0249e352b20ae700a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_40.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.08021032 0.05350922 -0.06925088
+v 0.08021032 0.05722067 -0.06925087
+v 0.07504307 0.05350922 -0.06925756
+v 0.09670897 0.05341530 -0.06927315
+v 0.09120851 0.05345475 -0.06926536
+v 0.09120851 0.05710328 -0.06926535
+v 0.08571076 0.05720095 -0.06926090
+v 0.07504307 0.05943704 -0.07341982
+v 0.07504307 0.05716995 -0.06925755
+v 0.07504307 0.05217473 -0.07329953
+v 0.10249155 0.05171832 -0.07354575
+v 0.10249155 0.05334957 -0.06930435
+v 0.09670897 0.05700091 -0.06927314
+v 0.10220672 0.05335802 -0.06930213
+v 0.10249155 0.05702064 -0.06952382
+v 0.07504307 0.06131157 -0.07894799
+v 0.07504307 0.05210054 -0.07356024
+v 0.10249155 0.05351864 -0.07741836
+v 0.07504307 0.05240953 -0.07840212
+v 0.10249155 0.05690324 -0.06930434
+v 0.10220672 0.05690794 -0.06930212
+v 0.10249155 0.05820959 -0.07357024
+v 0.07504307 0.05791098 -0.08063141
+v 0.10249155 0.05814104 -0.07390113
+v 0.10249155 0.05653325 -0.07740498
+v 0.10249155 0.05614915 -0.07741835
+v 0.07504307 0.05256073 -0.07872409
+v 0.07504307 0.05626187 -0.08053894
+f 1 2 9
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+f 1 5 6
+f 1 6 2
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+f 2 7 8
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+f 3 19 17
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+f 18 23 26
+f 23 25 26
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_41.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ececa5ae8ebe1b5165ec8ab3bd2dddcb1da8794
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_41.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09196931 -0.08980963 -0.02666221
+v 0.10263718 -0.08980960 -0.03656228
+v 0.09022293 -0.08610574 -0.02666220
+v 0.09020297 -0.09349789 -0.02666222
+v 0.10263718 -0.09118400 -0.03810848
+v 0.10263718 -0.08573844 -0.03916002
+v 0.10263718 -0.08496481 -0.04629378
+v 0.09120091 -0.08469479 -0.04629378
+v 0.06920654 -0.08564122 -0.02993779
+v 0.06920654 -0.08591473 -0.02666220
+v 0.10263718 -0.09305676 -0.04629381
+v 0.10263718 -0.09277199 -0.04114226
+v 0.08679007 -0.09349789 -0.02666222
+v 0.06920654 -0.09309755 -0.05174582
+v 0.10263718 -0.08499867 -0.04672614
+v 0.09120091 -0.08462873 -0.06409340
+v 0.06920654 -0.08506294 -0.04084545
+v 0.01421066 -0.08514454 -0.04629378
+v 0.01499903 -0.08609792 -0.02666220
+v 0.10263718 -0.09285704 -0.05138675
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+v 0.04790075 -0.09349615 -0.02666222
+v 0.06969553 -0.09274151 -0.06409343
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+v 0.10263718 -0.08593461 -0.05193632
+v 0.10263718 -0.08603011 -0.05238699
+v 0.09210902 -0.08503768 -0.06409340
+v 0.01970925 -0.08508109 -0.06409340
+v 0.00070868 -0.08538851 -0.04629378
+v 0.00070868 -0.08544321 -0.04381328
+v 0.00070868 -0.08589126 -0.03538980
+v 0.00070868 -0.08620037 -0.02993780
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+v 0.09457391 -0.08880321 -0.06409342
+v 0.10263718 -0.09282579 -0.05141606
+v 0.08890567 -0.09261563 -0.06166421
+v 0.09098137 -0.09167533 -0.06409343
+v 0.00070868 -0.09337113 -0.02666222
+v 0.00070868 -0.09274934 -0.06265348
+v 0.00071866 -0.09271547 -0.06409343
+v 0.10263718 -0.08860529 -0.05425930
+v 0.09457391 -0.08616898 -0.06409341
+v 0.00070868 -0.08550739 -0.06409340
+v 0.10263718 -0.08987378 -0.05410907
+v 0.00070868 -0.09226312 -0.06409343
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+f 35 45 36
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_42.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ddb450235f9990d1d305c1b15a3f4d9b58197e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_42.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.09543260 0.09012862 -0.05553005
+v 0.10455774 0.08867842 -0.06777134
+v 0.09543260 0.08827513 -0.05553006
+v 0.09543260 0.09356144 -0.04967551
+v 0.10771205 0.09041694 -0.06777134
+v 0.10455774 0.08658264 -0.06777135
+v 0.09543260 0.08690623 -0.05546619
+v 0.10771205 0.09363926 -0.04926037
+v 0.09543260 0.09356321 -0.04900491
+v 0.11871169 0.10188590 0.04094197
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+v 0.11321187 0.09361981 -0.04920715
+v 0.11736053 0.09355261 -0.04910071
+v 0.10727435 0.08391028 -0.06777136
+v 0.09543260 0.08636681 -0.05296472
+v 0.09543260 0.09356321 -0.04839816
+v 0.11869742 0.10188059 0.04097390
+v 0.14071099 0.09710185 0.04097389
+v 0.13521117 0.09579672 0.01368114
+v 0.12208010 0.08810360 -0.06002208
+v 0.12844582 0.08414017 -0.06094817
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+v 0.09543260 0.08568057 -0.04629056
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+v 0.10742184 0.08393504 -0.06777136
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+v 0.12426386 0.08382006 -0.06144847
+v 0.12194689 0.08382005 -0.06099075
+v 0.12094778 0.08382005 -0.06047981
+v 0.11991062 0.08381999 -0.04409778
+v 0.12046250 0.08381998 -0.04087246
+v 0.12190406 0.08381996 -0.03664656
+v 0.12240838 0.08381996 -0.03537985
+v 0.09543260 0.09343941 -0.04777013
+v 0.11483423 0.10042327 0.04094197
+v 0.11483898 0.10040735 0.04097390
+v 0.14401754 0.09479029 0.04097388
+v 0.14403181 0.09477791 0.04094195
+v 0.14071099 0.09709831 0.04094196
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+v 0.13341754 0.08382000 -0.04524739
+v 0.11191304 0.08508286 -0.06777136
+v 0.13915525 0.09494601 0.01913117
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+v 0.13823226 0.09384421 0.00823109
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+v 0.12506790 0.08381994 -0.03052591
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+v 0.11494365 0.09579839 0.04097388
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+v 0.14403658 0.09244336 0.04097387
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+v 0.14367023 0.09303585 0.03713117
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+v 0.11501026 0.09563215 0.04097388
+v 0.13342230 0.08381999 -0.04236271
+v 0.12955435 0.08381995 -0.03150522
+f 1 2 6
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+f 61 70 63
+f 65 71 66
+f 66 71 70
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_43.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ad8c31aab6ededffae5cc24cbb09484b56f4a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_43.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.10717352 0.08970347
+v 0.01421446 0.11119784 0.08838472
+v 0.00870462 0.11123484 0.08841117
+v 0.00087428 0.10952952 0.08898100
+v 0.00087428 0.10293952 0.08855971
+v 0.06920282 0.10285472 0.08840911
+v 0.07470165 0.10284547 0.08839284
+v 0.11320450 0.10283622 0.08820559
+v 0.06370398 0.10717352 0.08924760
+v 0.05820515 0.11092185 0.08816085
+v 0.05271730 0.11094806 0.08819138
+v 0.00320579 0.11125952 0.08843560
+v 0.06370398 0.11089255 0.08812830
+v 0.09119816 0.11274898 0.08457290
+v 0.08569933 0.11279988 0.08457290
+v 0.08020049 0.11284459 0.08457290
+v 0.07470165 0.11288313 0.08457290
+v 0.00087428 0.11126568 0.08844171
+v 0.00087428 0.10201593 0.08686443
+v 0.06920282 0.10011943 0.08470107
+v 0.07470165 0.10011018 0.08477434
+v 0.11320450 0.10010093 0.08538285
+v 0.11322650 0.10010093 0.08538285
+v 0.11322650 0.10285010 0.08820559
+v 0.11320450 0.10717352 0.08868183
+v 0.07470165 0.10717352 0.08914991
+v 0.06920282 0.10717352 0.08920486
+v 0.00320579 0.11334415 0.08457291
+v 0.00870462 0.11331178 0.08457291
+v 0.06920282 0.11086171 0.08809370
+v 0.09670800 0.11269194 0.08457290
+v 0.11320450 0.11263645 0.07912279
+v 0.00087428 0.11335340 0.08457291
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+v 0.11322650 0.10162435 0.07384563
+v 0.09196799 0.10167216 0.06891449
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+f 73 80 74
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_44.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e163c2289c32880a509ab3f033ed49cf9bdb0db4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_44.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04720963 0.00015863 -0.06911370
+v 0.04720963 0.00204053 -0.06911369
+v 0.03939332 0.00015863 -0.06912271
+v 0.05270713 0.00015863 -0.06911911
+v 0.03939332 0.00204156 -0.06912270
+v 0.05270713 0.00199719 -0.06911910
+v 0.06370565 0.00203331 -0.06917132
+v 0.06920666 0.00206632 -0.06920374
+v 0.07066562 0.01069896 -0.07501021
+v 0.03939332 0.00015868 -0.08275106
+v 0.05820463 0.00015863 -0.06914432
+v 0.03939332 0.00375841 -0.07356042
+v 0.04786862 0.01069897 -0.07854383
+v 0.05820463 0.00197862 -0.06914431
+v 0.06370565 0.00015863 -0.06917133
+v 0.06623590 0.00015863 -0.06918574
+v 0.07539135 0.00206942 -0.06923976
+v 0.07323112 0.01069896 -0.07503903
+v 0.04946501 0.00015870 -0.08745355
+v 0.03939332 0.00185899 -0.08275105
+v 0.03939332 0.00368929 -0.07672122
+v 0.04786510 0.01069899 -0.08446380
+v 0.07173692 0.00015863 -0.06921816
+v 0.07539135 0.00015863 -0.06923977
+v 0.07539135 0.00458071 -0.07376573
+v 0.07450681 0.01069897 -0.07897608
+v 0.07410155 0.01069896 -0.07679503
+v 0.07090877 0.00015870 -0.08751118
+v 0.04953197 0.01069900 -0.08742829
+v 0.03939332 0.00261217 -0.08125260
+v 0.04847123 0.01069899 -0.08555882
+v 0.03939332 0.00357580 -0.07901212
+v 0.07539135 0.00015869 -0.08431796
+v 0.07539135 0.00603549 -0.07901211
+v 0.07445043 0.01069898 -0.08246826
+v 0.07097926 0.00321060 -0.08749856
+v 0.07242763 0.00015870 -0.08751118
+v 0.07107440 0.01069900 -0.08746611
+v 0.07106031 0.00868194 -0.08747512
+v 0.07539135 0.00311670 -0.08433055
+v 0.07539135 0.00322297 -0.08433055
+v 0.07387249 0.01069899 -0.08446380
+v 0.07241001 0.00321060 -0.08749856
+v 0.07233601 0.01069900 -0.08746611
+v 0.07235011 0.00868194 -0.08747512
+f 1 2 5
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+f 3 20 10
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+f 21 22 32
+f 22 30 32
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+f 29 39 36
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+f 37 43 41
+f 37 41 40
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+f 38 45 39
+f 41 43 44
+f 41 44 42
+f 43 45 44
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_45.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae6ebd74529a6aa2b16d1dcf8340853128ea996
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_45.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00087486 0.06361425 -0.08307281
+v 0.00087486 0.06361421 -0.07406577
+v 0.00319902 0.06361425 -0.08334995
+v -0.02979629 0.06339841 -0.08322940
+v -0.03263585 0.06339840 -0.08183123
+v -0.03382225 0.06339839 -0.07901133
+v 0.00319902 0.06361421 -0.07328840
+v -0.03372500 0.06339838 -0.07504131
+v -0.02979629 0.06339837 -0.07350873
+v 0.00640811 0.06361424 -0.08221091
+v 0.03685561 0.05636585 -0.07703257
+v 0.03685561 0.05390136 -0.07703258
+v 0.00454100 0.04554019 -0.08288027
+v 0.00319902 0.04554020 -0.08307564
+v -0.02945593 0.04736246 -0.08281790
+v -0.06249014 0.05400929 -0.07706584
+v -0.06249014 0.05643839 -0.07706583
+v -0.06249014 0.05822349 -0.07356001
+v -0.01328405 0.05699919 -0.06920338
+v -0.00779942 0.05700273 -0.06919368
+v -0.00229534 0.05699919 -0.06919645
+v 0.01419746 0.05699565 -0.06921308
+v 0.03685561 0.05697796 -0.06922971
+v 0.00351993 0.06361421 -0.07338124
+v -0.06249014 0.05697443 -0.06946528
+v 0.00650536 0.06361424 -0.08200860
+v 0.03685561 0.05815272 -0.07356279
+v 0.03685561 0.05794219 -0.07398404
+v 0.03685561 0.05208263 -0.07356281
+v 0.00696241 0.04554019 -0.08223730
+v 0.00148751 0.04554019 -0.08288580
+v -0.03227605 0.04736245 -0.07928299
+v -0.06249014 0.05232147 -0.07356003
+v -0.06249014 0.05391198 -0.07687046
+v 0.00087486 0.04554019 -0.08281652
+v -0.01328405 0.05332281 -0.06920339
+v -0.00779942 0.05334404 -0.06919369
+v -0.00229534 0.05336881 -0.06919646
+v 0.03685561 0.05337235 -0.06922972
+v 0.03685561 0.05711950 -0.06973964
+v 0.00739029 0.06361421 -0.07480296
+v -0.06249014 0.05350505 -0.06946529
+v 0.00777928 0.06361423 -0.07900995
+v 0.03685561 0.05223478 -0.07305010
+v 0.00711800 0.04554017 -0.07517439
+v 0.00753616 0.04554017 -0.07670975
+v 0.00787652 0.04554018 -0.07901001
+v -0.03243164 0.04736245 -0.07883402
+v -0.03115772 0.04736244 -0.07490696
+v -0.02998106 0.04736243 -0.07427231
+v 0.00087486 0.04554016 -0.07456330
+v -0.01878813 0.05331043 -0.06924635
+v 0.00319902 0.04554016 -0.07419886
+v 0.00178897 0.04554016 -0.07439424
+f 1 2 7
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+f 1 41 43
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+f 1 26 10
+f 1 10 3
+f 1 3 4
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+f 1 5 6
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_46.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a86c396988b432002703a7065fc647b9cd14741
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_46.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.10469258 0.01431895 -0.07356087
+v 0.07539487 0.01365968 -0.07313129
+v 0.07539487 0.01346191 -0.07395234
+v 0.10469258 0.01501837 -0.07790070
+v 0.10469258 0.01560021 -0.06946441
+v 0.07539487 0.01552568 -0.06937790
+v 0.07539487 0.01429604 -0.07891236
+v 0.07539487 0.01784462 -0.08123621
+v 0.10469258 0.03641588 -0.08363772
+v 0.10469258 0.01962746 -0.06934417
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+v 0.10469258 0.03748217 -0.08363771
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+v 0.10469258 0.03579669 -0.06955964
+v 0.10220879 0.03575943 -0.06951272
+v 0.09670777 0.03568204 -0.06944967
+v 0.09120674 0.03560464 -0.06942328
+v 0.07539487 0.03563616 -0.06938076
+v 0.08021042 0.01962746 -0.06935297
+v 0.07539487 0.04130018 -0.08420511
+v 0.10469258 0.04071545 -0.08357612
+v 0.10469258 0.03703210 -0.07019007
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+v 0.07539487 0.03837357 -0.07120173
+v 0.07539487 0.04274195 -0.07856477
+v 0.10469258 0.04126864 -0.08198827
+v 0.10469258 0.03945707 -0.07230722
+v 0.07539487 0.04069534 -0.07392878
+v 0.10469258 0.04133742 -0.07601513
+v 0.10469258 0.04191357 -0.07880963
+v 0.10469258 0.04029691 -0.07380122
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 23
+f 1 23 28
+f 1 28 32
+f 1 32 31
+f 1 31 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 16
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+f 27 32 28
+f 29 33 30
+f 30 33 31
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_47.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1349d4d963fa8010c3ecfe3c71cca961e7485d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_47.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.11923442 -0.08435682 -0.05230055
+v 0.11923442 -0.08723676 -0.05184038
+v 0.11923442 -0.08424633 -0.05179004
+v 0.12082682 -0.08095453 -0.06067368
+v 0.12082682 -0.08334658 -0.06067369
+v 0.11923442 -0.08978379 -0.05130472
+v 0.11923442 -0.08366519 -0.04670288
+v 0.12510029 -0.07821808 -0.06123811
+v 0.12960305 -0.07821806 -0.06413941
+v 0.11923442 -0.08364366 -0.04631820
+v 0.12091889 -0.08104351 -0.05720075
+v 0.12452977 -0.07821809 -0.05728702
+v 0.12421201 -0.08407411 -0.06120218
+v 0.11923442 -0.09285889 -0.04947837
+v 0.11923442 -0.09030180 -0.05103148
+v 0.13481714 -0.07821807 -0.06204343
+v 0.12970957 -0.08281565 -0.06068806
+v 0.11923442 -0.08436977 -0.04076007
+v 0.12861547 -0.07821815 -0.04084274
+v 0.12179273 -0.09270966 -0.04921593
+v 0.11923442 -0.09287468 -0.04651237
+v 0.13485867 -0.07821807 -0.06196434
+v 0.13251703 -0.08166770 -0.05998700
+v 0.11923442 -0.08501120 -0.03910989
+v 0.12417951 -0.08500407 -0.02741482
+v 0.13108892 -0.07821817 -0.03557223
+v 0.12179273 -0.09270966 -0.04800436
+v 0.13247189 -0.08708611 -0.04359667
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_48.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea288ec40e3ce550a9253804ef70c11caf4d6f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_48.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_49.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8dbdbf2527d4d0691466cf2f4555b50fabac0da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_5.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d774f60b38731630916cb8307da003af411bacc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+f 24 40 41
+f 24 41 29
+f 24 29 25
+f 26 42 27
+f 26 28 42
+f 27 42 44
+f 27 44 45
+f 27 45 46
+f 27 46 43
+f 28 33 47
+f 28 47 48
+f 28 48 49
+f 28 49 42
+f 29 41 31
+f 29 31 30
+f 31 41 50
+f 31 50 51
+f 31 51 52
+f 31 52 49
+f 31 49 53
+f 31 53 32
+f 32 53 54
+f 32 54 33
+f 33 54 47
+f 34 55 56
+f 34 56 35
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 39 62 50
+f 39 50 41
+f 39 41 40
+f 42 49 44
+f 43 63 70
+f 43 70 55
+f 43 46 64
+f 43 64 65
+f 43 65 63
+f 44 49 45
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+f 45 77 72
+f 45 72 71
+f 45 71 78
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+f 45 65 64
+f 45 64 46
+f 47 54 53
+f 47 53 48
+f 48 53 49
+f 49 52 51
+f 49 51 66
+f 50 62 51
+f 51 62 68
+f 51 68 69
+f 51 69 76
+f 51 76 66
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 58
+f 56 58 57
+f 58 73 72
+f 58 72 59
+f 59 72 60
+f 60 72 61
+f 61 72 74
+f 63 65 75
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+f 67 76 77
+f 68 74 76
+f 68 76 69
+f 70 75 78
+f 70 78 71
+f 72 77 76
+f 72 76 74
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_50.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2fecf9866be33497999b0e54522feb6848c315a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_50.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.07905692 -0.06245203 -0.07901401
+v -0.07809138 -0.06245205 -0.07475088
+v -0.07750081 -0.06245202 -0.08257864
+v -0.09505867 -0.06888808 -0.07901403
+v -0.09505867 -0.06798786 -0.07356083
+v -0.07379800 -0.06245205 -0.07335385
+v -0.09505867 -0.06961175 -0.07010709
+v -0.09029659 -0.07435283 -0.08834047
+v -0.09505867 -0.07441617 -0.08832939
+v -0.09505867 -0.07204561 -0.08530804
+v -0.09505867 -0.07168092 -0.08482942
+v -0.02943932 -0.06245202 -0.08292790
+v -0.04630350 -0.06958104 -0.07005351
+v -0.04080085 -0.06957912 -0.07004796
+v -0.03530757 -0.06958296 -0.07004427
+v -0.02980492 -0.06958488 -0.07004611
+v -0.02430227 -0.06959064 -0.07004981
+v 0.00069870 -0.06965207 -0.07008123
+v -0.02980492 -0.06245205 -0.07370865
+v -0.09505867 -0.07251018 -0.07010710
+v -0.07930065 -0.07431444 -0.08836820
+v -0.07379800 -0.07438547 -0.08839406
+v -0.07379800 -0.07886555 -0.08892259
+v -0.09505867 -0.07501698 -0.08839407
+v -0.02563340 -0.06245202 -0.08292974
+v -0.04630350 -0.07267910 -0.07005352
+v -0.04080085 -0.07263111 -0.07004797
+v -0.03530757 -0.07259081 -0.07004428
+v -0.02980492 -0.07264071 -0.07004612
+v -0.02430227 -0.07260616 -0.07004982
+v 0.00069870 -0.07268486 -0.07008124
+v 0.00069870 -0.06245205 -0.07414660
+v -0.06279270 -0.07273668 -0.07008678
+v -0.05729942 -0.07271365 -0.07007384
+v -0.09505867 -0.07488075 -0.07134522
+v 0.00069870 -0.08206156 -0.07394156
+v 0.00069870 -0.06245202 -0.08288170
+v 0.00069870 -0.07501890 -0.08827211
+v 0.00069870 -0.07886555 -0.08888933
+v -0.04630350 -0.08202119 -0.08778797
+v -0.05179678 -0.08201927 -0.08778058
+v -0.05729942 -0.08201927 -0.08776765
+v -0.09505867 -0.08199624 -0.08766602
+v -0.09505867 -0.07886555 -0.08880433
+v 0.00069870 -0.08203271 -0.08781016
+v -0.01330634 -0.08201352 -0.08781016
+v -0.01330634 -0.07270598 -0.07007015
+v -0.00230104 -0.07271173 -0.07008308
+v -0.09505867 -0.07524545 -0.07156328
+v -0.00018247 -0.08206156 -0.07398960
+v 0.00069870 -0.08206151 -0.08776580
+v -0.07930065 -0.08201159 -0.08770298
+v -0.00220730 -0.08206151 -0.08775287
+v -0.09505867 -0.08199625 -0.08521199
+v -0.09505867 -0.07723020 -0.07392675
+v -0.00118551 -0.08206156 -0.07404504
+v -0.07930065 -0.08201160 -0.08544667
+v -0.00747559 -0.08206151 -0.08761798
+v -0.09505867 -0.08137051 -0.08248632
+v -0.09505867 -0.07746821 -0.07428895
+v -0.00747559 -0.08206151 -0.08608975
+v -0.09505867 -0.07966793 -0.07840980
+v -0.09505867 -0.07997313 -0.07901407
+f 1 2 6
+f 1 6 19
+f 1 19 32
+f 1 32 37
+f 1 37 25
+f 1 25 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 8
+f 4 11 10
+f 4 10 9
+f 4 9 24
+f 4 24 44
+f 4 44 43
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+f 4 63 62
+f 4 62 60
+f 4 60 55
+f 4 55 49
+f 4 49 35
+f 4 35 20
+f 4 20 7
+f 4 7 5
+f 6 7 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
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+f 8 12 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
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+f 13 27 14
+f 14 27 28
+f 14 28 15
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+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 36
+f 18 36 51
+f 18 51 45
+f 18 45 39
+f 18 39 38
+f 18 38 37
+f 18 37 32
+f 18 32 19
+f 20 33 34
+f 20 34 26
+f 20 35 36
+f 20 36 33
+f 21 25 22
+f 22 25 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 23 39 45
+f 23 45 46
+f 23 46 40
+f 26 34 36
+f 26 36 47
+f 26 47 29
+f 26 29 27
+f 27 29 28
+f 29 47 31
+f 29 31 30
+f 31 47 48
+f 31 48 36
+f 33 36 34
+f 35 49 36
+f 36 50 56
+f 36 56 61
+f 36 61 58
+f 36 58 53
+f 36 53 51
+f 36 48 47
+f 36 49 50
+f 40 42 41
+f 40 46 45
+f 40 45 51
+f 40 51 42
+f 42 52 43
+f 42 51 53
+f 42 53 52
+f 43 52 57
+f 43 57 54
+f 49 55 56
+f 49 56 50
+f 52 53 58
+f 52 58 61
+f 52 61 57
+f 54 57 56
+f 54 56 59
+f 55 60 56
+f 56 60 62
+f 56 62 63
+f 56 63 59
+f 56 57 61
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_51.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4b641d72c521ae4d0714f70ed15630844bcf89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.12297797 -0.05758508 -0.06707195
+v -0.12297797 -0.05705154 -0.06707195
+v -0.12861466 -0.05908092 -0.06707196
+v -0.09506804 -0.05657324 -0.06937888
+v -0.12312212 -0.05139021 -0.06707193
+v -0.09506804 -0.05268406 -0.06937886
+v -0.13282832 -0.05655610 -0.06707195
+v -0.12865162 -0.05906568 -0.06797639
+v -0.12671482 -0.06010990 -0.06970607
+v -0.10707697 -0.06247465 -0.07379898
+v -0.10337707 -0.06247464 -0.07516188
+v -0.09506804 -0.05802524 -0.07300497
+v -0.12341412 -0.05105483 -0.06707193
+v -0.09506804 -0.05252589 -0.06993528
+v -0.10156964 -0.04300964 -0.07871495
+v -0.10281156 -0.04300964 -0.07815854
+v -0.10680344 -0.04300965 -0.07682480
+v -0.12898058 -0.04893588 -0.06707192
+v -0.13269526 -0.05140735 -0.06707193
+v -0.13200407 -0.05313566 -0.07155661
+v -0.13264351 -0.05631219 -0.06810767
+v -0.12671482 -0.06010990 -0.07129197
+v -0.11192267 -0.06247463 -0.07901095
+v -0.11191897 -0.06247463 -0.07898386
+v -0.11078054 -0.06247464 -0.07496391
+v -0.10252325 -0.06247464 -0.07740005
+v -0.09506804 -0.05823485 -0.07356139
+v -0.09506804 -0.05151214 -0.07356137
+v -0.10152529 -0.04300964 -0.08013204
+v -0.11157893 -0.04300964 -0.07862743
+v -0.12984550 -0.04906356 -0.06707192
+v -0.13219627 -0.05042410 -0.06707193
+v -0.13247717 -0.05139021 -0.06775963
+v -0.12703269 -0.05303846 -0.07701240
+v -0.13200407 -0.05525271 -0.07155661
+v -0.11071771 -0.04300961 -0.08806149
+v -0.12870707 -0.05708391 -0.07324045
+v -0.11075468 -0.06247460 -0.08810533
+v -0.11076206 -0.06247460 -0.08808866
+v -0.11190049 -0.06247461 -0.08446466
+v -0.11190419 -0.06247461 -0.08443965
+v -0.10233106 -0.06247463 -0.07797105
+v -0.10234214 -0.06247463 -0.07864209
+v -0.10302594 -0.06247461 -0.08447925
+v -0.10380214 -0.06247460 -0.08744679
+v -0.09506804 -0.05590437 -0.07707701
+v -0.09506804 -0.05307085 -0.07707699
+v -0.10178772 -0.04300962 -0.08426036
+v -0.11194485 -0.04300962 -0.08446459
+v -0.12703269 -0.05526793 -0.07701241
+v -0.11075468 -0.06244983 -0.08810533
+v -0.11073619 -0.06247460 -0.08810741
+v -0.10896941 -0.04300961 -0.08813860
+v -0.10680344 -0.06244983 -0.08835958
+v -0.10680344 -0.06247460 -0.08835958
+v -0.10389085 -0.04300961 -0.08735295
+v -0.10235693 -0.04300962 -0.08560868
+v -0.10680344 -0.04300961 -0.08822404
+v -0.10549869 -0.04300961 -0.08783643
+f 1 2 5
+f 1 5 13
+f 1 13 18
+f 1 18 31
+f 1 31 32
+f 1 32 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
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+f 4 10 11
+f 4 11 12
+f 4 12 27
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+f 4 46 47
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+f 4 28 14
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+f 10 23 41
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+f 10 40 39
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+f 10 52 55
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+f 10 43 42
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+f 10 26 11
+f 11 26 27
+f 11 27 12
+f 14 28 15
+f 15 29 48
+f 15 48 57
+f 15 57 56
+f 15 56 59
+f 15 59 58
+f 15 58 53
+f 15 53 36
+f 15 36 49
+f 15 49 30
+f 15 30 17
+f 15 17 16
+f 15 28 29
+f 17 30 18
+f 18 30 31
+f 19 32 33
+f 19 33 20
+f 20 34 50
+f 20 50 35
+f 20 35 21
+f 20 33 32
+f 20 32 36
+f 20 36 34
+f 21 35 22
+f 22 35 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 28 47 48
+f 28 48 29
+f 30 49 31
+f 31 49 36
+f 31 36 32
+f 34 36 51
+f 34 51 38
+f 34 38 50
+f 35 50 38
+f 35 38 37
+f 36 52 51
+f 36 53 54
+f 36 54 52
+f 38 51 52
+f 45 55 54
+f 45 54 56
+f 45 56 57
+f 45 57 47
+f 45 47 46
+f 47 57 48
+f 52 54 55
+f 53 58 54
+f 54 58 59
+f 54 59 56
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_52.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fbc923665904da7e9f3e2ff716206e1e1ec75b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_52.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.06249313 0.00015863 -0.06923212
+v -0.06576572 0.00015863 -0.06923212
+v -0.06249313 0.00015868 -0.08214791
+v -0.06249313 0.00212718 -0.06923211
+v -0.06830310 0.00015863 -0.06923350
+v -0.06280097 0.00212718 -0.06923211
+v -0.06830310 0.00213956 -0.06923349
+v -0.07380224 0.00015868 -0.08270251
+v -0.07380224 0.00321055 -0.08273836
+v -0.07380224 0.06340005 -0.08332448
+v -0.06249313 0.00129152 -0.08214791
+v -0.06249313 0.05697435 -0.06946506
+v -0.09302235 0.00015863 -0.06929006
+v -0.09302235 0.00209623 -0.06929005
+v -0.09302235 0.03603832 -0.06939064
+v -0.07717644 0.00015868 -0.08229276
+v -0.09302235 0.03754883 -0.08233815
+v -0.09302235 0.03961643 -0.08233814
+v -0.07763371 0.06340004 -0.08295612
+v -0.07078967 0.06340004 -0.08210490
+v -0.06249313 0.03940597 -0.08212983
+v -0.06249313 0.05822482 -0.07355971
+v -0.06970777 0.06340002 -0.07488686
+v -0.07380224 0.06340001 -0.07337206
+v -0.09029968 0.05688149 -0.06949265
+v -0.09302235 0.05686292 -0.06948989
+v -0.09302235 0.00015866 -0.07722964
+v -0.09302235 0.05643579 -0.07711631
+v -0.09302235 0.05811339 -0.07355971
+v -0.07910713 0.06340003 -0.07901185
+v -0.06944477 0.06340003 -0.07901185
+v -0.06249313 0.05643579 -0.07706664
+v -0.07802523 0.06340001 -0.07477097
+v -0.09302235 0.05750053 -0.07154549
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 11
+f 1 11 21
+f 1 21 32
+f 1 32 22
+f 1 22 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
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+f 5 7 14
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+f 7 15 14
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+f 18 28 19
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+f 20 31 22
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+f 20 32 21
+f 22 31 23
+f 24 33 26
+f 24 26 25
+f 26 33 34
+f 29 34 33
+f 29 33 30
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_53.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9556a5a3b4ce269947a7a6ee3a1b23d5bb3e77eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.09197783 0.10167039 0.06890972
+v 0.09076502 0.09661238 0.04097389
+v 0.09076502 0.10098188 0.04097391
+v 0.09187973 0.10252734 0.06890973
+v 0.09032805 0.09860869 0.06890971
+v 0.09045290 0.09772586 0.06276191
+v 0.09063125 0.09747398 0.05730876
+v 0.09071152 0.09725388 0.05185833
+v 0.06885415 0.09482786 0.04097389
+v 0.09055100 0.10567145 0.06890974
+v 0.08569083 0.10124908 0.04097391
+v 0.08860693 0.10449790 0.05404071
+v 0.08992675 0.09821200 0.06890971
+v 0.09002485 0.09814608 0.06821507
+v 0.06920195 0.09682184 0.06276191
+v 0.06883632 0.09482786 0.04097389
+v 0.00321073 0.10685211 0.06890974
+v 0.00321073 0.10280054 0.04097392
+v 0.01722940 0.10448851 0.04879539
+v 0.00161446 0.10456502 0.04815546
+v 0.06922870 0.09760225 0.06890971
+v 0.06920195 0.09748689 0.06821507
+v 0.04762103 0.09790948 0.06890971
+v 0.00321073 0.09749635 0.05730876
+v 0.01970853 0.09600261 0.04640517
+v 0.01970853 0.09549176 0.04097389
+v 0.00087428 0.10456502 0.04815546
+v 0.00087428 0.10631886 0.06890974
+v 0.00087428 0.10189769 0.04097391
+v 0.00087428 0.09881352 0.06890971
+v 0.00321073 0.09693017 0.05185833
+v 0.00321073 0.09588139 0.04097389
+v 0.00087428 0.09657472 0.04097389
+v 0.00087428 0.09779416 0.05730876
+v 0.00087428 0.09735276 0.05185833
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 28
+f 1 28 30
+f 1 30 23
+f 1 23 21
+f 1 21 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 6 9
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+f 2 16 26
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+f 11 18 12
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_54.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc380c99e3377f73489dec1bd32aea82f8ecbb35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_54.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.13618290 0.05275636 -0.06777148
+v 0.13616641 0.05272011 -0.06777148
+v 0.13369274 0.05245772 -0.07231487
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_55.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c515e3235fb0b0df7cd81b5aafbba59f4b5cd4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_55.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.10264717 -0.07888034 -0.08841435
+v 0.10264717 -0.07928780 -0.08826439
+v 0.10264717 -0.07821803 -0.08840468
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+v 0.10933825 -0.07821803 -0.08788708
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+v 0.10629227 -0.07821809 -0.07116911
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_56.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f36fe00909bbf7e943e1d749418463dbba96be4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_56.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03620611 -0.07245128 -0.06999017
+v 0.03620611 -0.06961547 -0.06999016
+v 0.03070667 -0.07245781 -0.06999940
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_57.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec0a0a37c0f60b56c8f47a341c80b46294049410
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_57.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.00868458 -0.07508218
+v -0.00069659 0.00868458 -0.07535763
+v 0.00087428 0.00868460 -0.08256106
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+v -0.01717751 0.02299242 -0.07356063
+v -0.00233815 0.02731433 -0.07597084
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_58.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18623a694a275a15bec09d2a4ea6bb4ce56af270
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_58.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00069871 -0.03831845 -0.07045438
+v 0.00069871 -0.03671505 -0.07045437
+v 0.00069871 -0.04260225 -0.07386494
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+v 0.06370396 -0.03747704 -0.07073763
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+v 0.06920746 -0.03063398 -0.07474264
+v 0.06887959 -0.02885017 -0.07716180
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_59.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe02afb4a3633ae96eae1325726bc43724c3399
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_59.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.12465475 -0.00172282 -0.06848901
+v 0.11377958 -0.01048413 -0.07871871
+v 0.12465475 -0.00325318 -0.07301800
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+v 0.08044865 -0.00148947 -0.06925089
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+v 0.12465475 -0.00323859 -0.07359518
+v 0.11548031 -0.01048411 -0.08445979
+v 0.12465475 0.00015866 -0.07731418
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+v 0.08044865 -0.00349487 -0.07337201
+v 0.08044865 -0.00358654 -0.07356056
+v 0.10761712 -0.01048412 -0.08142378
+v 0.12465475 -0.00126754 -0.07710640
+v 0.11263711 -0.01048410 -0.08814224
+v 0.12465475 -0.00114461 -0.07731418
+v 0.11537645 0.00015870 -0.08582576
+v 0.08044865 0.00015868 -0.08286863
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_6.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0cd9039e1e1fdf60bf676094d144cb635f308c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_6.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.14616063 0.09608138 0.05199244
+v -0.14547310 0.09173847 0.05199243
+v -0.14613378 0.09612468 0.05199244
+v -0.13264372 0.08423102 -0.04628692
+v -0.13520315 0.07981748 -0.04628694
+v -0.13545560 0.07918176 -0.04628694
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+v -0.13936323 0.09185012 0.05199243
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+v -0.12950687 0.07918168 -0.02510714
+v -0.14353675 0.09938299 0.05199246
+v -0.13068050 0.08696756 -0.04628691
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+v -0.11872663 0.08144442 -0.06250879
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_60.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee9a7d5b711911bce00d11b6fefbed4adf4b6ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_60.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.10264717 -0.08605389 -0.03899576
+v 0.10266660 -0.08591565 -0.03899576
+v 0.10264717 -0.09164996 -0.03899578
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+v 0.11671240 -0.09857461 0.01367933
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+f 29 43 58
+f 29 58 44
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 34
+f 30 34 31
+f 33 48 58
+f 33 58 43
+f 34 47 37
+f 34 37 35
+f 35 37 36
+f 37 47 46
+f 37 46 49
+f 37 49 42
+f 39 50 40
+f 39 41 51
+f 39 51 50
+f 41 42 51
+f 42 49 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 51
+f 44 58 48
+f 44 48 59
+f 44 59 45
+f 45 59 52
+f 45 52 46
+f 46 52 49
+f 50 51 57
+f 50 57 59
+f 52 59 53
+f 53 59 54
+f 54 59 55
+f 55 59 56
+f 56 59 57
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_61.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8456679d7f656aa187c4da947c698298c3336da8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_61.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03685561 0.08553198 -0.06777136
+v 0.03685561 0.09059278 -0.06777134
+v 0.03640126 0.08519882 -0.06777136
+v 0.03620403 0.08503609 -0.06810656
+v 0.03685561 0.08551742 -0.06804235
+v 0.03685561 0.09059278 -0.06810654
+v 0.03620403 0.09107240 -0.06777134
+v 0.03620403 0.08506949 -0.06777136
+v 0.03620403 0.08505581 -0.07355847
+v 0.03685561 0.08551400 -0.06810656
+v 0.00320588 0.08484254 -0.06777136
+v 0.00320588 0.08481599 -0.06810656
+v 0.00320588 0.08481429 -0.07355847
+v 0.03685561 0.09049857 -0.06924621
+v 0.03620403 0.09107240 -0.06810654
+v 0.01725889 0.09356382 -0.06810653
+v 0.01722719 0.09355953 -0.06777133
+v 0.03205152 0.08627285 -0.07731739
+v 0.03620403 0.08670792 -0.07706151
+v 0.03685561 0.08701711 -0.07687927
+v 0.03685561 0.08561593 -0.07355847
+v 0.03685561 0.08553029 -0.07251322
+v 0.00087428 0.08542920 -0.06777136
+v 0.00087428 0.08540351 -0.06810656
+v 0.00087428 0.08554057 -0.07355847
+v 0.00087428 0.08613838 -0.07595016
+v 0.00320588 0.08650323 -0.07741653
+v 0.03685561 0.09004381 -0.07355845
+v 0.03620403 0.09049687 -0.07355845
+v 0.01722719 0.09356212 -0.07207129
+v 0.01682215 0.09356382 -0.06810653
+v 0.01682920 0.09355953 -0.06777133
+v 0.03205152 0.08930298 -0.07731738
+v 0.03620403 0.08898695 -0.07706150
+v 0.03685561 0.08876000 -0.07687926
+v 0.00087428 0.09090024 -0.06777134
+v 0.00087428 0.08673362 -0.07730983
+v 0.00320588 0.08939976 -0.07741652
+v 0.03685561 0.08991362 -0.07420240
+v 0.01970320 0.08973378 -0.07729566
+v 0.01596629 0.08978432 -0.07732399
+v 0.01682567 0.09356212 -0.07207129
+v 0.00320588 0.09160767 -0.06810653
+v 0.00320588 0.09160083 -0.06777133
+v 0.00293821 0.09152802 -0.06777133
+v 0.00087428 0.09089768 -0.06810654
+v 0.00087428 0.08923275 -0.07730982
+v 0.00320588 0.09120602 -0.07355844
+v 0.00087428 0.09050715 -0.07355845
+f 1 2 7
+f 1 7 17
+f 1 17 32
+f 1 32 44
+f 1 44 45
+f 1 45 36
+f 1 36 23
+f 1 23 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 22
+f 1 22 21
+f 1 21 20
+f 1 20 35
+f 1 35 39
+f 1 39 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 6 14 15
+f 7 15 16
+f 7 16 17
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 9 13 18
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 18
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 42
+f 16 42 31
+f 16 31 32
+f 16 32 17
+f 18 33 34
+f 18 34 19
+f 18 27 38
+f 18 38 33
+f 19 34 35
+f 19 35 20
+f 23 36 46
+f 23 46 49
+f 23 49 47
+f 23 47 37
+f 23 37 26
+f 23 26 25
+f 23 25 24
+f 26 37 27
+f 27 37 47
+f 27 47 38
+f 28 39 29
+f 29 39 35
+f 29 35 34
+f 29 34 30
+f 30 40 41
+f 30 41 42
+f 30 34 33
+f 30 33 40
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 33 38 41
+f 33 41 40
+f 36 45 43
+f 36 43 46
+f 38 47 42
+f 38 42 41
+f 42 47 48
+f 42 48 43
+f 43 48 49
+f 43 49 46
+f 43 45 44
+f 47 49 48
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_62.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a58ee5cc56c4ee02b14194e38dca809db70ec8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_62.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04645552 -0.04260357 -0.07901174
+v 0.03622816 -0.05160832 -0.07357491
+v 0.03622816 -0.05267941 -0.06929165
+v 0.04811001 -0.04260359 -0.07429766
+v 0.04769408 -0.04260355 -0.08409255
+v 0.03622816 -0.05317060 -0.07702681
+v 0.03622816 -0.05268420 -0.06927384
+v 0.05232481 -0.04260359 -0.07437599
+v 0.08343670 -0.05239188 -0.06918305
+v 0.04846586 -0.04603723 -0.08427414
+v 0.04775416 -0.06708020 -0.08446827
+v 0.07167962 -0.04260354 -0.08726316
+v 0.03622816 -0.05562664 -0.07702681
+v 0.03622816 -0.05652044 -0.06927386
+v 0.08020628 -0.05245657 -0.06917415
+v 0.06944744 -0.04260358 -0.07736679
+v 0.08343670 -0.05641022 -0.06918307
+v 0.08343670 -0.05157239 -0.07175372
+v 0.07446638 -0.04260357 -0.07852395
+v 0.04554970 -0.06708022 -0.07905099
+v 0.03622816 -0.05791977 -0.07356068
+v 0.07148552 -0.06708019 -0.08736117
+v 0.07205858 -0.04260354 -0.08726316
+v 0.03622816 -0.05791498 -0.07354288
+v 0.04524007 -0.06708022 -0.07806296
+v 0.04738906 -0.06708024 -0.07379572
+v 0.05249581 -0.06708024 -0.07372629
+v 0.05270840 -0.05671452 -0.06928988
+v 0.06370292 -0.05661868 -0.06924538
+v 0.08020628 -0.05644855 -0.06917417
+v 0.07436471 -0.06708024 -0.07393280
+v 0.08343670 -0.05706675 -0.07099180
+v 0.06936887 -0.06708024 -0.07371205
+v 0.08343670 -0.05102366 -0.07356066
+v 0.07451260 -0.04260357 -0.07969892
+v 0.07223882 -0.06708019 -0.08736117
+v 0.07367149 -0.04260355 -0.08536542
+v 0.08343670 -0.05287587 -0.07717990
+v 0.06907310 -0.06708024 -0.07371205
+v 0.07600534 -0.06708022 -0.07903853
+v 0.08343670 -0.05794373 -0.07356068
+v 0.07428152 -0.04260355 -0.08419046
+v 0.08343670 -0.05577520 -0.07717991
+v 0.07469746 -0.06708020 -0.08419055
+v 0.08343670 -0.05703318 -0.07508102
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 19
+f 1 19 35
+f 1 35 42
+f 1 42 37
+f 1 37 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 6 13
+f 2 13 21
+f 2 21 24
+f 2 24 14
+f 2 14 7
+f 2 7 3
+f 2 5 6
+f 3 7 4
+f 4 7 9
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+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 6 11 13
+f 7 14 30
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+f 7 15 9
+f 8 9 16
+f 9 15 30
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+f 9 17 32
+f 9 32 41
+f 9 41 45
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+f 10 12 11
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+f 11 21 13
+f 11 12 22
+f 11 22 36
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+f 11 44 40
+f 11 40 31
+f 11 31 33
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+f 11 39 27
+f 11 27 26
+f 11 26 25
+f 11 25 20
+f 12 23 36
+f 12 36 22
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 17 31 32
+f 17 30 33
+f 17 33 31
+f 18 34 19
+f 19 34 35
+f 20 25 21
+f 21 25 24
+f 23 37 38
+f 23 38 36
+f 27 39 28
+f 28 39 29
+f 29 39 33
+f 29 33 30
+f 31 40 41
+f 31 41 32
+f 34 38 42
+f 34 42 35
+f 36 38 43
+f 36 43 44
+f 37 42 38
+f 40 44 41
+f 41 44 45
+f 43 45 44
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_63.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95895f54cfaf5128c7084e131fc57ab30e1cd4fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_63.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.11870524 -0.06973842 -0.07003033
+v 0.11870524 -0.07282694 -0.07003214
+v 0.11870524 -0.06804759 -0.07356047
+v 0.11712414 -0.06374971 -0.07931046
+v 0.11299189 -0.06374973 -0.07450795
+v 0.11162828 -0.06374973 -0.07451156
+v 0.08344133 -0.06975258 -0.07012237
+v 0.08344133 -0.07242901 -0.07012238
+v 0.11870524 -0.07556426 -0.07171781
+v 0.10887346 -0.07821661 -0.07007909
+v 0.11147985 -0.07821661 -0.07008811
+v 0.11870524 -0.06804617 -0.07358573
+v 0.11870524 -0.06781391 -0.07921482
+v 0.11590207 -0.06374968 -0.08700061
+v 0.10893560 -0.06374973 -0.07479852
+v 0.08344133 -0.06886610 -0.07214552
+v 0.08344133 -0.07516490 -0.07222857
+v 0.11870524 -0.07690954 -0.07444483
+v 0.11494582 -0.07821660 -0.07290898
+v 0.11560174 -0.07821660 -0.07363811
+v 0.08344133 -0.07677358 -0.07495378
+v 0.08570940 -0.07700867 -0.07473901
+v 0.08344133 -0.07751845 -0.07650047
+v 0.08344133 -0.07821658 -0.07812298
+v 0.11870524 -0.07339334 -0.08116761
+v 0.11596421 -0.06504824 -0.08719735
+v 0.11456264 -0.06374968 -0.08762868
+v 0.10782400 -0.06374971 -0.07765368
+v 0.08344133 -0.06825151 -0.07356047
+v 0.11870524 -0.07690954 -0.07446288
+v 0.11642335 -0.07821659 -0.07649868
+v 0.08344133 -0.07821655 -0.08841923
+v 0.11870524 -0.07422884 -0.08062618
+v 0.11554996 -0.07339332 -0.08646644
+v 0.11594350 -0.06979501 -0.08717932
+v 0.11596421 -0.06614714 -0.08719735
+v 0.11375138 -0.06795266 -0.08790122
+v 0.11367197 -0.06374968 -0.08790480
+v 0.10741319 -0.06374971 -0.07901267
+v 0.08344133 -0.06920453 -0.07908669
+v 0.10740284 -0.06374970 -0.08279729
+v 0.10747879 -0.06374969 -0.08444866
+v 0.10864906 -0.06374968 -0.08723343
+v 0.11870524 -0.07690668 -0.07825291
+v 0.11625419 -0.07821658 -0.07885211
+v 0.08344133 -0.07680611 -0.08840298
+v 0.09121216 -0.07821655 -0.08845351
+v 0.11870524 -0.07689111 -0.07836661
+v 0.11627146 -0.07645777 -0.08260062
+v 0.11175947 -0.07729325 -0.08774423
+v 0.11279857 -0.07339332 -0.08804562
+v 0.10766519 -0.07327436 -0.08834882
+v 0.11031992 -0.06374968 -0.08803655
+v 0.08344133 -0.07206644 -0.08431694
+v 0.10922903 -0.06374968 -0.08807806
+v 0.11341997 -0.07821656 -0.08371057
+v 0.08344133 -0.07477685 -0.08837769
+v 0.09121216 -0.07469613 -0.08841199
+v 0.09585533 -0.07821655 -0.08846434
+v 0.09671146 -0.07464798 -0.08842462
+v 0.11343723 -0.07792342 -0.08443608
+v 0.11279512 -0.07821656 -0.08449023
+v 0.10933605 -0.07821655 -0.08789042
+v 0.10729237 -0.07821655 -0.08806369
+v 0.10220732 -0.07821655 -0.08844450
+v 0.10220732 -0.07454602 -0.08840116
+v 0.08344133 -0.07351793 -0.08655307
+v 0.09671146 -0.07821655 -0.08846615
+f 1 2 9
+f 1 9 18
+f 1 18 30
+f 1 30 44
+f 1 44 48
+f 1 48 33
+f 1 33 25
+f 1 25 13
+f 1 13 12
+f 1 12 3
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+f 4 53 55
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+f 4 39 28
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+f 7 40 54
+f 7 54 67
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+f 10 17 21
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+f 10 47 59
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+f 10 68 65
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+f 10 63 62
+f 10 62 56
+f 10 56 45
+f 10 45 31
+f 10 31 20
+f 10 20 19
+f 10 19 11
+f 13 25 14
+f 14 26 27
+f 14 25 26
+f 15 28 29
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+f 18 20 31
+f 18 31 30
+f 21 23 22
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
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+f 26 37 27
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+f 28 39 29
+f 29 39 41
+f 29 41 42
+f 29 42 43
+f 29 43 40
+f 30 31 44
+f 31 45 44
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+f 33 48 34
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 37
+f 35 37 36
+f 37 51 38
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+f 38 52 53
+f 40 43 55
+f 40 55 54
+f 44 45 48
+f 45 56 48
+f 46 57 58
+f 46 58 47
+f 47 58 60
+f 47 60 59
+f 48 56 61
+f 48 61 49
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 52 55 53
+f 52 65 66
+f 52 66 60
+f 52 60 55
+f 54 55 67
+f 55 60 58
+f 55 58 57
+f 55 57 67
+f 56 62 61
+f 59 60 68
+f 60 66 65
+f 60 65 68
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_64.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de7aadfe7457403168ac2406743c877024811ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_64.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.12465850 -0.07821564 -0.05707926
+v 0.12454433 -0.07821564 -0.05725139
+v 0.12465850 -0.07821564 -0.05802244
+v 0.12465850 -0.06925530 -0.06879118
+v 0.11870926 -0.06973798 -0.07002912
+v 0.12452920 -0.07821564 -0.05729147
+v 0.11870926 -0.07282862 -0.07002913
+v 0.11870926 -0.07690599 -0.07825133
+v 0.12465850 -0.07613920 -0.07599713
+v 0.12465850 -0.06807605 -0.07357547
+v 0.12421059 -0.06799357 -0.07355897
+v 0.11870926 -0.06804754 -0.07355897
+v 0.11870926 -0.07556385 -0.07171743
+v 0.11870926 -0.07691008 -0.07444088
+v 0.11870926 -0.07691008 -0.07446210
+v 0.11870926 -0.07689071 -0.07836451
+v 0.11870926 -0.07422980 -0.08062578
+v 0.11870926 -0.07339375 -0.08116811
+v 0.12465850 -0.07405874 -0.07721618
+v 0.12465850 -0.06941617 -0.07744488
+v 0.11870926 -0.06781331 -0.07921099
+v 0.12465850 -0.06971047 -0.07744489
+v 0.12465850 -0.07384693 -0.07732229
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 19
+f 1 19 23
+f 1 23 22
+f 1 22 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 21
+f 5 21 18
+f 5 18 17
+f 5 17 16
+f 5 16 8
+f 5 8 15
+f 5 15 14
+f 5 14 13
+f 5 13 7
+f 6 7 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 18 21 20
+f 18 20 22
+f 18 22 23
+f 18 23 19
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_65.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1a24e5deb4ff3b134f314e9951fd76cc6582b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_65.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.13277554 0.09659804 0.05756301
+v 0.13277554 0.10165546 0.05777892
+v 0.13633003 0.09581375 0.04097654
+v 0.13633003 0.09110060 0.04097652
+v 0.13277554 0.09653947 0.06055353
+v 0.14071294 0.10127570 0.05730715
+v 0.14071294 0.09710207 0.04097655
+v 0.13277554 0.10173174 0.06247526
+v 0.14071294 0.10194824 0.06276045
+v 0.14071294 0.09004829 0.04097652
+v 0.14722325 0.08381962 0.05808005
+v 0.14724534 0.08381960 0.06190215
+v 0.13277554 0.09653946 0.06245391
+v 0.14497877 0.09998740 0.05730715
+v 0.14353180 0.09901499 0.04885532
+v 0.14402443 0.09478985 0.04097654
+v 0.13277554 0.09954552 0.06267249
+v 0.13715623 0.09944790 0.06820309
+v 0.14071294 0.10094560 0.06820309
+v 0.14548246 0.10046470 0.06820309
+v 0.14538526 0.10038843 0.06276045
+v 0.14403769 0.09244391 0.04097653
+v 0.15532192 0.08381961 0.05856247
+v 0.15275933 0.08381962 0.05733374
+v 0.15171221 0.08381962 0.05685665
+v 0.14853327 0.08381962 0.05754963
+v 0.15157524 0.08381960 0.06333344
+v 0.14176670 0.09234799 0.06820306
+v 0.13901854 0.09523161 0.06820307
+v 0.13715623 0.09796617 0.06820308
+v 0.15038893 0.09500627 0.05882371
+v 0.14403769 0.09246166 0.04097653
+v 0.15469674 0.08894092 0.05963129
+v 0.14766729 0.09638328 0.06820307
+v 0.15469674 0.08894092 0.06049487
+v 0.15516729 0.08528715 0.05901291
+v 0.15534181 0.08381960 0.06157964
+v 0.14619821 0.09243672 0.06820306
+v 0.14783076 0.09578704 0.06820307
+v 0.15516729 0.08528715 0.06113720
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 17
+f 1 17 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 6
+f 3 7 16
+f 3 16 32
+f 3 32 22
+f 3 22 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 9 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 14
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 37
+f 11 37 27
+f 11 27 12
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 17
+f 14 21 31
+f 14 31 15
+f 15 31 16
+f 16 23 32
+f 16 31 33
+f 16 33 23
+f 17 30 18
+f 18 30 29
+f 18 29 28
+f 18 28 38
+f 18 38 39
+f 18 39 34
+f 18 34 20
+f 18 20 19
+f 20 34 35
+f 20 35 31
+f 20 31 21
+f 22 32 23
+f 23 33 36
+f 23 36 37
+f 27 38 28
+f 27 37 38
+f 31 35 33
+f 33 35 40
+f 33 40 36
+f 34 39 35
+f 35 37 40
+f 35 39 37
+f 36 40 37
+f 37 39 38
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_66.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b54e9ca42df4ed61b9e79d6f3bcaa98d9bd8605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_66.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.13475399 0.06954157 -0.06777141
+v 0.13462324 0.07472452 -0.06777140
+v 0.13469926 0.06914145 -0.06777142
+v 0.13357264 0.07010285 -0.07232592
+v 0.13357264 0.07320837 -0.07232591
+v 0.13444231 0.07475693 -0.06816782
+v 0.13440126 0.07501442 -0.06777139
+v 0.13460804 0.06920814 -0.06810652
+v 0.13020950 0.06786239 -0.06777142
+v 0.12995256 0.06924151 -0.07390836
+v 0.12828012 0.07066229 -0.07686949
+v 0.13409870 0.07532469 -0.06777139
+v 0.12828012 0.07264988 -0.07686948
+v 0.12995256 0.07413178 -0.07390834
+v 0.12971234 0.06787443 -0.06777142
+v 0.12971081 0.06781330 -0.06810652
+v 0.12421151 0.06820324 -0.07355902
+v 0.11922156 0.06878677 -0.07895347
+v 0.11922156 0.06880621 -0.07895895
+v 0.12971081 0.07671675 -0.06902527
+v 0.12971081 0.07698719 -0.06777139
+v 0.11922156 0.07407530 -0.07876948
+v 0.12473150 0.06978886 -0.06777141
+v 0.11922156 0.06990186 -0.06919394
+v 0.11922156 0.06769291 -0.07305746
+v 0.11922156 0.06752620 -0.07362582
+v 0.11922156 0.07569704 -0.07355899
+v 0.12868606 0.07687512 -0.06777139
+v 0.12461138 0.06995465 -0.06777141
+v 0.11922156 0.07023621 -0.06917751
+v 0.11922156 0.07375109 -0.06917860
+v 0.12457489 0.07481714 -0.06777140
+v 0.12457489 0.07465042 -0.06777140
+v 0.11922156 0.07033531 -0.06917313
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 28
+f 1 28 32
+f 1 32 33
+f 1 33 29
+f 1 29 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 11
+f 4 11 13
+f 4 13 5
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 12 7
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 13
+f 12 14 20
+f 12 20 21
+f 13 19 22
+f 13 22 14
+f 14 22 20
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 17 26 18
+f 18 26 25
+f 18 25 24
+f 18 24 30
+f 18 30 34
+f 18 34 31
+f 18 31 27
+f 18 27 22
+f 18 22 19
+f 20 22 27
+f 20 27 21
+f 21 27 28
+f 23 29 24
+f 24 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 34
+f 29 34 30
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_67.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7345496d1501efa525494420486462adef7770c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_67.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.08344133 -0.05641072 -0.06918281
+v 0.08344133 -0.05239145 -0.06918279
+v 0.08344133 -0.05706665 -0.07099066
+v 0.10361329 -0.05803319 -0.07350941
+v 0.10361329 -0.05624712 -0.06927502
+v 0.08571031 -0.05638359 -0.06918970
+v 0.08344133 -0.05157190 -0.07175238
+v 0.08571031 -0.05234621 -0.06918968
+v 0.10361329 -0.05033090 -0.07349905
+v 0.08344133 -0.05794348 -0.07356025
+v 0.10361329 -0.05624180 -0.07796957
+v 0.10361329 -0.05225046 -0.06927500
+v 0.10220925 -0.05624411 -0.06926554
+v 0.09120995 -0.05631271 -0.06921469
+v 0.09670763 -0.05625466 -0.06923968
+v 0.08344133 -0.05102152 -0.07356023
+v 0.09120995 -0.05231380 -0.06921467
+v 0.10361329 -0.05157492 -0.07035299
+v 0.10361329 -0.05082849 -0.07549820
+v 0.08344133 -0.05703421 -0.07508029
+v 0.10361329 -0.05210943 -0.07798507
+v 0.08344133 -0.05577588 -0.07717852
+v 0.10220925 -0.05225649 -0.06926552
+v 0.09670763 -0.05228665 -0.06923966
+v 0.08344133 -0.05287395 -0.07717851
+f 1 2 7
+f 1 7 16
+f 1 16 25
+f 1 25 22
+f 1 22 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 21
+f 4 21 19
+f 4 19 9
+f 4 9 18
+f 4 18 12
+f 4 12 5
+f 4 10 11
+f 5 12 23
+f 5 23 13
+f 5 13 6
+f 6 14 17
+f 6 17 8
+f 6 13 15
+f 6 15 14
+f 7 9 16
+f 8 17 18
+f 8 18 9
+f 9 19 16
+f 10 20 11
+f 11 20 22
+f 11 22 21
+f 12 18 23
+f 13 23 24
+f 13 24 15
+f 14 15 24
+f 14 24 17
+f 16 19 25
+f 17 24 23
+f 17 23 18
+f 19 21 25
+f 21 22 25
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_68.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07021ea6b6f0d6436803539183da3f005202ca4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_68.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.11483663 0.10040759 0.04097656
+v 0.11869486 0.10188190 0.04097656
+v 0.11494199 0.09579887 0.04097654
+v 0.11499820 0.09680687 0.04640587
+v 0.11545830 0.09835880 0.06820308
+v 0.11547235 0.10138849 0.06820309
+v 0.11547587 0.10205524 0.06820309
+v 0.11606592 0.10433821 0.06820310
+v 0.12246527 0.10043801 0.04097656
+v 0.11837173 0.10517503 0.06819778
+v 0.12097607 0.10452633 0.05909295
+v 0.12420911 0.10452858 0.05928485
+v 0.12838344 0.10446888 0.05997517
+v 0.11500873 0.09563443 0.04097654
+v 0.11871066 0.09637207 0.06276043
+v 0.11871066 0.09717283 0.06820308
+v 0.11883358 0.09375806 0.04097653
+v 0.11836822 0.10517391 0.06820311
+v 0.12248282 0.10043125 0.04097656
+v 0.11914794 0.10519080 0.06820311
+v 0.12269883 0.10526289 0.06820311
+v 0.12838344 0.10446888 0.06011377
+v 0.13277552 0.10173201 0.06247526
+v 0.13277552 0.10165546 0.05777892
+v 0.13277552 0.09654101 0.06245391
+v 0.11893896 0.09375806 0.04097653
+v 0.12319406 0.09777990 0.06820308
+v 0.13277552 0.09659959 0.05756301
+v 0.12248282 0.09646000 0.04097654
+v 0.12442687 0.10170159 0.06820309
+v 0.13277552 0.09954705 0.06267249
+v 0.13277552 0.09654102 0.06055353
+v 0.11909525 0.09377946 0.04097653
+f 1 2 9
+f 1 9 19
+f 1 19 29
+f 1 29 33
+f 1 33 26
+f 1 26 17
+f 1 17 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 9
+f 3 14 5
+f 3 5 4
+f 5 15 16
+f 5 16 27
+f 5 27 30
+f 5 30 21
+f 5 21 20
+f 5 20 18
+f 5 18 8
+f 5 8 7
+f 5 7 6
+f 5 14 17
+f 5 17 15
+f 8 18 10
+f 9 13 19
+f 10 18 20
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 12 21 13
+f 13 22 23
+f 13 23 24
+f 13 24 19
+f 13 21 22
+f 15 25 16
+f 15 17 26
+f 15 26 25
+f 16 25 27
+f 19 28 29
+f 19 24 28
+f 21 30 23
+f 21 23 22
+f 23 31 25
+f 23 25 32
+f 23 32 28
+f 23 28 24
+f 23 30 31
+f 25 31 30
+f 25 30 27
+f 25 26 33
+f 25 33 32
+f 28 33 29
+f 28 32 33
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_69.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75edd6941195c7f8f592bd2674f53268ef6ff3c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_69.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.00015863 -0.06916538
+v 0.00087428 0.00015868 -0.08266822
+v 0.00087428 0.00204391 -0.06916537
+v -0.02980313 0.00015863 -0.06918670
+v 0.00087428 0.00312139 -0.08272418
+v -0.02995819 0.00015868 -0.08276950
+v 0.00087428 0.00868458 -0.07508192
+v -0.02980313 0.00210734 -0.06918669
+v -0.03529852 0.00015863 -0.06919070
+v 0.00087428 0.00868460 -0.08256159
+v -0.03000161 0.00324240 -0.08277749
+v -0.02564748 0.00868460 -0.08276680
+v -0.06249014 0.00015868 -0.08214853
+v -0.02889137 0.00868458 -0.07518319
+v -0.02889137 0.00868208 -0.07518053
+v -0.06249014 0.00212654 -0.06923199
+v -0.04079391 0.00210650 -0.06919868
+v -0.03529852 0.00209983 -0.06919069
+v -0.03830672 0.00015863 -0.06919469
+v -0.06249014 0.00128868 -0.08214853
+v -0.02889757 0.00868460 -0.08276680
+v -0.06249014 0.00015863 -0.06923200
+v -0.03073970 0.00868459 -0.07901298
+v -0.06249014 0.00388999 -0.07356015
+v -0.06249014 0.00222919 -0.06947586
+v -0.06249014 0.00305127 -0.07901167
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 8 18
+f 4 18 9
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 6 13 11
+f 7 10 12
+f 7 12 21
+f 7 21 23
+f 7 23 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 9 18 19
+f 11 13 20
+f 11 20 21
+f 11 21 12
+f 13 22 16
+f 13 16 25
+f 13 25 24
+f 13 24 26
+f 13 26 20
+f 14 23 24
+f 14 24 25
+f 14 25 16
+f 14 16 15
+f 16 22 19
+f 16 19 17
+f 17 19 18
+f 20 26 21
+f 21 26 24
+f 21 24 23
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_7.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67873134ecdfa1a5c49a7335141b7d0a309c3829
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_7.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.13666430 0.00015834 0.01026048
+v -0.13666430 0.00109430 0.01026048
+v -0.14463251 0.00015834 0.01026048
+v -0.11872925 0.00015863 -0.06884182
+v -0.12410794 0.07918174 -0.04165335
+v -0.13666956 0.05575924 0.01026068
+v -0.14555435 0.03604212 0.01026061
+v -0.14281511 0.00015843 -0.01251296
+v -0.11872925 0.00015866 -0.07758490
+v -0.11872925 0.00223940 -0.06878134
+v -0.12907165 0.07918168 -0.02576551
+v -0.13676410 0.07252925 0.01026075
+v -0.11872925 0.01962822 -0.06838387
+v -0.11872925 0.05578274 -0.06850469
+v -0.11872925 0.07427770 -0.06888475
+v -0.12165759 0.07918180 -0.05719563
+v -0.14493980 0.07433929 0.01026075
+v -0.14267067 0.07221992 -0.01154508
+v -0.14282036 0.05561236 -0.01241773
+v -0.14281511 0.00090101 -0.01251296
+v -0.13789078 0.01415933 -0.04629295
+v -0.13728936 0.00015856 -0.04975740
+v -0.12045473 0.00015866 -0.07747258
+v -0.11872925 0.03604245 -0.07786986
+v -0.12950761 0.07918168 -0.02511755
+v -0.14158600 0.07730189 0.01026076
+v -0.13695058 0.07715496 0.00070559
+v -0.13873908 0.07516696 0.01026076
+v -0.13742331 0.07346521 0.01026075
+v -0.11872925 0.07636624 -0.07234050
+v -0.11872925 0.07654414 -0.07315260
+v -0.12308105 0.07918182 -0.06324320
+v -0.14383149 0.07619575 0.01026076
+v -0.14264440 0.07713949 -0.00090997
+v -0.14471656 0.07433930 0.00823049
+v -0.14411513 0.07433932 0.00277903
+v -0.14296219 0.07326416 -0.00813252
+v -0.13686391 0.07566222 -0.04629272
+v -0.13709239 0.07197253 -0.04916966
+v -0.13728674 0.05792533 -0.04977447
+v -0.13731825 0.05244878 -0.04992136
+v -0.13733927 0.03604234 -0.05001645
+v -0.13733927 0.01962815 -0.05003379
+v -0.13734189 0.01415934 -0.04988694
+v -0.13210766 0.01625567 -0.07154590
+v -0.13195271 0.00015864 -0.07155460
+v -0.12330428 0.00015866 -0.07728251
+v -0.11872925 0.07442471 -0.07799931
+v -0.12330428 0.03604244 -0.07753293
+v -0.13046621 0.07918168 -0.02541993
+v -0.14301996 0.07730189 0.01026076
+v -0.13986052 0.07637366 0.01026076
+v -0.11872925 0.07477278 -0.07755871
+v -0.12642171 0.07721710 -0.07119146
+v -0.12469885 0.07721710 -0.07119146
+v -0.12784779 0.07918183 -0.06471190
+v -0.12363520 0.07918183 -0.06427130
+v -0.14295168 0.07729416 0.00823050
+v -0.14279147 0.07723230 0.00277904
+v -0.14330885 0.07474931 -0.00270698
+v -0.13545620 0.07918176 -0.04629271
+v -0.13213130 0.07805248 -0.06167083
+v -0.13607338 0.07401464 -0.05128630
+v -0.13266970 0.07484235 -0.06314819
+v -0.13198947 0.07334946 -0.06652619
+v -0.13188179 0.05565898 -0.07132113
+v -0.13295859 0.03604241 -0.06809871
+v -0.13210766 0.01829778 -0.07154589
+v -0.12697061 0.00015866 -0.07684190
+v -0.12528189 0.00015866 -0.07704925
+v -0.12657928 0.05562806 -0.07663436
+v -0.12613282 0.07179472 -0.07634920
+v -0.12697061 0.00127253 -0.07684190
+v -0.12683141 0.01839062 -0.07681591
+v -0.13137229 0.07918169 -0.02729468
+v -0.13443719 0.07918173 -0.03900106
+v -0.13473922 0.07918174 -0.04017602
+v -0.13549559 0.07918176 -0.04533374
+v -0.12723848 0.07390643 -0.07323037
+v -0.13148522 0.07700049 -0.06530803
+v -0.12985429 0.07918182 -0.06362334
+v -0.12883528 0.07918183 -0.06471190
+v -0.13036904 0.07918182 -0.06261253
+v -0.13044783 0.07484237 -0.06824543
+v -0.12933165 0.03604243 -0.07421540
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_70.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2552b3d848862193862166bac609fd0084c95807
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_70.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.12465475 -0.03467940 -0.06893449
+v 0.12465475 -0.03824127 -0.06939664
+v 0.12465475 -0.03299319 -0.06990197
+v 0.08044865 -0.03460202 -0.07407816
+v 0.08044865 -0.03910014 -0.07366111
+v 0.08044865 -0.03928013 -0.07366111
+v 0.10946066 -0.03800444 -0.07070416
+v 0.12465475 -0.03868491 -0.06959014
+v 0.12465475 -0.03218323 -0.07355965
+v 0.11768305 -0.02647412 -0.07928003
+v 0.11502592 -0.02647412 -0.07836326
+v 0.11320834 -0.02647412 -0.07789924
+v 0.11236880 -0.02647412 -0.07797815
+v 0.10759981 -0.02647412 -0.07847034
+v 0.08044865 -0.03460202 -0.07423972
+v 0.08044865 -0.03911591 -0.07951865
+v 0.10707185 -0.04260355 -0.08432043
+v 0.10779455 -0.04260357 -0.07855119
+v 0.11320834 -0.04260358 -0.07755364
+v 0.11324729 -0.04260358 -0.07755927
+v 0.11642804 -0.04260357 -0.07864136
+v 0.12465475 -0.03966694 -0.07310317
+v 0.12465475 -0.03236479 -0.07530865
+v 0.11724164 -0.02647411 -0.08151747
+v 0.10764308 -0.02647411 -0.08198712
+v 0.08044865 -0.03496040 -0.07897008
+v 0.10768203 -0.02647410 -0.08446503
+v 0.08044865 -0.03910486 -0.07955247
+v 0.10922698 -0.04260354 -0.08810586
+v 0.11750995 -0.04260357 -0.07980235
+v 0.12465475 -0.03966694 -0.07358974
+v 0.12465475 -0.03405731 -0.07708959
+v 0.11582652 -0.02647409 -0.08651648
+v 0.08044865 -0.03498250 -0.07903020
+v 0.10921832 -0.02647409 -0.08812646
+v 0.08044865 -0.03907486 -0.07957501
+v 0.11301793 -0.04260354 -0.08810586
+v 0.11750995 -0.04260356 -0.08094267
+v 0.12465475 -0.03890751 -0.07727370
+v 0.11577026 -0.04260354 -0.08652218
+v 0.12465475 -0.03463674 -0.07726994
+v 0.11596500 -0.03196846 -0.08720032
+v 0.11329057 -0.02647409 -0.08805319
+v 0.08044865 -0.03510881 -0.07912226
+v 0.11305688 -0.04056210 -0.08810772
+v 0.11372765 -0.03488142 -0.08793487
+v 0.11596500 -0.03292050 -0.08720032
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+v 0.11474463 -0.04260354 -0.08719661
+v 0.12465475 -0.03885383 -0.07749350
+v 0.12465475 -0.03497619 -0.07728872
+v 0.11371034 -0.02993491 -0.08794048
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+f 1 41 32
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+f 29 36 35
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+f 43 52 46
+f 43 46 45
+f 47 50 48
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_71.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae1647c12dcf791fb24ff07aa5f04ae8d726c9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_71.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05905157 -0.02113445 -0.07306820
+v 0.05905157 -0.01918017 -0.07872882
+v 0.05905157 -0.02095660 -0.07283924
+v 0.05271735 -0.02885018 -0.07432224
+v 0.05526019 -0.02885016 -0.07901242
+v 0.05316269 -0.02885014 -0.08412354
+v 0.05014669 -0.02885013 -0.08727792
+v 0.05028983 -0.02414748 -0.08734306
+v 0.05039918 -0.01867554 -0.08739412
+v 0.05048269 -0.01320567 -0.08743461
+v 0.05053438 -0.00773373 -0.08746277
+v 0.05053438 -0.00772546 -0.08746277
+v 0.05905157 -0.01474430 -0.07824093
+v 0.05905157 -0.01837781 -0.06956508
+v 0.05077892 -0.02146741 -0.07077507
+v 0.04720622 -0.02147568 -0.07075393
+v 0.03874271 -0.02145087 -0.07077330
+v 0.04845478 -0.02885018 -0.07464278
+v 0.04980871 -0.02885013 -0.08727792
+v 0.04969538 -0.02414748 -0.08734306
+v 0.04960193 -0.01867554 -0.08739412
+v 0.04952042 -0.01320567 -0.08743461
+v 0.04945283 -0.00773373 -0.08746277
+v 0.04945283 -0.00772546 -0.08746277
+v 0.05321439 -0.00772547 -0.08422738
+v 0.05339730 -0.00772547 -0.08399665
+v 0.05905157 -0.01385508 -0.07434859
+v 0.05905157 -0.01490977 -0.06956506
+v 0.04720622 -0.01867560 -0.06946998
+v 0.05264976 -0.01915331 -0.06977643
+v 0.03874271 -0.01867560 -0.06947878
+v 0.03874271 -0.02165352 -0.07355959
+v 0.04613860 -0.02885016 -0.07870596
+v 0.04745276 -0.02885018 -0.07473436
+v 0.04838917 -0.02885014 -0.08487030
+v 0.03874271 -0.02161629 -0.07655545
+v 0.03874271 -0.01867558 -0.07749947
+v 0.04773507 -0.00772547 -0.08447042
+v 0.03874271 -0.01676268 -0.07743606
+v 0.03874271 -0.01509794 -0.07723175
+v 0.05300961 -0.00772549 -0.08001800
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+v 0.04170703 -0.01492838 -0.06954393
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+v 0.03874271 -0.01455405 -0.07531728
+v 0.03874271 -0.01452719 -0.07139147
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+f 48 53 55
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_72.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f66ececf95c47c90f224aaef30f099dde15b47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_72.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07333156 0.08622962 -0.06777135
+v 0.07333870 0.08621779 -0.06810681
+v 0.07333156 0.09045882 -0.06777134
+v 0.06920686 0.08508825 -0.06777136
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+v 0.07333870 0.09045459 -0.06810680
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+v 0.05270804 0.08515245 -0.06777136
+v 0.04840835 0.08343748 -0.07395809
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+v 0.06920686 0.09206737 -0.06777133
+v 0.03685918 0.08553178 -0.06777136
+v 0.04855834 0.08343750 -0.07775602
+v 0.03685918 0.08551742 -0.06804250
+v 0.03685918 0.08551404 -0.06810682
+v 0.03685918 0.08553096 -0.07251333
+v 0.05217593 0.08343750 -0.07787972
+v 0.07279231 0.08934452 -0.07725925
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+v 0.06920686 0.09204879 -0.06810679
+v 0.03685918 0.09059230 -0.06810680
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+v 0.03685918 0.08701702 -0.07687926
+v 0.03685918 0.08875905 -0.07687925
+v 0.06920686 0.08960473 -0.07736018
+v 0.03685918 0.08991392 -0.07420249
+v 0.03685918 0.09004403 -0.07355829
+v 0.03685918 0.09049853 -0.06924677
+f 1 2 6
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+f 1 16 9
+f 1 9 4
+f 1 4 2
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+f 2 4 7
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+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 27 30 32
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_73.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0867eeeee208baa92294fb00673924fb322beae9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_73.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.10726360 0.07388324 -0.08869570
+v 0.11320982 0.06887236 -0.08844380
+v 0.11320982 0.06317347 -0.08832707
+v 0.10910756 0.06317347 -0.08826357
+v 0.10249155 0.07479261 -0.08855847
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+v 0.11346202 0.07410990 -0.08824920
+v 0.11610679 0.07212850 -0.08734800
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+v 0.10249155 0.07923278 -0.08854821
+v 0.11087785 0.08841177 -0.07667687
+v 0.11179819 0.07820874 -0.08805050
+v 0.11922156 0.07407787 -0.07877018
+v 0.11922156 0.06880566 -0.07895863
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+v 0.11627873 0.06317346 -0.08446418
+v 0.11922156 0.06878700 -0.07895248
+v 0.10757638 0.06317346 -0.08446418
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+v 0.10249155 0.08087283 -0.08446411
+v 0.10468270 0.08846775 -0.07208483
+v 0.10538196 0.08733972 -0.07572037
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+v 0.10741427 0.08919579 -0.07376639
+v 0.11148541 0.08915579 -0.07355952
+v 0.11922156 0.07569925 -0.07355957
+v 0.11922156 0.06769360 -0.07305780
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+v 0.11922156 0.07375248 -0.06918055
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+v 0.10249155 0.08064081 -0.07870460
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+v 0.10249155 0.07700063 -0.07177764
+v 0.10249155 0.07425651 -0.06935464
+v 0.10249155 0.07403250 -0.06920103
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+f 44 55 56
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+f 57 59 58
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_74.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc407147af3011c3f114d2cb483ad1e5e007f377
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_74.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.12465475 -0.01867638 -0.06768080
+v 0.12465475 -0.02150624 -0.06933345
+v 0.12465475 -0.01504357 -0.06884064
+v 0.08044865 -0.01484165 -0.06955978
+v 0.08044865 -0.01830072 -0.06955980
+v 0.12465475 -0.02192101 -0.06962592
+v 0.09342270 -0.02143424 -0.07079980
+v 0.12465475 -0.01447069 -0.07358424
+v 0.11377958 -0.01048570 -0.07872047
+v 0.10801094 -0.01048570 -0.07862231
+v 0.08044865 -0.01480565 -0.06973607
+v 0.08044865 -0.02108519 -0.07364838
+v 0.11320834 -0.02647255 -0.07789922
+v 0.11502592 -0.02647255 -0.07835996
+v 0.11768305 -0.02647255 -0.07928142
+v 0.12465475 -0.02229664 -0.07312153
+v 0.09671165 -0.02150154 -0.07069965
+v 0.10770800 -0.02173944 -0.07038714
+v 0.08044865 -0.02112745 -0.07371849
+v 0.10759981 -0.02647255 -0.07846812
+v 0.11236880 -0.02647255 -0.07797734
+v 0.12465475 -0.01532527 -0.07696367
+v 0.11548031 -0.01048568 -0.08445967
+v 0.11471434 -0.01048569 -0.08186751
+v 0.10761712 -0.01048569 -0.08142281
+v 0.08044865 -0.01402931 -0.07356020
+v 0.11724164 -0.02647254 -0.08151702
+v 0.12465475 -0.02228882 -0.07356624
+v 0.08044865 -0.02112431 -0.07396488
+v 0.10768203 -0.02647253 -0.08446374
+v 0.10764308 -0.02647254 -0.08198777
+v 0.12465475 -0.01867635 -0.07740639
+v 0.11558417 -0.01867631 -0.08653304
+v 0.11263711 -0.01048567 -0.08814359
+v 0.10765174 -0.01048568 -0.08446368
+v 0.08044865 -0.01512807 -0.07713194
+v 0.10842205 -0.01048567 -0.08629262
+v 0.10921399 -0.01048567 -0.08814359
+v 0.12465475 -0.02180360 -0.07674133
+v 0.11582652 -0.02647252 -0.08651504
+v 0.08044865 -0.01942451 -0.07697771
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+v 0.12465475 -0.01905199 -0.07737033
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+v 0.10921399 -0.01867631 -0.08813560
+v 0.10921399 -0.02414822 -0.08812761
+v 0.08044865 -0.01918191 -0.07712594
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+f 46 49 48
+f 46 48 47
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_75.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96784b11cfd62322c17e1dfae5aa29947009b0b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_75.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.06553604 -0.00772548 -0.08293942
+v 0.05905157 -0.01474430 -0.07824057
+v 0.05905157 -0.01385508 -0.07434802
+v 0.06553604 -0.00772548 -0.08084263
+v 0.06796562 -0.00772547 -0.08566651
+v 0.05905157 -0.01918017 -0.07872826
+v 0.05905157 -0.01391505 -0.07356106
+v 0.05905157 -0.01475260 -0.07017730
+v 0.05905157 -0.01490977 -0.06956464
+v 0.06920764 -0.00772549 -0.07930392
+v 0.07070938 -0.00772546 -0.08754324
+v 0.07064026 -0.01320567 -0.08752036
+v 0.06822324 -0.01867554 -0.08587076
+v 0.05905157 -0.02113445 -0.07306814
+v 0.06873011 -0.02885014 -0.08427224
+v 0.05905157 -0.01837781 -0.06956466
+v 0.08020778 -0.01484153 -0.06955936
+v 0.08044864 -0.01484153 -0.06956112
+v 0.07325624 -0.00772549 -0.08020707
+v 0.07070938 -0.00773373 -0.08754324
+v 0.07242056 -0.00772546 -0.08754324
+v 0.07237238 -0.01320567 -0.08752036
+v 0.07097118 -0.01867554 -0.08740947
+v 0.07151575 -0.02296252 -0.08728625
+v 0.05905157 -0.02095660 -0.07283927
+v 0.06736870 -0.02885016 -0.07870365
+v 0.06769753 -0.02885016 -0.07773536
+v 0.07337563 -0.02885014 -0.08444301
+v 0.06888719 -0.02885017 -0.07716318
+v 0.06920764 -0.02121098 -0.07102591
+v 0.06920764 -0.01847708 -0.06956290
+v 0.07470771 -0.01841090 -0.06956114
+v 0.08020778 -0.01829509 -0.06955938
+v 0.08044864 -0.01402879 -0.07356106
+v 0.08044864 -0.01829923 -0.06956114
+v 0.07371913 -0.00772547 -0.08446406
+v 0.07242056 -0.00773373 -0.08754324
+v 0.08044864 -0.01512896 -0.07713145
+v 0.08044864 -0.01918018 -0.07712617
+v 0.07224462 -0.01867554 -0.08740947
+v 0.07209172 -0.02296252 -0.08728625
+v 0.08044864 -0.01942420 -0.07697828
+v 0.08044864 -0.02112411 -0.07396426
+v 0.07360183 -0.02885014 -0.08348176
+v 0.07475588 -0.02885016 -0.07821775
+v 0.08044864 -0.02108482 -0.07364736
+v 0.08044864 -0.02112825 -0.07371778
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_76.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8122a75b58d1c8dd3532658793a29edbf1ea74b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_76.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.09154876 -0.09047750 -0.00196374
+v 0.09111004 -0.09567237 -0.00196376
+v 0.10264282 -0.09332142 -0.00494468
+v 0.10264282 -0.09215011 -0.00494468
+v 0.10264282 -0.09098711 -0.00812627
+v 0.08882086 -0.08691838 -0.01510837
+v 0.06920862 -0.08948319 -0.00196374
+v 0.09098841 -0.09578523 -0.00196376
+v 0.10264282 -0.09602755 -0.00787244
+v 0.10264282 -0.09092414 -0.00854452
+v 0.08938121 -0.08663207 -0.01902976
+v 0.09004146 -0.08621626 -0.02448392
+v 0.06920862 -0.08591571 -0.02666220
+v 0.06920862 -0.08609747 -0.02448392
+v 0.08808241 -0.08691838 -0.01510837
+v 0.06626353 -0.08693500 -0.01526793
+v 0.06865696 -0.08956872 -0.00196374
+v 0.09986278 -0.09804823 -0.01069140
+v 0.06921296 -0.09656926 -0.00196376
+v 0.10264282 -0.09624613 -0.00851794
+v 0.10264282 -0.09118904 -0.01372307
+v 0.09022825 -0.08610578 -0.02666220
+v 0.06702369 -0.08602618 -0.02666220
+v 0.06594643 -0.08667008 -0.01902976
+v 0.05827094 -0.09083149 -0.00812627
+v 0.06385272 -0.09077449 -0.00196374
+v 0.09670484 -0.09805060 -0.01067932
+v 0.09986278 -0.09804823 -0.01089448
+v 0.06389182 -0.09504751 -0.00196376
+v 0.05827094 -0.09608457 -0.00806585
+v 0.05827094 -0.09610357 -0.00812629
+v 0.07697533 -0.09804348 -0.01069865
+v 0.10264282 -0.09537179 -0.01306066
+v 0.10264282 -0.09435609 -0.01420179
+v 0.09197445 -0.08981098 -0.02666221
+v 0.06549467 -0.08618538 -0.02666220
+v 0.06557286 -0.08628160 -0.02448392
+v 0.05827094 -0.09083386 -0.00818429
+v 0.05827094 -0.09195648 -0.00436929
+v 0.05827094 -0.09368493 -0.00436929
+v 0.09670484 -0.09805060 -0.01089932
+v 0.10264282 -0.09491917 -0.01416310
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+v 0.05827094 -0.09499165 -0.01217581
+v 0.06563802 -0.09328096 -0.02666222
+v 0.07697533 -0.09804348 -0.01088965
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+v 0.05827094 -0.09140287 -0.01223866
+v 0.08679231 -0.09349834 -0.02666222
+v 0.05827094 -0.09497383 -0.01223867
+v 0.06520798 -0.09198372 -0.02666222
+v 0.06467370 -0.08981098 -0.02666221
+f 1 2 3
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+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 26
+f 1 26 29
+f 1 29 19
+f 1 19 8
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+f 3 42 34
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+f 48 52 50
+f 50 52 51
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_77.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ccf6ad921cc32245dc058820a56a65759334712
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_77.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.08019473 -0.04297886 -0.07901140
+v -0.09506804 -0.05151161 -0.07356053
+v -0.07998945 -0.04297886 -0.07814102
+v -0.07839545 -0.04297885 -0.08228505
+v -0.09506804 -0.05307099 -0.07707452
+v -0.09506804 -0.05252580 -0.06993482
+v -0.07885433 -0.04297888 -0.07427239
+v -0.07380264 -0.04297885 -0.08239028
+v -0.07750587 -0.06245011 -0.08257872
+v -0.09506804 -0.05590379 -0.07707454
+v -0.09506804 -0.05268403 -0.06937882
+v -0.07380264 -0.04297888 -0.07358129
+v -0.06980959 -0.04297885 -0.08192132
+v -0.07336790 -0.06245202 -0.08257353
+v -0.07750587 -0.06245202 -0.08257872
+v -0.09506804 -0.05823524 -0.07356055
+v -0.09506804 -0.05657295 -0.06937884
+v -0.05394607 -0.05253724 -0.06930996
+v -0.07061464 -0.04297888 -0.07421133
+v -0.06887572 -0.04297886 -0.07984410
+v -0.05394607 -0.05137055 -0.07356053
+v -0.05394607 -0.05307670 -0.07698618
+v -0.05394607 -0.05560068 -0.07698619
+v -0.07102521 -0.06245202 -0.08179668
+v -0.07905559 -0.06245203 -0.07901147
+v -0.09506804 -0.05802554 -0.07300454
+v -0.07809758 -0.06245205 -0.07475182
+v -0.07380264 -0.06245205 -0.07335271
+v -0.05394607 -0.05672545 -0.06930998
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+v -0.06929435 -0.04297888 -0.07462963
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_78.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c08409143c6b3d18e8e6b8f9415b3d20883aee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_78.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.04589472 0.06740961 -0.07901175
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+v 0.04634239 0.06740963 -0.08319634
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_79.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58917aa4cf2a1e68442a2c5ff75c4c1549e777f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_79.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_8.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe9bd3b1a020ab8cc71df067479c9852d06dc5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_8.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_80.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e280c24c9eedb3819131c1931e850550c85b5cef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_80.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.12048679 -0.01867560 -0.06707181
+v -0.12342043 -0.01431222 -0.06707179
+v -0.12374972 -0.02239610 -0.06707182
+v -0.09506804 -0.01867559 -0.06947950
+v -0.12429605 -0.01393970 -0.06707179
+v -0.09506804 -0.01820876 -0.06953742
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+v -0.09506804 -0.02135397 -0.07025518
+v -0.12880130 -0.01312236 -0.06707179
+v -0.09506804 -0.01508555 -0.07042064
+v -0.10277262 -0.01056182 -0.07987143
+v -0.10678393 -0.01056182 -0.07779884
+v -0.13225881 -0.02262559 -0.06707182
+v -0.11191783 -0.02661952 -0.08446349
+v -0.11219473 -0.02661954 -0.07851872
+v -0.10753606 -0.02661954 -0.07771409
+v -0.10680639 -0.02661954 -0.07759619
+v -0.10179598 -0.02661954 -0.07874625
+v -0.09506804 -0.02189624 -0.07313862
+v -0.13273403 -0.01445054 -0.06707179
+v -0.11168209 -0.01056182 -0.07876895
+v -0.11203757 -0.01056181 -0.08146209
+v -0.11189538 -0.01056180 -0.08446343
+v -0.11133783 -0.01056179 -0.08620301
+v -0.11070545 -0.01056179 -0.08806256
+v -0.09506804 -0.01458256 -0.07356056
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+v -0.13329532 -0.01867560 -0.06707181
+v -0.13305584 -0.01867560 -0.06810811
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+v -0.12655616 -0.01867557 -0.07660950
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+v -0.09506804 -0.01905909 -0.07693838
+v -0.10680639 -0.01056179 -0.08818667
+v -0.10680639 -0.02414704 -0.08819913
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+f 46 54 53
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_81.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755ee20d43e7f222738d1bde2d853b76d67176b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_81.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03243298 0.04736028 -0.07883342
+v -0.03115527 0.04736027 -0.07490619
+v -0.03227171 0.04736028 -0.07928269
+v -0.06249014 0.04077053 -0.07901105
+v -0.02998921 0.04736026 -0.07427146
+v -0.06249014 0.04013861 -0.07380261
+v -0.02946820 0.04736029 -0.08281811
+v -0.06249014 0.03940863 -0.08212987
+v -0.06249014 0.03850000 -0.07107694
+v -0.06249014 0.03592140 -0.06975916
+v -0.06249014 0.03576637 -0.06968211
+v -0.02822150 0.03884146 -0.07076610
+v -0.02588317 0.03884146 -0.07076610
+v 0.00087428 0.03592140 -0.06973696
+v 0.00087428 0.03749721 -0.07039650
+v 0.00087428 0.03865503 -0.07089149
+v 0.00087428 0.04736026 -0.07473902
+v -0.02572191 0.04736029 -0.08281811
+v 0.00087428 0.04144561 -0.08299183
+v 0.00087428 0.03832538 -0.08300882
+v 0.00087428 0.03607451 -0.08300491
+v -0.02886656 0.02731435 -0.08271631
+v -0.06249014 0.03792898 -0.08212987
+v -0.06249014 0.03222816 -0.06968212
+v -0.05729867 0.03579777 -0.06967950
+v -0.04079391 0.03590766 -0.06967166
+v -0.02995199 0.03655133 -0.06985973
+v -0.02415268 0.03654937 -0.06985973
+v 0.00087428 0.03239104 -0.06973697
+v -0.01879995 0.03592533 -0.06968211
+v 0.00087428 0.04736029 -0.08276718
+v 0.00087428 0.02731435 -0.08272415
+v -0.03137856 0.02731434 -0.07925795
+v -0.06249014 0.03159431 -0.07355972
+v -0.06249014 0.03267365 -0.07731717
+v -0.06249014 0.03504620 -0.07988873
+v -0.06249014 0.03519534 -0.08004284
+v -0.06249014 0.03777591 -0.08201624
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+v -0.06249014 0.03162964 -0.07334161
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+v -0.02980313 0.03223209 -0.06966775
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+v -0.01879995 0.03232628 -0.06968212
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+v -0.03045439 0.02731433 -0.07569902
+v -0.03529852 0.03226545 -0.06966906
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_82.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccdc05da90c1cbffbdff65f5f38e026e31a403b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_82.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.05270737 0.06976764 -0.06902409
+v 0.03685561 0.07389698 -0.06908687
+v 0.03685561 0.06975979 -0.06908688
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+v 0.03685561 0.07663158 -0.07150823
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+v 0.04717178 0.06740960 -0.07324089
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+v 0.03685561 0.08081588 -0.08446468
+v 0.03685561 0.08051778 -0.07965530
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+v 0.03685561 0.06970492 -0.07901370
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+v 0.07423678 0.06740964 -0.08563617
+v 0.07470025 0.06740964 -0.08469038
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_83.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84d6e16a95416758f7c3be08de07578b0812597
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_83.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.07272752 0.06740964 -0.08760025
+v 0.06907983 0.06740964 -0.08756613
+v 0.07423733 0.06740963 -0.08563699
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+f 8 12 18
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+f 10 25 21
+f 11 20 23
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+f 13 28 26
+f 13 26 16
+f 13 16 15
+f 13 15 14
+f 16 26 17
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+f 17 28 27
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+f 21 38 30
+f 21 30 22
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+f 27 28 33
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+f 34 37 42
+f 34 42 38
+f 34 36 43
+f 34 43 37
+f 35 40 39
+f 35 39 41
+f 37 38 42
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_84.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46cdad701e5590a586de12e2333b48c61fbd9784
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_84.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.12219390 -0.03509058 -0.06707393
+v -0.12385421 -0.03145672 -0.06707392
+v -0.12387679 -0.03871322 -0.06707394
+v -0.09507180 -0.03509057 -0.06973456
+v -0.12451683 -0.03086631 -0.06707391
+v -0.12874477 -0.04009457 -0.06707395
+v -0.09507180 -0.03840838 -0.07013211
+v -0.09507180 -0.03206315 -0.07043646
+v -0.12871841 -0.03016521 -0.06707391
+v -0.13263764 -0.03933250 -0.06707394
+v -0.11194593 -0.04300962 -0.08446433
+v -0.11157698 -0.04300964 -0.07862752
+v -0.10680312 -0.04300965 -0.07682408
+v -0.09507180 -0.04025017 -0.07356092
+v -0.09507180 -0.03199255 -0.07356089
+v -0.10179586 -0.02661954 -0.07874548
+v -0.10680312 -0.02661954 -0.07759633
+v -0.12972364 -0.03032725 -0.06707391
+v -0.10753728 -0.02661954 -0.07771435
+v -0.11219441 -0.02661954 -0.07851771
+v -0.13352991 -0.03509058 -0.06707393
+v -0.13186207 -0.03816291 -0.07126884
+v -0.11071482 -0.04300961 -0.08806085
+v -0.10281236 -0.04300964 -0.07815958
+v -0.09507180 -0.04059027 -0.07901056
+v -0.10156997 -0.04300964 -0.07871448
+v -0.09507180 -0.03203105 -0.07393980
+v -0.10246600 -0.02661953 -0.08148272
+v -0.09507180 -0.03228614 -0.07641615
+v -0.13258493 -0.03095776 -0.06707391
+v -0.11191958 -0.02661952 -0.08446427
+v -0.13324378 -0.03509058 -0.06810713
+v -0.13179055 -0.03213214 -0.07119842
+v -0.13196750 -0.03509057 -0.07143239
+v -0.12613195 -0.03787572 -0.07633335
+v -0.11071859 -0.04056297 -0.08806498
+v -0.11071859 -0.03509051 -0.08807531
+v -0.10896793 -0.04300961 -0.08813952
+v -0.09507180 -0.03900195 -0.08170637
+v -0.10152478 -0.04300964 -0.08013279
+v -0.10178832 -0.04300962 -0.08425936
+v -0.10235682 -0.04300962 -0.08560934
+v -0.10392677 -0.02661951 -0.08732783
+v -0.09507180 -0.03257332 -0.07678056
+v -0.11071106 -0.02661951 -0.08806493
+v -0.12595500 -0.03261664 -0.07626707
+v -0.12830051 -0.03470231 -0.07457132
+v -0.12613195 -0.03626334 -0.07633334
+v -0.10680312 -0.04300961 -0.08822442
+v -0.10680312 -0.03509051 -0.08821818
+v -0.09507180 -0.03874846 -0.08212048
+v -0.10389289 -0.04300961 -0.08735273
+v -0.10680312 -0.02661951 -0.08820158
+v -0.09507180 -0.03447287 -0.07914098
+v -0.09507180 -0.03483705 -0.07954059
+v -0.09507180 -0.03720668 -0.08212048
+v -0.10894534 -0.02661951 -0.08812704
+v -0.10550048 -0.04300961 -0.08783723
+f 1 2 5
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+f 1 10 6
+f 1 6 3
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+f 1 4 2
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+f 33 45 46
+f 34 47 35
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+f 35 48 37
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+f 37 50 49
+f 39 42 51
+f 42 52 51
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+f 43 44 54
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+f 45 48 47
+f 45 47 46
+f 49 50 58
+f 50 53 52
+f 50 52 58
+f 50 57 53
+f 51 52 56
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_85.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fdfe81d4ee6280a6d771a2ea5e963569d3f6e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_85.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06384961 -0.09077463 -0.00196373
+v 0.06865820 -0.08956895 -0.00196373
+v 0.06389075 -0.09504874 -0.00196375
+v 0.06472738 -0.09615362 0.05130948
+v 0.06640066 -0.09250784 0.03327189
+v 0.06920956 -0.08948417 -0.00196373
+v 0.06921230 -0.09656985 -0.00196375
+v 0.06617298 -0.09823438 0.00393926
+v 0.06586027 -0.09852491 0.00823616
+v 0.06557774 -0.09882292 0.01369072
+v 0.06537475 -0.09904363 0.01914007
+v 0.06521291 -0.09926433 0.02459463
+v 0.06509221 -0.09951122 0.03004397
+v 0.06500992 -0.10101497 0.05130946
+v 0.06489472 -0.10027933 0.04640244
+v 0.06515805 -0.09604389 0.05130948
+v 0.06920956 -0.09508385 0.05130948
+v 0.06668593 -0.09250784 0.03327189
+v 0.09079748 -0.09069859 0.00278163
+v 0.09154908 -0.09047788 -0.00196373
+v 0.08855914 -0.09250160 0.03317803
+v 0.09098950 -0.09578685 -0.00196375
+v 0.08847959 -0.09802615 -0.00000826
+v 0.08843021 -0.09802615 -0.00000826
+v 0.06880084 -0.10222064 0.05130945
+v 0.06809312 -0.10203113 0.05130946
+v 0.09171916 -0.09648402 0.05130948
+v 0.09185904 -0.09528197 0.01914008
+v 0.09187276 -0.09528195 0.01369073
+v 0.09168349 -0.09528193 0.00823617
+v 0.09111019 -0.09567339 -0.00196375
+v 0.08889928 -0.09233452 0.03004400
+v 0.08944240 -0.09204774 0.02459465
+v 0.09003217 -0.09893763 0.01369072
+v 0.08954665 -0.09859598 0.00823616
+v 0.08888008 -0.09822315 0.00278160
+v 0.09129946 -0.10110225 0.05130946
+v 0.09171916 -0.09660621 0.05130948
+v 0.09155457 -0.10087657 0.05130946
+v 0.09064387 -0.09948627 0.02459462
+v 0.09040522 -0.09923937 0.01914007
+v 0.09148873 -0.10098131 0.05130946
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+f 20 27 28
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+f 27 33 32
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+f 31 39 40
+f 31 40 41
+f 31 41 34
+f 34 41 37
+f 37 41 42
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_86.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e404b7b6de59d7317976e096e209fd19bea27b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_86.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.07065011 0.03603952 -0.08762461
+v 0.05820607 0.04133199 -0.08332897
+v 0.05820607 0.04137974 -0.08332897
+v 0.07067536 0.04151274 -0.08758703
+v 0.07257662 0.03603952 -0.08762461
+v 0.07107411 0.01069900 -0.08746554
+v 0.05820607 0.03615545 -0.08320202
+v 0.05820607 0.04283583 -0.07897790
+v 0.06547463 0.04553665 -0.08294982
+v 0.06776793 0.04553666 -0.08518705
+v 0.06996364 0.04553667 -0.08719358
+v 0.07069218 0.04553667 -0.08751191
+v 0.07251773 0.04151274 -0.08758703
+v 0.07539487 0.03603269 -0.08431974
+v 0.07233770 0.01069900 -0.08746554
+v 0.06902142 0.01069899 -0.08537496
+v 0.05820607 0.01566750 -0.07800514
+v 0.05820607 0.04284948 -0.07893676
+v 0.06539723 0.04553665 -0.08235966
+v 0.07239995 0.04553667 -0.08751191
+v 0.07539487 0.04129790 -0.08420527
+v 0.07539487 0.03597131 -0.08431795
+v 0.07387217 0.01069899 -0.08446468
+v 0.06802199 0.01069899 -0.08434665
+v 0.05820607 0.01428639 -0.07356109
+v 0.06667765 0.04553664 -0.07938921
+v 0.06539723 0.04553665 -0.08062675
+v 0.05820607 0.04064653 -0.07392224
+v 0.07398995 0.04553666 -0.08441627
+v 0.07539487 0.04274035 -0.07856479
+v 0.07539487 0.01784316 -0.08123668
+v 0.07445097 0.01069898 -0.08246889
+v 0.06810949 0.01069897 -0.07913718
+v 0.05820607 0.01551060 -0.06936203
+v 0.07066526 0.01069896 -0.07501145
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+v 0.07539487 0.04069427 -0.07392939
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+v 0.07539487 0.01346114 -0.07395274
+v 0.07450817 0.01069897 -0.07897623
+v 0.06370797 0.01550037 -0.06935666
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+v 0.07323113 0.01069896 -0.07504007
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+v 0.06920650 0.03841289 -0.07111632
+v 0.07470671 0.03838220 -0.07118427
+v 0.07539487 0.03837197 -0.07120216
+v 0.07539487 0.01366234 -0.07313189
+v 0.07410268 0.01069896 -0.07679443
+v 0.06370797 0.01954134 -0.06935665
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+v 0.06370797 0.03566093 -0.06939057
+v 0.05820607 0.03568140 -0.06942812
+v 0.07539487 0.01603235 -0.06937276
+v 0.06920650 0.01957886 -0.06936202
+v 0.07470671 0.03564728 -0.06937984
+v 0.07539487 0.03563706 -0.06938163
+f 1 2 3
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+f 1 4 13
+f 1 13 5
+f 1 5 15
+f 1 15 6
+f 1 6 2
+f 2 7 17
+f 2 17 25
+f 2 25 34
+f 2 34 44
+f 2 44 60
+f 2 60 50
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_87.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7f528d0a54e1d5e3edc35764e152e182e998f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_87.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05820607 0.01428639 -0.07356134
+v 0.05298727 0.01069897 -0.07892158
+v 0.05339423 0.01069898 -0.08199122
+v 0.05319351 0.01069899 -0.08425145
+v 0.05820607 0.01566750 -0.07800497
+v 0.05820607 0.01551060 -0.06936069
+v 0.05008322 0.01069897 -0.07868395
+v 0.05046809 0.01069900 -0.08742828
+v 0.05820607 0.03615545 -0.08320254
+v 0.05820607 0.01951748 -0.06936068
+v 0.04170623 0.01962660 -0.06936246
+v 0.03939515 0.01962660 -0.06936426
+v 0.05270551 0.01553447 -0.06937498
+v 0.04786605 0.01069897 -0.07854280
+v 0.04952708 0.01069900 -0.08742828
+v 0.05111446 0.04553667 -0.08761398
+v 0.05374780 0.04151274 -0.08614529
+v 0.05820607 0.04133199 -0.08332938
+v 0.05820607 0.03568140 -0.06942852
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+v 0.04170623 0.01570498 -0.06946075
+v 0.04720679 0.01559244 -0.06939643
+v 0.03939515 0.03571209 -0.06954286
+v 0.04786605 0.01069899 -0.08446408
+v 0.03939515 0.01480472 -0.07355955
+v 0.04847006 0.01069899 -0.08555757
+v 0.03939515 0.01593348 -0.07719736
+v 0.03939515 0.03798326 -0.08219123
+v 0.04935951 0.04553667 -0.08761398
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+v 0.05820607 0.03841630 -0.07111877
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+v 0.04720679 0.03848451 -0.07102407
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+v 0.05820607 0.04064653 -0.07392216
+v 0.05355260 0.04553664 -0.07803166
+v 0.05070012 0.04553663 -0.07704002
+v 0.04836326 0.04553664 -0.07784584
+v 0.03939515 0.04046920 -0.07380245
+v 0.04734122 0.04553665 -0.08256642
+v 0.03939515 0.04092275 -0.07682026
+v 0.04786052 0.04553664 -0.07896970
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 31
+f 1 31 42
+f 1 42 53
+f 1 53 43
+f 1 43 32
+f 1 32 19
+f 1 19 10
+f 1 10 6
+f 1 6 2
+f 2 7 14
+f 2 14 24
+f 2 24 26
+f 2 26 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
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+f 4 8 9
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+f 6 10 11
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+f 6 12 13
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+f 16 29 40
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+f 16 41 30
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+f 19 33 34
+f 19 34 35
+f 19 35 23
+f 23 35 36
+f 23 36 34
+f 23 34 37
+f 24 25 38
+f 24 38 27
+f 24 27 26
+f 28 39 29
+f 29 39 40
+f 30 41 31
+f 31 41 42
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 34
+f 34 36 35
+f 34 45 46
+f 34 46 37
+f 37 46 47
+f 37 47 48
+f 39 49 40
+f 40 49 51
+f 40 51 50
+f 41 52 42
+f 42 52 53
+f 43 53 52
+f 43 52 54
+f 43 54 44
+f 44 55 46
+f 44 46 45
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+f 47 56 57
+f 47 57 48
+f 50 51 58
+f 51 59 60
+f 51 60 58
+f 56 60 57
+f 57 60 59
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_88.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6b796dec7a43acd40181f0a3f18d70ae25de1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_88.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.11194831 0.02964646 -0.07844430
+v -0.10680041 0.02964644 -0.07478529
+v -0.11180993 0.02964648 -0.08446398
+v -0.11872663 0.02266309 -0.07161023
+v -0.11872663 0.02266309 -0.07015646
+v -0.11872663 0.02194794 -0.06969219
+v -0.09302235 0.02247366 -0.07074072
+v -0.10432961 0.02964645 -0.07584168
+v -0.11077330 0.02964649 -0.08826267
+v -0.11872663 0.02188836 -0.07501351
+v -0.11872663 0.02204373 -0.07455515
+v -0.11872663 0.02263756 -0.07228695
+v -0.11872663 0.01962370 -0.06838794
+v -0.09302235 0.02106891 -0.07015056
+v -0.09302235 0.02247366 -0.07155318
+v -0.10177579 0.02964646 -0.07927447
+v -0.11010402 0.02964649 -0.08830005
+v -0.11077833 0.02509593 -0.08823712
+v -0.11872663 0.01589900 -0.07718337
+v -0.11872663 0.01915335 -0.07718336
+v -0.11872663 0.01961096 -0.07689024
+v -0.11872663 0.01537112 -0.06893877
+v -0.09302235 0.01572019 -0.06965090
+v -0.09302235 0.01768898 -0.06959976
+v -0.09302235 0.01962371 -0.06955843
+v -0.09302235 0.02167977 -0.07427974
+v -0.10295584 0.02964648 -0.08495972
+v -0.10190663 0.02964646 -0.08024430
+v -0.10680041 0.02964650 -0.08848301
+v -0.11077581 0.01962377 -0.08820370
+v -0.11872663 0.01442612 -0.07355977
+v -0.11076071 0.01415586 -0.08816438
+v -0.11073808 0.00868370 -0.08812308
+v -0.11073304 0.00790683 -0.08811915
+v -0.11092427 0.00790683 -0.08760374
+v -0.11185773 0.00790682 -0.08446406
+v -0.11089407 0.00790680 -0.07935323
+v -0.10680041 0.00790680 -0.07844242
+v -0.10337602 0.00790681 -0.08075980
+v -0.09302235 0.01535623 -0.07159058
+v -0.09302235 0.01894476 -0.07687844
+v -0.10386413 0.02964649 -0.08741087
+v -0.10680041 0.02509593 -0.08845154
+v -0.10630726 0.02964649 -0.08830792
+v -0.10389181 0.01415586 -0.08736962
+v -0.10390943 0.00868370 -0.08734604
+v -0.11189546 0.00790682 -0.08357685
+v -0.10680041 0.01962377 -0.08840239
+v -0.10680041 0.01415586 -0.08834339
+v -0.10680041 0.00868370 -0.08828047
+v -0.10680041 0.00790683 -0.08827063
+v -0.10345151 0.00790682 -0.08446406
+v -0.09302235 0.01499441 -0.07355976
+v -0.09302235 0.01616505 -0.07687845
+v -0.10388175 0.01962377 -0.08738927
+v -0.10387421 0.02509593 -0.08740303
+v -0.10391446 0.00790683 -0.08734210
+v -0.10639280 0.00790683 -0.08814276
+v -0.09302235 0.01557761 -0.07521419
+f 1 2 8
+f 1 8 16
+f 1 16 28
+f 1 28 27
+f 1 27 42
+f 1 42 44
+f 1 44 29
+f 1 29 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 10
+f 4 10 21
+f 4 21 20
+f 4 20 19
+f 4 19 31
+f 4 31 22
+f 4 22 13
+f 4 13 6
+f 4 6 5
+f 6 13 7
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+f 15 26 27
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+f 15 28 16
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+f 19 30 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 31
+f 22 31 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 26 41 42
+f 26 42 27
+f 29 43 30
+f 29 44 45
+f 29 45 46
+f 29 46 43
+f 30 43 32
+f 31 36 47
+f 31 47 37
+f 32 43 34
+f 32 34 33
+f 34 43 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 58
+f 34 58 57
+f 34 57 52
+f 34 52 39
+f 34 39 38
+f 34 38 37
+f 34 37 47
+f 34 47 36
+f 34 36 35
+f 39 52 53
+f 39 53 40
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 44
+f 43 46 57
+f 43 57 48
+f 44 56 55
+f 44 55 45
+f 45 55 54
+f 45 54 46
+f 46 54 57
+f 48 57 49
+f 49 57 58
+f 49 58 50
+f 50 58 51
+f 52 57 53
+f 53 57 59
+f 54 59 57
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_89.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db526747df6bf5c0cca7464db5355cf272e83810
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_89.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04720805 -0.00144850 -0.06911550
+v 0.05270732 -0.00145390 -0.06911912
+v 0.04720805 0.00015863 -0.06911549
+v 0.04423183 0.00015863 -0.06911731
+v 0.03874480 -0.00143152 -0.06912273
+v 0.06920514 -0.00772343 -0.07930358
+v 0.05270732 0.00015863 -0.06911911
+v 0.08044864 -0.00149016 -0.06925082
+v 0.05821068 -0.00145699 -0.06914438
+v 0.03874480 0.00015863 -0.06912272
+v 0.03874480 -0.00339971 -0.07356095
+v 0.04823278 -0.00772343 -0.07976545
+v 0.07325509 -0.00772343 -0.08020746
+v 0.05821068 0.00015863 -0.06914437
+v 0.08044864 -0.00358720 -0.07356095
+v 0.08044864 0.00015863 -0.06925081
+v 0.03874480 0.00015868 -0.08271520
+v 0.03874480 -0.00274080 -0.07901129
+v 0.04773470 -0.00772341 -0.08446888
+v 0.07371642 -0.00772341 -0.08446346
+v 0.08044864 -0.00296609 -0.07877314
+v 0.08044864 0.00015868 -0.08286856
+v 0.03874480 -0.00077180 -0.08271520
+v 0.04946165 0.00015870 -0.08745291
+v 0.04944532 -0.00226164 -0.08746014
+v 0.04945757 -0.00772340 -0.08746196
+v 0.08044864 -0.00293445 -0.07901129
+v 0.07241815 -0.00772340 -0.08754496
+v 0.08044864 -0.00083739 -0.08286856
+v 0.07243856 -0.00226164 -0.08752148
+v 0.07242632 0.00015870 -0.08751245
+v 0.07090759 0.00015870 -0.08751245
+v 0.07070754 -0.00772340 -0.08754496
+v 0.08044864 -0.00092997 -0.08270258
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 14
+f 2 14 7
+f 3 7 14
+f 3 14 16
+f 3 16 22
+f 3 22 31
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+f 5 11 12
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+f 6 20 13
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+f 8 29 22
+f 8 22 16
+f 8 16 14
+f 8 14 9
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+f 11 19 12
+f 13 20 15
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+f 17 24 25
+f 17 25 23
+f 18 23 26
+f 18 26 19
+f 20 27 21
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+f 22 29 28
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+f 22 30 31
+f 23 25 26
+f 24 32 33
+f 24 33 25
+f 25 33 26
+f 27 28 34
+f 28 29 34
+f 28 33 32
+f 28 32 31
+f 28 31 30
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_9.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69fe3c961fa5e8d40577df5cb5fd43757f648ee7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_9.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00087428 0.09202787 0.01535668
+v 0.00065185 0.08795308 -0.00489766
+v 0.00087428 0.08814687 -0.00469036
+v 0.00087428 0.09944158 0.01535671
+v -0.03402493 0.09188386 0.01535668
+v 0.00087428 0.08785885 -0.00621826
+v -0.11780176 0.09159763 0.01535668
+v 0.00032404 0.08795308 -0.00489766
+v -0.11872663 0.08268359 -0.03538666
+v -0.11872663 0.08208802 -0.04083797
+v 0.00087428 0.09908069 0.01004359
+v -0.01604264 0.09897048 0.00545988
+v -0.01578509 0.09914826 0.00823160
+v -0.01531680 0.09949670 0.01368293
+v -0.01518802 0.09960337 0.01535671
+v 0.00087428 0.08734152 -0.01358138
+v -0.11872663 0.09182519 0.01535668
+v -0.11872663 0.08144274 -0.06251270
+v 0.00087428 0.08515308 -0.04628928
+v -0.01880555 0.08527572 -0.03538665
+v 0.00087428 0.08695930 -0.01903269
+v 0.00087428 0.09250280 -0.04943719
+v -0.01608947 0.09897048 0.00545988
+v -0.06941584 0.09355886 -0.04912239
+v -0.07379434 0.09359263 -0.04919149
+v -0.09579220 0.09360508 -0.04963681
+v -0.01696752 0.09914826 0.00823160
+v -0.01820848 0.09949670 0.01368293
+v -0.10127117 0.09955180 0.01535671
+v -0.11872663 0.09925313 0.01535670
+v -0.11872663 0.08390331 -0.06308086
+v -0.11699396 0.08196721 -0.06308087
+v -0.11226424 0.08192098 -0.06308087
+v -0.10934915 0.08196187 -0.06308087
+v 0.00087428 0.08566872 -0.06308086
+v 0.00087428 0.09086899 -0.06308084
+v -0.04630580 0.09156414 -0.06308083
+v -0.09940972 0.09908602 0.00998984
+v -0.09579220 0.09182904 -0.06308083
+v -0.10679698 0.09357841 -0.04936041
+v -0.11523788 0.09897402 0.01084977
+v -0.11750908 0.09934735 0.01535670
+v -0.11872663 0.09915891 0.01409752
+v -0.11872663 0.08783595 -0.06308085
+v -0.11087108 0.09354641 -0.04939111
+v -0.11229937 0.09100588 -0.06308084
+v -0.11229937 0.09111611 -0.06265088
+v -0.11229937 0.09217925 -0.05719956
+v -0.11453545 0.09346108 -0.04873082
+v -0.11872663 0.09297037 -0.04661171
+v -0.11630324 0.09360152 -0.04509917
+v -0.11800078 0.09316771 -0.04666546
+v -0.11872663 0.08963515 -0.06245125
+v -0.11764956 0.08973827 -0.06308084
+v -0.11746226 0.08979516 -0.06308084
+v -0.11780176 0.09124410 -0.05719956
+v -0.11872663 0.09087075 -0.05726867
+v -0.11774322 0.08980050 -0.06279676
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 21
+f 1 21 19
+f 1 19 35
+f 1 35 36
+f 1 36 22
+f 1 22 11
+f 1 11 4
+f 1 4 15
+f 1 15 29
+f 1 29 42
+f 1 42 30
+f 1 30 17
+f 1 17 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 6 10 16
+f 7 17 9
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+f 9 17 30
+f 9 30 43
+f 9 43 50
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+f 9 18 10
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+f 18 31 32
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+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 21 20
+f 22 36 37
+f 22 37 24
+f 23 26 38
+f 23 38 29
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+f 24 37 25
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+f 25 39 26
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+f 26 40 38
+f 27 29 28
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+f 29 41 42
+f 30 42 43
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+f 39 45 40
+f 41 45 42
+f 42 45 49
+f 42 49 43
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+f 43 51 52
+f 43 52 50
+f 44 53 54
+f 45 48 49
+f 46 55 56
+f 46 56 47
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+f 47 49 48
+f 49 56 52
+f 49 52 51
+f 50 52 56
+f 50 56 57
+f 53 57 56
+f 53 56 58
+f 53 58 55
+f 53 55 54
+f 55 58 56
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_90.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e673b34aa9c8714b6366ed1333583eed34645d04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_90.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00920864 -0.05638746 -0.06924123
+v 0.00920864 -0.05265559 -0.06924121
+v 0.00920864 -0.05851541 -0.07305871
+v 0.01420471 -0.05651077 -0.06924959
+v 0.01970594 -0.05661590 -0.06925609
+v 0.03620435 -0.05653607 -0.06927374
+v 0.03622551 -0.05652025 -0.06927374
+v 0.00920864 -0.05053709 -0.07372373
+v 0.03622551 -0.05268405 -0.06927372
+v 0.03620435 -0.05268327 -0.06927372
+v 0.01970594 -0.05265876 -0.06925607
+v 0.00920864 -0.05861264 -0.07337081
+v 0.03622551 -0.05792096 -0.07356028
+v 0.02520453 -0.05663013 -0.06926537
+v 0.00920864 -0.05178840 -0.07862237
+v 0.02520453 -0.05266272 -0.06926535
+v 0.03622551 -0.05267931 -0.06929043
+v 0.03620435 -0.05160029 -0.07356026
+v 0.00920864 -0.05698897 -0.07863633
+v 0.03622551 -0.05562699 -0.07702573
+v 0.00920864 -0.05692890 -0.07872921
+v 0.03622551 -0.05160661 -0.07357512
+v 0.03620435 -0.05316069 -0.07702480
+v 0.03622551 -0.05317096 -0.07702573
+f 1 2 8
+f 1 8 15
+f 1 15 21
+f 1 21 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 5 4
+f 3 12 13
+f 3 13 6
+f 3 6 14
+f 3 14 5
+f 5 14 6
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+f 7 20 24
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+f 9 17 10
+f 10 16 11
+f 12 19 13
+f 13 19 21
+f 13 21 20
+f 15 18 22
+f 15 22 23
+f 15 23 24
+f 15 24 21
+f 17 22 18
+f 20 21 24
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_91.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba28cd4bc64d2879f373948ac78eaa97bf17965
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_91.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.11872663 0.00223995 -0.06878880
+v -0.10680041 0.00790391 -0.07844519
+v -0.11089407 0.00790391 -0.07935304
+v -0.11872663 0.00346147 -0.07255943
+v -0.11872663 0.00015863 -0.06884411
+v -0.09302235 0.00015863 -0.06929041
+v -0.09302235 0.00209133 -0.06929040
+v -0.10337602 0.00790392 -0.08076059
+v -0.11189546 0.00790393 -0.08357569
+v -0.11872663 0.00362675 -0.07356073
+v -0.11872663 0.00015867 -0.07759077
+v -0.09302235 0.00015866 -0.07723030
+v -0.09302235 0.00324613 -0.07356073
+v -0.10345151 0.00790393 -0.08446447
+v -0.11185773 0.00790393 -0.08446447
+v -0.11872663 0.00224073 -0.07696518
+v -0.11092427 0.00790394 -0.08760381
+v -0.11073304 0.00790394 -0.08811876
+v -0.11070536 0.00015870 -0.08807492
+v -0.11872663 0.00192684 -0.07759076
+v -0.09302235 0.00162961 -0.07723029
+v -0.10393963 0.00015870 -0.08731202
+v -0.10391446 0.00790394 -0.08734252
+v -0.10680041 0.00790394 -0.08827135
+v -0.10680041 0.00015870 -0.08819509
+v -0.10521024 0.00015870 -0.08770682
+v -0.10639280 0.00790394 -0.08814356
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 14
+f 2 14 23
+f 2 23 27
+f 2 27 24
+f 2 24 18
+f 2 18 17
+f 2 17 15
+f 2 15 9
+f 2 9 3
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+f 3 10 4
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+f 5 19 25
+f 5 25 26
+f 5 26 22
+f 5 22 12
+f 5 12 6
+f 6 12 21
+f 6 21 13
+f 6 13 7
+f 7 13 8
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+f 9 15 10
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+f 11 18 19
+f 11 20 18
+f 12 22 23
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+f 13 21 23
+f 13 23 14
+f 16 17 20
+f 17 18 20
+f 18 24 19
+f 19 24 25
+f 22 26 24
+f 22 24 27
+f 22 27 23
+f 24 26 25
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_92.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f194b6f64c52236c0715b0d7dadb70913fac3442
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_92.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00320437 -0.06708020 -0.08359769
+v 0.00658136 -0.06708021 -0.08258964
+v 0.00261961 -0.06708020 -0.08353724
+v 0.00069871 -0.04260356 -0.08260080
+v 0.00320437 -0.04260356 -0.08276952
+v 0.00744851 -0.04260356 -0.08209748
+v 0.00705784 -0.06708021 -0.08243499
+v 0.00069871 -0.06708020 -0.08323497
+v 0.00069871 -0.04260359 -0.07386437
+v 0.00844145 -0.04260357 -0.07972989
+v 0.00920864 -0.05179040 -0.07862205
+v 0.00918865 -0.06708022 -0.07931664
+v 0.00069871 -0.06708024 -0.07300543
+v 0.00320437 -0.04260359 -0.07347211
+v 0.00069871 -0.05263628 -0.06923607
+v 0.00861055 -0.04260357 -0.07901147
+v 0.00920864 -0.05053724 -0.07372380
+v 0.00920864 -0.05692774 -0.07872892
+v 0.00913617 -0.06708022 -0.07872615
+v 0.00920864 -0.05698764 -0.07863613
+v 0.00920864 -0.05861225 -0.07337094
+v 0.00920864 -0.05851401 -0.07305881
+v 0.00920864 -0.05638626 -0.06924032
+v 0.00287200 -0.06708024 -0.07252883
+v 0.00069871 -0.05644615 -0.06923609
+v 0.00663467 -0.04260359 -0.07417086
+v 0.00320437 -0.05263389 -0.06923467
+v 0.00920864 -0.05265546 -0.06924030
+v 0.00779171 -0.04260359 -0.07451812
+v 0.00852308 -0.06708024 -0.07381384
+v 0.00320437 -0.05639344 -0.06923469
+v 0.00320437 -0.06708024 -0.07252883
+f 1 2 7
+f 1 7 12
+f 1 12 19
+f 1 19 30
+f 1 30 32
+f 1 32 24
+f 1 24 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 14
+f 4 14 26
+f 4 26 29
+f 4 29 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 4 8 13
+f 4 13 25
+f 4 25 15
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+f 16 28 17
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+f 23 28 27
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+f 23 31 25
+f 23 25 32
+f 23 32 30
+f 24 32 25
+f 26 28 29
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_93.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de7fb2cfd90cb56d53b0be425c4dbb01c05ade1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_93.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00285185 -0.04297886 -0.07901241
+v -0.02180282 -0.05061564 -0.07351554
+v -0.00259195 -0.04297886 -0.07792721
+v -0.00135190 -0.04297885 -0.08245265
+v -0.02180282 -0.05197674 -0.07842100
+v -0.02180282 -0.05248959 -0.06921491
+v -0.00164263 -0.04297888 -0.07434513
+v 0.00035070 -0.04297885 -0.08257040
+v 0.00069871 -0.06245011 -0.08288091
+v -0.00060522 -0.06245011 -0.08274709
+v -0.02180282 -0.05671588 -0.07847186
+v -0.02180282 -0.05648525 -0.06921493
+v -0.01879631 -0.05253724 -0.06921357
+v 0.00069871 -0.05263637 -0.06923498
+v 0.00069871 -0.04297888 -0.07399188
+v 0.00069871 -0.04297885 -0.08259315
+v 0.00069871 -0.06245202 -0.08288091
+v -0.00060742 -0.06245202 -0.08274576
+v -0.02180282 -0.05735832 -0.07741879
+v -0.01879631 -0.05650622 -0.06921359
+v -0.02180282 -0.05784064 -0.07151244
+v 0.00069871 -0.06245205 -0.07414716
+v 0.00069871 -0.05644713 -0.06923500
+v -0.00216464 -0.06245203 -0.07901248
+v -0.02180282 -0.05851357 -0.07339648
+v -0.01329647 -0.05653101 -0.06922296
+v -0.00110521 -0.06245205 -0.07469043
+v -0.00229680 -0.05651004 -0.06923634
+v -0.00779884 -0.05653672 -0.06923500
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+f 2 7 3
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+f 24 27 25
+f 26 29 28
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_94.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d00d94e992c05fb61e659022acc1dbd3368543f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_94.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.11872663 0.03604253 -0.06869421
+v -0.11872663 0.03848376 -0.06969688
+v -0.11872663 0.03244217 -0.06933811
+v -0.10680041 0.03221274 -0.06941956
+v -0.09302235 0.03220975 -0.06960769
+v -0.09302235 0.03604253 -0.06939046
+v -0.11872663 0.03923952 -0.07003046
+v -0.09302235 0.03750007 -0.07000524
+v -0.09302235 0.03892762 -0.07061616
+v -0.11872663 0.03220826 -0.07356021
+v -0.11194831 0.02964859 -0.07844754
+v -0.10680041 0.02964857 -0.07478593
+v -0.10680041 0.03013442 -0.07356022
+v -0.10432961 0.02964858 -0.07584097
+v -0.09302235 0.03191734 -0.07156649
+v -0.10680041 0.04496773 -0.07711122
+v -0.11171683 0.04496774 -0.07872869
+v -0.11872663 0.04005078 -0.07272235
+v -0.09302235 0.03960991 -0.07210369
+v -0.10218089 0.04496774 -0.07888773
+v -0.11872663 0.03304050 -0.07665745
+v -0.11077330 0.02964862 -0.08826291
+v -0.11180993 0.02964861 -0.08446359
+v -0.10177579 0.02964859 -0.07927567
+v -0.09302235 0.03162195 -0.07356021
+v -0.11193824 0.04496775 -0.08227394
+v -0.11872663 0.04013925 -0.07356018
+v -0.09302235 0.04024571 -0.07356018
+v -0.09302235 0.04093852 -0.07901187
+v -0.10241488 0.04496776 -0.08437821
+v -0.11872663 0.03604257 -0.07787539
+v -0.11077330 0.03057083 -0.08826873
+v -0.10680041 0.02964863 -0.08848400
+v -0.10190663 0.02964859 -0.08024538
+v -0.09302235 0.03216329 -0.07548605
+v -0.10295584 0.02964861 -0.08495815
+v -0.10386413 0.02964862 -0.08741151
+v -0.11186024 0.04496776 -0.08446353
+v -0.11872663 0.03985135 -0.07689791
+v -0.09302235 0.03962044 -0.08233796
+v -0.10389937 0.04496777 -0.08735521
+v -0.11074562 0.04151286 -0.08831523
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+v -0.11872663 0.03970590 -0.07750495
+v -0.11073808 0.04496777 -0.08832491
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+v -0.10630726 0.02964862 -0.08830752
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+v -0.09302235 0.03617003 -0.08123446
+v -0.09302235 0.03481596 -0.08013093
+v -0.09302235 0.03370630 -0.07875202
+v -0.11123374 0.04496777 -0.08690526
+v -0.10384402 0.03604260 -0.08739985
+v -0.10572353 0.04496777 -0.08807472
+v -0.10928378 0.04496777 -0.08839085
+v -0.10680041 0.03604261 -0.08850337
+v -0.10680041 0.04496778 -0.08848976
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+f 29 40 41
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+f 31 43 32
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+f 40 55 41
+f 41 55 56
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+f 44 54 45
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+f 45 58 46
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+f 47 58 49
+f 49 58 55
+f 55 58 59
+f 55 59 56
+f 57 59 58
+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_95.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af7d1622a597439ddb992bfac2e2633aed68479
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_95.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03138428 0.02731434 -0.07925850
+v -0.06249014 0.02246175 -0.07137399
+v -0.06249014 0.02246175 -0.07074923
+v -0.03045284 0.02731433 -0.07569905
+v -0.02886494 0.02731435 -0.08271621
+v -0.06249014 0.02153356 -0.07409999
+v -0.06249014 0.01962425 -0.06955710
+v -0.02980082 0.02272617 -0.07049358
+v -0.02992946 0.02731432 -0.07371129
+v -0.02572464 0.02731435 -0.08271621
+v -0.02886051 0.02509687 -0.08272274
+v -0.02888269 0.01962429 -0.08273842
+v -0.06249014 0.01879818 -0.07689643
+v -0.06249014 0.02138037 -0.07426302
+v -0.06249014 0.01564519 -0.06964189
+v -0.04079632 0.01962425 -0.06946971
+v -0.02430086 0.02272799 -0.07048054
+v -0.02439844 0.02731432 -0.07371129
+v -0.02477545 0.02731435 -0.08124235
+v -0.01717751 0.02266783 -0.07659643
+v -0.01717751 0.01962427 -0.07730729
+v -0.02564480 0.00868460 -0.08276715
+v -0.02568029 0.01415536 -0.08275409
+v -0.02575569 0.02509687 -0.08272274
+v -0.02887382 0.01415536 -0.08275409
+v -0.02889599 0.00868460 -0.08276715
+v -0.06249014 0.01616128 -0.07689644
+v -0.05729623 0.01563789 -0.06963015
+v -0.06249014 0.01491394 -0.07356003
+v -0.02889156 0.00868458 -0.07518261
+v -0.02430086 0.01962425 -0.06944232
+v -0.01880089 0.01962425 -0.06944884
+v -0.01717751 0.01962425 -0.06945145
+v -0.01717751 0.02052328 -0.06975404
+v -0.01717751 0.02268605 -0.07048314
+v -0.02333393 0.02731434 -0.07889068
+v -0.01717751 0.02299242 -0.07356000
+v -0.01717751 0.01865960 -0.07730337
+v -0.02442949 0.00868459 -0.07901206
+v -0.01717751 0.01616858 -0.07699557
+v -0.03073671 0.00868459 -0.07901336
+v -0.06249014 0.01609016 -0.07670992
+v -0.05179626 0.01565613 -0.06963797
+v -0.02583553 0.00868458 -0.07518000
+v -0.01717751 0.01606644 -0.06980102
+v -0.04629629 0.01571266 -0.06965755
+v -0.01717751 0.01592786 -0.07604734
+v -0.01717751 0.01534248 -0.07356002
+v -0.01717751 0.01550296 -0.07245397
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+f 43 44 46
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_96.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d5693a75639b613d78697d2e4b2dbcf4dc4eef7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_96.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_97.obj b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe902e5e4cb3ce8ff2b6e055b781ae602d02ce0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/gray_basket_collision_97.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03200962 -0.04297886 -0.07903226
+v -0.03093671 -0.04297885 -0.08127974
+v -0.05394292 -0.05137055 -0.07355996
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+v -0.02180597 -0.05735832 -0.07741854
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+
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f51a8e2182dcc0d481c4d87760a27c84b6494bbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35302e06015ae928d1d9dff03434aff27dc0f7111195dd2b39a6211af396f1be
+size 4815486
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/textures/material_0.png b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f51a8e2182dcc0d481c4d87760a27c84b6494bbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35302e06015ae928d1d9dff03434aff27dc0f7111195dd2b39a6211af396f1be
+size 4815486
diff --git a/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/video.mp4 b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8eacf90747723e4e5b34f90396065d59feb3193
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29060ca462120ea652a64db024fc4aae3553a2452664ddf92d981036cb710fcc
+size 1312359