diff --git a/.gitattributes b/.gitattributes
index 10d2a9e5027ceffb83260b0f289555a44dedc256..447b2d0cccb6c75ac7e186dbc46fb250f3ff41b8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2865,5 +2865,5 @@ dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_0
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/phone_stand_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.urdf b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90ffd232d0aa8883c03c4b29c1fa465b3fa02f3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_016">
+   <link name="jewelry_box_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_016.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>fe3328748fc950b1b5fe6ba021e80dac</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>clear jewelry box</name>
+         <color>transparent,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>transparent rectangular jewelry box with hinged lid and small latch</description>
+         <min_height>0.1671</min_height>
+         <max_height>0.1671</max_height>
+         <real_height>0.1671</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170526</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053616 -0.060621 -0.092681</min>
+            <max>0.053603 0.059379 0.074465</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Misses the knob as a separate functional part; visible colors otherwise reasonable.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.usd b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e1cc7a850be5499a504139702aa9bb7e927aa858
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d31a57334aaf64d46210e914f7cd37d3131b682bd04fb98201dde49ba29de941
+size 5618794
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.glb b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..246dbf35d569b24406c29f96e8a2de4c53c975b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5570195f11d42cfa583def8e8e73d873abe28a00764c83e19b24b4405fd9664a
+size 12308724
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.mtl b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2a886df699729b5cb90b0a6872741a95a443471
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_016_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1706fd87a4ecbde47d61f85f607aacec1cdfdcf8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.obj
@@ -0,0 +1,154705 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_collision.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915766aba0eb743f9cf014e8d30626f3a9e66612
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_collision.obj
@@ -0,0 +1,5985 @@
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24868a236c9e53261e56d82ffbac502e758f767d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5998070125ef323d403af0b0b98ab6e423d869dc19e4082fa71674fa096afc
+size 8475678
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material.mtl b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..51eefe05f7637568480dca6c81d5995712134125
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material_0.png b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24868a236c9e53261e56d82ffbac502e758f767d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5998070125ef323d403af0b0b98ab6e423d869dc19e4082fa71674fa096afc
+size 8475678
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/jewelry_box_016.xml b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/jewelry_box_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..80a2856982a1295441d31dd2e7cf225d8a102e85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/jewelry_box_016.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_016">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_016_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/jewelry_box_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/jewelry_box_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/jewelry_box_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/jewelry_box_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/jewelry_box_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/jewelry_box_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/jewelry_box_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/jewelry_box_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407bbf9e53fc5a0a1806eabe8b15d3898befaaa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016.obj
@@ -0,0 +1,154705 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_016_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d61ea17105eb6763f15eb4b63307c37a70e89f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision.obj
@@ -0,0 +1,5985 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_0.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a60287ce6a9f43bbe571434d4073a91ac67b07b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_1.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ec4dcc8301d6a2a138ef6f892ddd9e7504bf20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_1.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.05116885 0.00495702 0.02686809
+v -0.05116885 0.00708733 0.02686810
+v -0.05116481 -0.01415270 0.02686802
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_10.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2573351f45d2fbaa774a3faeaef6b22607454c5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03725312 0.04195695 -0.07959376
+v 0.05291817 0.04195695 -0.07959376
+v 0.04318346 0.04195699 -0.08984093
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+v 0.04324650 0.00708773 -0.08068373
+v 0.05296387 0.00708772 -0.07959388
+v 0.05306789 0.02532788 -0.08736029
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_11.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3677d7ee53645d9d94a4a316fb73722adf3e22c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.04795259 -0.04292637 0.06583358
+v 0.05015622 -0.04292637 0.06554748
+v 0.05016346 -0.04019442 0.06554749
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+v 0.01690994 -0.01677601 0.06476560
+v 0.01690994 -0.05299371 0.06553219
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+v 0.04521343 -0.05111838 0.06579921
+v 0.04795259 -0.04838642 0.06582211
+v 0.05009471 -0.04838642 0.06553220
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_12.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e6c9d8455dc873b3888eb8348f25166d76497a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_13.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6685400103d5830805cb23265cf54c0d2a65863e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+f 8 13 12
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+f 9 24 14
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+f 12 27 21
+f 14 24 28
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+f 14 29 30
+f 14 30 15
+f 15 17 16
+f 15 30 17
+f 17 30 31
+f 21 27 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 22 27 40
+f 22 40 41
+f 22 41 42
+f 22 42 33
+f 23 39 28
+f 23 28 24
+f 28 43 44
+f 28 44 29
+f 28 39 45
+f 28 45 43
+f 29 44 30
+f 30 44 46
+f 30 46 31
+f 31 46 47
+f 32 49 65
+f 32 65 80
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+f 37 52 38
+f 38 45 39
+f 38 52 45
+f 42 53 50
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+f 44 55 46
+f 45 52 56
+f 45 56 54
+f 46 55 47
+f 47 55 57
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 62
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+f 49 64 65
+f 50 63 51
+f 50 53 63
+f 51 66 52
+f 51 63 66
+f 52 66 67
+f 52 67 68
+f 52 68 56
+f 54 69 58
+f 54 58 57
+f 54 57 55
+f 54 56 69
+f 56 68 69
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 59 71 72
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 61 76 62
+f 61 75 76
+f 63 77 66
+f 64 78 65
+f 65 78 79
+f 65 79 80
+f 66 77 81
+f 66 81 82
+f 66 82 67
+f 67 82 71
+f 67 71 70
+f 67 70 69
+f 67 69 68
+f 71 82 72
+f 72 82 83
+f 72 83 84
+f 72 84 73
+f 75 85 76
+f 76 85 80
+f 76 80 79
+f 81 86 82
+f 82 86 83
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_14.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc0b4b21fc771d4792149ac2879d0f34d4e8b0ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_14.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03724718 0.04195695 -0.07958963
+v 0.05291753 0.04195695 -0.07958963
+v 0.03918161 0.00708772 -0.07958975
+v -0.02295243 0.04195695 -0.07953594
+v 0.05307498 0.04195695 -0.07928811
+v 0.05335240 0.01713958 -0.07958972
+v 0.05296252 0.00708772 -0.07958975
+v -0.02295243 0.00708772 -0.07932954
+v -0.02295243 0.04195680 -0.03739737
+v 0.05315746 0.04195695 -0.07911050
+v 0.05346486 0.01713958 -0.07911059
+v 0.05326992 0.00708772 -0.07911062
+v -0.02295243 0.00708757 -0.03739749
+v 0.05096811 0.04195680 -0.03739737
+v 0.05355484 0.04195694 -0.07660747
+v 0.05359233 0.04195694 -0.07635964
+v 0.05362232 0.03897722 -0.07635965
+v 0.05363732 0.03624666 -0.07635966
+v 0.05364481 0.01987013 -0.07635972
+v 0.05363732 0.00708771 -0.07635976
+v 0.05101309 0.00708757 -0.03739749
+v 0.05100560 0.01986999 -0.03739745
+v 0.05101309 0.01167832 -0.03739748
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 20
+f 3 20 21
+f 3 21 13
+f 3 13 8
+f 3 8 4
+f 4 8 13
+f 4 13 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 11
+f 9 13 21
+f 9 21 23
+f 9 23 22
+f 9 22 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 14 22 18
+f 14 18 17
+f 14 17 16
+f 18 22 23
+f 18 23 19
+f 19 21 20
+f 19 23 21
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_15.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e411b47caf5031e321d901917adf848fbdb17dd2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03693602 0.00708733 0.02685388
+v -0.03431096 0.00708733 0.02685388
+v 0.03693602 -0.03594314 0.02685372
+v 0.03693602 0.00708772 -0.07933173
+v -0.03431096 -0.03594314 0.02685372
+v -0.03431096 0.00708772 -0.07933173
+v 0.03693602 -0.03594275 -0.07933189
+v -0.03431096 -0.03594275 -0.07933189
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_16.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e753b88c09d9c08665c20d9df44ea435d30c43c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01690994 -0.01677601 0.06476653
+v 0.01690994 -0.05111726 0.06581882
+v 0.01690994 -0.01677587 0.02686801
+v 0.00410019 -0.01677601 0.06504489
+v 0.01690994 -0.05299301 0.06552902
+v 0.00136333 -0.01677601 0.06505633
+v -0.02297559 -0.05111726 0.06581882
+v 0.01690994 -0.04565164 0.02686408
+v -0.02297559 -0.01677587 0.02686801
+v 0.01690994 -0.05435649 0.06420205
+v -0.01781811 -0.05299301 0.06552902
+v -0.02297559 -0.05435649 0.06420587
+v -0.00143209 -0.01677601 0.06502582
+v -0.02297559 -0.01677601 0.06476653
+v -0.02297559 -0.05299301 0.06552521
+v 0.01690994 -0.05329715 0.02686405
+v -0.02297559 -0.04565164 0.02686408
+v 0.01690994 -0.05535791 0.06282552
+v -0.02297559 -0.05524236 0.06299329
+v 0.01232639 -0.05535791 0.06282933
+v 0.01690994 -0.05608964 0.04188389
+v 0.01039770 -0.05612428 0.03242738
+v 0.00932404 -0.05612428 0.03143978
+v 0.00684486 -0.05612427 0.03064284
+v 0.00410019 -0.05612427 0.03052082
+v 0.00684486 -0.05345892 0.02686405
+v -0.02297559 -0.05329715 0.02686405
+v 0.01690994 -0.05551582 0.06112487
+v 0.00681363 -0.05612437 0.05740707
+v 0.00864861 -0.05612437 0.05738419
+v -0.02297559 -0.05535791 0.06282933
+v -0.00495760 -0.05612437 0.05741089
+v 0.01690994 -0.05577001 0.05562636
+v 0.01393493 -0.05612436 0.05449386
+v 0.01422384 -0.05612435 0.05195051
+v 0.01505153 -0.05612431 0.04188389
+v 0.01147917 -0.05612429 0.03409370
+v -0.00200211 -0.05612427 0.03052082
+v 0.00283913 -0.05348588 0.02686405
+v 0.00410019 -0.05348203 0.02686405
+v -0.02297559 -0.05608194 0.04188389
+v -0.00537535 -0.05348203 0.02686405
+v -0.00411429 -0.05612427 0.03052463
+v -0.00472335 -0.05612427 0.03054370
+v -0.00685115 -0.05612427 0.03066572
+v -0.00745240 -0.05612427 0.03082968
+v -0.00927177 -0.05612428 0.03146266
+v 0.01055387 -0.05612437 0.05659869
+v 0.01690994 -0.05565832 0.05837562
+v -0.02297559 -0.05551967 0.06112487
+v -0.00681211 -0.05612437 0.05740707
+v -0.00138134 -0.05348588 0.02686405
+v -0.01506563 -0.05612431 0.04190296
+v -0.01424575 -0.05612434 0.05012784
+v -0.01389827 -0.05612435 0.05277033
+v -0.02297559 -0.05580852 0.05562636
+v -0.01086860 -0.05612428 0.03309085
+v -0.01146204 -0.05612429 0.03418522
+v -0.01506563 -0.05612431 0.04188389
+v -0.02297559 -0.05567372 0.05837562
+v -0.00959191 -0.05612437 0.05660250
+v -0.01225459 -0.05612436 0.05472264
+v -0.02297559 -0.05579313 0.05595429
+v -0.01097791 -0.05612436 0.05562635
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 49
+f 1 49 33
+f 1 33 21
+f 1 21 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 5
+f 3 8 17
+f 3 17 9
+f 5 11 12
+f 5 12 10
+f 6 13 7
+f 7 14 9
+f 7 9 17
+f 7 17 27
+f 7 27 41
+f 7 41 56
+f 7 56 63
+f 7 63 60
+f 7 60 50
+f 7 50 31
+f 7 31 19
+f 7 19 12
+f 7 12 15
+f 7 15 11
+f 7 13 14
+f 8 16 26
+f 8 26 40
+f 8 40 39
+f 8 39 52
+f 8 52 42
+f 8 42 27
+f 8 27 17
+f 10 12 19
+f 10 19 20
+f 10 20 18
+f 11 15 12
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 18 20 29
+f 18 29 30
+f 18 30 28
+f 19 31 20
+f 20 31 32
+f 20 32 29
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 36
+f 22 36 35
+f 22 35 34
+f 22 34 48
+f 22 48 30
+f 22 30 29
+f 22 29 32
+f 22 32 51
+f 22 51 61
+f 22 61 64
+f 22 64 62
+f 22 62 55
+f 22 55 54
+f 22 54 53
+f 22 53 59
+f 22 59 58
+f 22 58 57
+f 22 57 47
+f 22 47 46
+f 22 46 45
+f 22 45 44
+f 22 44 43
+f 22 43 38
+f 22 38 25
+f 22 25 24
+f 22 24 23
+f 25 38 52
+f 25 52 39
+f 25 39 40
+f 25 40 26
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 41
+f 28 30 48
+f 28 48 34
+f 28 34 49
+f 31 50 51
+f 31 51 32
+f 33 49 34
+f 38 43 42
+f 38 42 52
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 47 57
+f 41 57 58
+f 41 58 59
+f 41 59 53
+f 50 60 61
+f 50 61 51
+f 55 62 56
+f 56 62 64
+f 56 64 61
+f 56 61 63
+f 60 63 61
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_17.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfca9fbb348794db1f3e472a8574896d116f04b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_17.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.05168718 -0.02654566 -0.07136198
+v 0.05168718 -0.02927508 -0.07137290
+v 0.05364376 -0.03594276 -0.07636165
+v 0.05364529 -0.03473390 -0.07636165
+v 0.05364567 -0.03200448 -0.07636164
+v 0.05364586 -0.02927506 -0.07636163
+v 0.05364586 -0.02654564 -0.07636162
+v 0.05364376 0.00708771 -0.07636149
+v 0.05168718 0.00704135 -0.07141341
+v 0.05168718 -0.03200450 -0.07140265
+v 0.05168718 -0.03473392 -0.07144232
+v 0.05168718 -0.03594278 -0.07153055
+v 0.05338471 -0.03594275 -0.07789635
+v 0.05349381 -0.01835316 -0.07911076
+v 0.05349937 -0.01562374 -0.07911075
+v 0.05327100 0.00708772 -0.07911066
+v 0.05168718 0.00708769 -0.07141439
+v 0.05168718 -0.03594274 -0.08149018
+v 0.05317935 -0.03594275 -0.07911082
+v 0.05287332 -0.01835315 -0.08149012
+v 0.05228946 0.00708773 -0.08066121
+v 0.05168718 0.00708773 -0.08079703
+v 0.05212992 -0.03594274 -0.08149018
+v 0.05168718 -0.01294065 -0.08149010
+v 0.05273354 -0.01553528 -0.08149011
+v 0.05178478 0.00708773 -0.08077522
+v 0.05249712 -0.01410739 -0.08149010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 17
+f 1 17 22
+f 1 22 24
+f 1 24 18
+f 1 18 12
+f 1 12 11
+f 1 11 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 18
+f 3 18 23
+f 3 23 19
+f 3 19 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 6
+f 6 15 7
+f 7 15 8
+f 8 16 21
+f 8 21 26
+f 8 26 22
+f 8 22 17
+f 8 17 9
+f 8 15 16
+f 13 19 14
+f 14 20 15
+f 14 19 20
+f 15 20 16
+f 16 20 21
+f 18 24 27
+f 18 27 25
+f 18 25 20
+f 18 20 23
+f 19 23 20
+f 20 25 21
+f 21 25 27
+f 21 27 26
+f 22 26 27
+f 22 27 24
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_18.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34600d0e683de5bc5fd74881270f0510db676d2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04173661 -0.03594274 -0.08123368
+v 0.04173517 -0.02654562 -0.08123365
+v 0.05168573 -0.03594274 -0.08123368
+v 0.03693746 -0.03594275 -0.07932906
+v 0.03693746 -0.01290275 -0.07933956
+v 0.04173517 -0.02270000 -0.08123363
+v 0.05168573 -0.01215720 -0.08123359
+v 0.05168573 -0.03594278 -0.07152011
+v 0.03693746 -0.03594314 0.02686412
+v 0.03693746 -0.01284378 -0.07933956
+v 0.04173661 -0.02108257 -0.08123363
+v 0.05066498 -0.01051029 -0.08123359
+v 0.04795355 0.00708773 -0.08117003
+v 0.04982037 0.00708773 -0.08106422
+v 0.05069386 0.00708773 -0.08101131
+v 0.05168573 0.00708773 -0.08078911
+v 0.05168573 -0.03473392 -0.07143547
+v 0.05162076 -0.03473396 -0.05985961
+v 0.05110389 -0.03473428 0.02686412
+v 0.05161499 -0.03594282 -0.05985961
+v 0.05108801 -0.03594314 0.02686412
+v 0.03693746 0.00708733 0.02686428
+v 0.03693746 0.00708772 -0.07932890
+v 0.04173805 -0.01996637 -0.08123362
+v 0.04795355 -0.01019859 -0.08123359
+v 0.04524934 -0.01057347 -0.08123359
+v 0.04396437 -0.01115894 -0.08123359
+v 0.04220295 -0.01429693 -0.08123360
+v 0.04521324 0.00708773 -0.08101131
+v 0.05168573 0.00708769 -0.07140356
+v 0.05168573 -0.03200450 -0.07139313
+v 0.05162221 -0.02927512 -0.05985959
+v 0.05112555 -0.02108297 0.02686417
+v 0.05112410 -0.02255298 0.02686417
+v 0.05111833 -0.02801603 0.02686415
+v 0.05111688 -0.02927544 0.02686414
+v 0.05111255 -0.03200486 0.02686413
+v 0.05110822 -0.03347066 0.02686413
+v 0.05112266 0.00708733 0.02686428
+v 0.04324681 0.00708773 -0.08067272
+v 0.04176981 -0.01725802 -0.08123361
+v 0.04174094 -0.01835315 -0.08123362
+v 0.05168573 -0.02654566 -0.07135078
+v 0.05162221 0.00708765 -0.05985945
+v 0.05168573 -0.02927508 -0.07136138
+v 0.05112555 -0.01982356 0.02686418
+f 1 2 6
+f 1 6 11
+f 1 11 24
+f 1 24 42
+f 1 42 41
+f 1 41 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 21
+f 1 21 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 16
+f 3 16 30
+f 3 30 43
+f 3 43 45
+f 3 45 31
+f 3 31 17
+f 3 17 8
+f 4 9 22
+f 4 22 23
+f 4 23 10
+f 4 10 5
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 19
+f 9 19 38
+f 9 38 37
+f 9 37 36
+f 9 36 35
+f 9 35 34
+f 9 34 33
+f 9 33 46
+f 9 46 39
+f 9 39 22
+f 10 23 24
+f 10 24 11
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 40
+f 13 40 23
+f 13 23 22
+f 13 22 39
+f 13 39 44
+f 13 44 30
+f 13 30 16
+f 13 16 15
+f 13 15 14
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 21 20
+f 23 40 28
+f 23 28 41
+f 23 41 42
+f 23 42 24
+f 28 40 29
+f 30 44 43
+f 31 45 32
+f 32 45 43
+f 32 43 44
+f 32 44 46
+f 32 46 33
+f 39 46 44
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_19.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f480feab572c876d438a11637741a6571a50463b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_2.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252faa669d9a67498717ce85e8c33b064896a803
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_2.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_20.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14d7eda5dc97c78aebb6382215ea7d9fe0d366d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_21.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fdd92202abf2edda10acb4bf072d5264378eb46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_21.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.04795426 -0.05603164 -0.02136304
+v 0.04577820 -0.05581531 -0.02411479
+v 0.04578162 -0.05581527 -0.03511381
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+v 0.04958544 -0.05542789 -0.02411478
+v 0.04958716 -0.05542988 -0.01585955
+v 0.04795426 -0.05603168 -0.01037198
+v 0.04577820 -0.05581532 -0.02136304
+v 0.03602191 -0.05339433 -0.05438395
+v 0.04577991 -0.05581325 -0.04885662
+v 0.04578334 -0.05581126 -0.05438396
+v 0.04957688 -0.05541991 -0.05438395
+v 0.05095619 -0.05410831 -0.02411478
+v 0.04958716 -0.05541008 -0.05438395
+v 0.05095790 -0.05410834 -0.01585955
+v 0.04958716 -0.05542989 -0.01311576
+v 0.04795426 -0.05602780 0.00337879
+v 0.04577991 -0.05581156 0.02686404
+v 0.04577991 -0.05581348 0.01437781
+v 0.04577991 -0.05581540 0.00062705
+v 0.03602191 -0.03594284 -0.05438388
+v 0.03602191 -0.05314094 0.02686405
+v 0.05228068 -0.05274349 -0.02685856
+v 0.05094591 -0.05410034 -0.05438395
+v 0.05227553 -0.05273553 -0.05438394
+v 0.05228068 -0.05274351 -0.02136302
+v 0.05228068 -0.05274171 0.02537685
+v 0.05094762 -0.05410651 0.02262509
+v 0.04957859 -0.05542215 0.01988131
+v 0.04795426 -0.05602000 0.02262508
+v 0.04795426 -0.05601806 0.02686404
+v 0.05097675 -0.03594284 -0.05438388
+v 0.03602191 -0.03594314 0.02686412
+v 0.05332758 -0.05111712 -0.02685856
+v 0.05333101 -0.05111731 0.02537685
+v 0.05228410 -0.05272373 -0.05438394
+v 0.05332244 -0.05111702 -0.05438394
+v 0.05333101 -0.05111732 0.02686406
+v 0.05276386 -0.05199246 0.02686406
+v 0.05227896 -0.05273976 0.02686406
+v 0.05166555 -0.05336907 0.02686405
+v 0.05094591 -0.05410652 0.02537684
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+v 0.05108813 -0.03594314 0.02686412
+v 0.05332416 -0.05109539 -0.05438394
+v 0.05352292 -0.04838757 -0.00762020
+v 0.05342011 -0.04985871 0.02686407
+v 0.05094591 -0.05410457 0.02686405
+v 0.05106414 -0.03594300 -0.01190683
+v 0.05106756 -0.03594301 -0.00915508
+v 0.05106928 -0.03594301 -0.00762015
+v 0.05107784 -0.03594305 0.00184394
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+v 0.05108813 -0.03594310 0.01559470
+v 0.05108984 -0.03594311 0.01834645
+v 0.05352292 -0.04838770 0.02686407
+v 0.05108984 -0.03594313 0.02384198
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 18
+f 1 18 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 13
+f 4 13 5
+f 5 13 11
+f 5 11 23
+f 5 23 34
+f 5 34 46
+f 5 46 49
+f 5 49 39
+f 5 39 38
+f 5 38 27
+f 5 27 26
+f 5 26 16
+f 5 16 14
+f 5 14 6
+f 6 14 7
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+f 23 47 34
+f 25 36 37
+f 25 37 40
+f 25 40 28
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+f 25 38 39
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+f 28 40 29
+f 29 40 41
+f 29 41 42
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+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 34 47 46
+f 36 39 49
+f 36 49 46
+f 36 46 50
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+f 37 50 51
+f 37 51 40
+f 43 52 44
+f 44 52 45
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+f 46 53 54
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+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 50
+f 48 60 61
+f 50 59 61
+f 50 61 60
+f 50 60 51
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_22.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98165f308a9367955e434d46c58e4fecefa33910
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_22.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.05164145 -0.03594278 -0.07146233
+v -0.03431096 -0.03594278 -0.07146233
+v -0.05158884 -0.03594282 -0.05985489
+v -0.05164655 -0.03511721 -0.07146233
+v -0.03431096 0.00708769 -0.07146217
+v -0.03431096 -0.03594314 0.02686412
+v -0.05159563 -0.03473396 -0.05985489
+v -0.05111871 -0.03594314 0.02686412
+v -0.05114077 -0.03473428 0.02686412
+v -0.05164824 -0.03473392 -0.07146233
+v -0.05164315 0.00708769 -0.07146217
+v -0.03431096 0.00708733 0.02686428
+v -0.05158884 0.00348633 -0.05985475
+v -0.05164655 -0.00830742 -0.07146223
+v -0.05164824 -0.02654566 -0.07146230
+v -0.05115434 -0.02927544 0.02686414
+v -0.05115774 -0.02654602 0.02686415
+v -0.05115944 -0.02507180 0.02686416
+v -0.05116283 -0.01961296 0.02686418
+v -0.05116453 -0.01562413 0.02686419
+v -0.05116622 -0.01142470 0.02686421
+v -0.05116962 0.00621543 0.02686427
+v -0.05116962 0.00708733 0.02686428
+v -0.05164485 0.00075274 -0.07146220
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 14
+f 1 14 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 5 11 23
+f 5 23 12
+f 6 12 23
+f 6 23 22
+f 6 22 21
+f 6 21 20
+f 6 20 19
+f 6 19 18
+f 6 18 17
+f 6 17 16
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+f 6 9 8
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+f 7 14 15
+f 7 15 10
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+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 13
+f 11 24 13
+f 11 13 23
+f 13 24 14
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_23.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b31adbb40decf0766f7e47804220b0f68f3cca6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_23.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00012649 -0.05507858 -0.08221234
+v 0.00012649 -0.05586589 -0.07905103
+v 0.00012649 -0.04481019 -0.08221230
+v 0.00136675 -0.05507661 -0.08221234
+v 0.00684777 -0.05586589 -0.07902616
+v 0.00410726 -0.05586589 -0.07904171
+v 0.00012649 -0.05599416 -0.07757761
+v 0.02602786 -0.05609873 -0.07635908
+v 0.01506932 -0.05610071 -0.07635908
+v 0.00012649 -0.03594472 -0.07933693
+v 0.00805641 -0.03594472 -0.07934004
+v 0.00410023 -0.04480821 -0.08221230
+v 0.00375240 -0.05507069 -0.08221234
+v 0.00958829 -0.05586589 -0.07900129
+v 0.03150889 -0.05609479 -0.07635908
+v 0.00012649 -0.05609873 -0.07635908
+v 0.00684777 -0.05410393 -0.05711447
+v 0.00012649 -0.05410393 -0.05711447
+v 0.00012649 -0.03594482 -0.05045913
+v 0.03602020 -0.03594472 -0.07934004
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+v 0.00410726 -0.05506872 -0.08221234
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+v 0.02876837 -0.05408814 -0.05711447
+v 0.01232880 -0.05409998 -0.05711447
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+v 0.00064648 -0.05330087 -0.05045920
+v 0.00012649 -0.05329889 -0.05045920
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+v 0.03602020 -0.04480032 -0.08221230
+v 0.00684777 -0.05505293 -0.08221234
+v 0.03389805 -0.05450439 -0.08221234
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+v 0.01197394 -0.05499177 -0.08221234
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+f 8 17 9
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+f 24 26 40
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+f 35 44 40
+f 40 44 41
+f 41 44 45
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+f 44 47 45
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_24.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9446c601dbf2e34e60abf786a102b73a5b90b4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_24.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00012649 -0.03594494 0.02686412
+v -0.04074108 -0.03594494 0.02686412
+v 0.00012649 -0.05348700 0.02686405
+v 0.00012649 -0.03594458 -0.07116901
+v -0.04074108 -0.05347619 0.02686405
+v -0.04074108 -0.03594458 -0.07116901
+v -0.00137764 -0.05348700 0.02686405
+v 0.00012649 -0.05431129 -0.05985534
+v 0.00012649 -0.05433286 -0.07116908
+v -0.04074108 -0.05378556 -0.05985534
+v -0.03426452 -0.05422307 -0.05985534
+v -0.03152428 -0.05426808 -0.05985534
+v -0.02603980 -0.05428429 -0.05985534
+v -0.02055932 -0.05429869 -0.05985534
+v -0.01782308 -0.05430229 -0.05985534
+v -0.01508284 -0.05430589 -0.05985534
+v -0.00960236 -0.05430950 -0.05985534
+v -0.04074108 -0.05382513 -0.07116908
+v -0.00137764 -0.05431129 -0.05985534
+v -0.01234260 -0.05433646 -0.07116908
+v -0.00137764 -0.05433466 -0.07116908
+v -0.03460455 -0.05423564 -0.07116908
+v -0.03426452 -0.05423027 -0.06260941
+v -0.03187631 -0.05430225 -0.07116908
+v -0.03152428 -0.05430585 -0.07116908
+v -0.02913607 -0.05432026 -0.07116908
+v -0.02878004 -0.05432206 -0.07116908
+v -0.02603980 -0.05432746 -0.07116908
+v -0.01543887 -0.05433466 -0.07116908
+v -0.03426452 -0.05425184 -0.07116908
+f 1 2 5
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+f 4 9 21
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+f 4 22 18
+f 4 18 6
+f 5 10 11
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+f 5 15 16
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+f 5 17 7
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+f 8 20 21
+f 8 21 9
+f 10 18 11
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+f 11 24 12
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+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 20
+f 17 20 19
+f 22 30 23
+f 23 30 24
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_25.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e9c086ffdb9ecb196ee01b71e5f307e0acaaeeb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_25.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05390044 -0.04838806 -0.07635936
+v 0.05330711 -0.05111757 -0.08735843
+v 0.05367991 -0.04838802 -0.08735842
+v 0.05368341 -0.04468953 -0.07635934
+v 0.05351714 -0.04838814 -0.05438393
+v 0.05332462 -0.05109722 -0.05438394
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+v 0.05336837 -0.04468948 -0.09010911
+v 0.05198395 -0.04468961 -0.05438391
+v 0.05227624 -0.05273608 -0.05438394
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+v 0.03602194 -0.04468961 -0.05438391
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+v 0.04782017 -0.05567249 -0.09011292
+v 0.04864453 -0.05493551 -0.09103109
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+v 0.04260102 -0.04468948 -0.09022624
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_26.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3054812a66a75edf0a65690a8adf966ebec12e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_26.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.04074109 -0.04312201 -0.08131536
+v -0.04074109 -0.04572742 -0.09019068
+v -0.04074109 -0.05457100 -0.08131540
+v 0.00011912 -0.04425311 -0.08131536
+v 0.03602020 -0.04480155 -0.08221569
+v 0.03602020 -0.04535631 -0.08736059
+v 0.03602020 -0.04608334 -0.09010956
+v -0.04074109 -0.04625940 -0.09112871
+v 0.03602020 -0.04691170 -0.09159259
+v -0.04074109 -0.05584013 -0.08804044
+v -0.01233881 -0.05502319 -0.08131540
+v 0.00011912 -0.05512198 -0.08131540
+v 0.03602020 -0.05445447 -0.08221573
+v -0.04074109 -0.04674577 -0.09161658
+v 0.03602020 -0.04838858 -0.09233983
+v -0.04074109 -0.05597692 -0.09010846
+v -0.03974175 -0.05598072 -0.09010846
+v -0.00959626 -0.05588827 -0.08757772
+v -0.00411117 -0.05511692 -0.08131540
+v -0.00686123 -0.05509285 -0.08131540
+v -0.00959626 -0.05506245 -0.08131540
+v -0.00033922 -0.05512325 -0.08131540
+v 0.01232158 -0.05588827 -0.08759942
+v 0.01506413 -0.05588320 -0.08763484
+v 0.03602020 -0.05584647 -0.08801188
+v -0.04074109 -0.04768434 -0.09209075
+v 0.03602020 -0.05111688 -0.09298423
+v -0.04074109 -0.05012639 -0.09277399
+v -0.04074109 -0.04838985 -0.09236382
+v -0.04074109 -0.05534867 -0.09161204
+v -0.00959626 -0.05604912 -0.09010846
+v -0.03974175 -0.05535120 -0.09161432
+v -0.00686123 -0.05605418 -0.09010846
+v -0.00686123 -0.05589080 -0.08755258
+v -0.00138365 -0.05512451 -0.08131540
+v 0.00684400 -0.05589333 -0.08755143
+v 0.00958654 -0.05589080 -0.08757200
+v 0.01232158 -0.05605039 -0.09010960
+v 0.01506413 -0.05604405 -0.09010960
+v 0.03602020 -0.05598832 -0.09010960
+v 0.03602020 -0.05589839 -0.08876254
+v 0.02876184 -0.05111688 -0.09298538
+v 0.03602020 -0.05384772 -0.09237069
+v 0.02876184 -0.05384772 -0.09237869
+v 0.02054171 -0.05384772 -0.09238554
+v 0.00011912 -0.05384772 -0.09239469
+v -0.04074109 -0.05111688 -0.09298080
+v 0.00011912 -0.05111688 -0.09298766
+v -0.03152162 -0.05111688 -0.09298652
+v -0.03699920 -0.05111688 -0.09298538
+v -0.04074109 -0.05384645 -0.09236155
+v -0.03974175 -0.05384645 -0.09236612
+v -0.03699920 -0.05535500 -0.09161890
+v -0.00411117 -0.05605799 -0.09010846
+v -0.00411117 -0.05589333 -0.08753658
+v -0.00138365 -0.05589460 -0.08752744
+v 0.00136641 -0.05589587 -0.08752972
+v 0.00410145 -0.05589460 -0.08753658
+v 0.00136641 -0.05606179 -0.09010960
+v 0.00684400 -0.05605672 -0.09010960
+v 0.02602680 -0.05536640 -0.09162918
+v 0.03150438 -0.05536006 -0.09162347
+v 0.03602020 -0.05535500 -0.09161775
+v 0.03602020 -0.05576413 -0.09064545
+v 0.02054171 -0.05537020 -0.09163260
+v 0.01506413 -0.05537273 -0.09163490
+v 0.00011912 -0.05537780 -0.09164175
+v -0.00138365 -0.05384645 -0.09239469
+v -0.04074109 -0.05285596 -0.09258891
+v -0.03699920 -0.05384645 -0.09237184
+v -0.00959626 -0.05384645 -0.09239126
+v -0.01508136 -0.05537020 -0.09163490
+v -0.00686123 -0.05537527 -0.09163832
+v 0.00136641 -0.05537780 -0.09164060
+v -0.00411117 -0.05537653 -0.09163946
+v -0.00138365 -0.05537653 -0.09164175
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+f 1 14 26
+f 1 26 29
+f 1 29 28
+f 1 28 47
+f 1 47 69
+f 1 69 51
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+f 1 30 16
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+f 1 10 3
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+f 1 11 21
+f 1 21 20
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+f 1 22 12
+f 1 12 4
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_27.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7752bae2e59ae1f65aad7af78f050252a7b2694e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_27.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.05200489 -0.04468955 -0.07094602
+v 0.03602020 -0.04468955 -0.07094602
+v 0.05161685 -0.03594278 -0.07094599
+v 0.05162311 -0.03594279 -0.06689625
+v 0.05162467 -0.03594280 -0.06536098
+v 0.05162467 -0.03594281 -0.06261306
+v 0.05200019 -0.04468958 -0.06261309
+v 0.03602020 -0.03594278 -0.07094599
+v 0.03602020 -0.04468961 -0.05438391
+v 0.05162154 -0.03594281 -0.06139878
+v 0.05198454 -0.04468961 -0.05438391
+v 0.05199863 -0.04468959 -0.05986355
+v 0.03602020 -0.03594284 -0.05438388
+v 0.05161685 -0.03594282 -0.05986352
+v 0.05097689 -0.03594284 -0.05438388
+v 0.05138527 -0.03594283 -0.05711397
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 11
+f 1 11 9
+f 1 9 2
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+f 2 13 8
+f 3 8 13
+f 3 13 15
+f 3 15 16
+f 3 16 14
+f 3 14 10
+f 3 10 6
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+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 9 11 15
+f 9 15 13
+f 10 14 11
+f 11 14 16
+f 11 16 15
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_28.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e1b532cedce9dc56da1921079df153c3387bb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_28.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00012649 -0.03594278 -0.07116901
+v 0.00012649 -0.05433417 -0.07116908
+v 0.00012649 -0.03594275 -0.07933791
+v -0.04074108 -0.03594278 -0.07116901
+v 0.00012649 -0.05609810 -0.07636044
+v -0.00960236 -0.05433614 -0.07116908
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+v -0.04074108 -0.03594275 -0.08013345
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+v -0.01269863 -0.05433614 -0.07116908
+v 0.00012649 -0.05512337 -0.08131441
+v -0.04074108 -0.04312092 -0.08131437
+v -0.04074108 -0.05540358 -0.07471572
+v -0.03460455 -0.05423551 -0.07116908
+v -0.00137764 -0.05586527 -0.07905791
+v 0.00012649 -0.05586527 -0.07905295
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+v -0.00960236 -0.05506220 -0.08131441
+v -0.00686212 -0.05509377 -0.08131441
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+f 1 13 7
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+f 24 35 25
+f 24 29 28
+f 26 29 30
+f 27 32 28
+f 29 31 36
+f 29 36 37
+f 29 37 30
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_29.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7095c78c6e742fbef883133b0bee898396bfb4e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02295408 0.05605229 -0.09010922
+v -0.02295408 0.05509675 -0.08115338
+v -0.02295408 0.05472645 -0.09205321
+v -0.02330262 0.05472645 -0.09205321
+v -0.02604332 0.05472645 -0.09205206
+v -0.02878403 0.05604873 -0.09010922
+v -0.02295408 0.04423235 -0.08115342
+v -0.03152308 0.05604517 -0.09010922
+v -0.03700449 0.05603567 -0.09010922
+v -0.03974848 0.05602855 -0.09010922
+v -0.02400794 0.05508607 -0.08115338
+v -0.02295408 0.05263144 -0.09279427
+v -0.02330262 0.05263144 -0.09279427
+v -0.02878403 0.05263144 -0.09279198
+v -0.03700449 0.05263144 -0.09278509
+v -0.03152308 0.05472289 -0.09204861
+v -0.02878403 0.05472527 -0.09204976
+v -0.02295408 0.04552975 -0.08939004
+v -0.03974848 0.04392612 -0.08115342
+v -0.03426379 0.05471933 -0.09204517
+v -0.03700449 0.05471458 -0.09204287
+v -0.03974848 0.05470865 -0.09203597
+v -0.03974848 0.05444985 -0.08186112
+v -0.03974683 0.05475964 -0.08115338
+v -0.03770980 0.05481069 -0.08115338
+v -0.03496910 0.05487478 -0.08115338
+v -0.03222840 0.05493651 -0.08115338
+v -0.02948934 0.05499111 -0.08115338
+v -0.02674864 0.05503977 -0.08115338
+v -0.02295408 0.05228247 -0.09280691
+v -0.03974848 0.04990139 -0.09288964
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+v -0.03974519 0.04543598 -0.08942680
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+v -0.02295408 0.04990139 -0.09289080
+v -0.02330262 0.04990139 -0.09289080
+v -0.03700449 0.04762240 -0.09214745
+v -0.03974848 0.04762358 -0.09214630
+v -0.02878403 0.04762240 -0.09214860
+v -0.02295408 0.04625618 -0.09076415
+v -0.03974848 0.04543598 -0.08942680
+v -0.03974519 0.04625855 -0.09080092
+v -0.02295408 0.04762121 -0.09214860
+v -0.03974848 0.04625974 -0.09080207
+f 1 2 7
+f 1 7 18
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+f 1 42 45
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+f 1 6 2
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+f 16 21 20
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+f 18 35 33
+f 21 32 22
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_3.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f16d50f6fa445ae5df93be397960d325bce1580
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05116263 0.00708757 -0.03739749
+v -0.03903843 0.00708757 -0.03739749
+v -0.05116548 0.00708757 -0.03698606
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+v -0.03903843 0.05326849 -0.03739732
+v -0.03903843 0.00708730 0.03634111
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+v -0.05279432 0.05218448 -0.03739733
+v -0.05118261 0.00708755 -0.03235936
+v -0.05118404 0.00708755 -0.03148598
+v -0.05118547 0.00708754 -0.02960932
+v -0.05118547 0.00708753 -0.02598590
+v -0.05361944 0.04989631 0.02537719
+v -0.05279432 0.05218433 0.00337688
+v -0.04522830 0.05551327 -0.03739732
+v -0.03903843 0.05327328 -0.03582380
+v -0.03903843 0.05328741 0.03634128
+v -0.05116834 0.00708730 0.03634111
+v -0.05185927 0.05332126 -0.03739732
+v -0.05118119 0.00708741 0.00425731
+v -0.05361802 0.04989627 0.03634126
+v -0.05280859 0.05214104 0.03634127
+v -0.05279574 0.05217949 0.01437704
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+v -0.05166941 0.05355149 -0.03739732
+v -0.03903843 0.05327805 -0.02685911
+v -0.04796777 0.05608885 -0.03739731
+v -0.04522830 0.05551316 -0.00760883
+v -0.03903843 0.05328741 0.03563392
+v -0.04522830 0.05550346 0.01987713
+v -0.04522830 0.05549381 0.03634128
+v -0.05165371 0.05353683 0.03634128
+v -0.05165513 0.05354164 0.03362733
+v -0.05165798 0.05354166 0.02812725
+v -0.05166512 0.05354654 0.00337689
+v -0.05143672 0.05377213 -0.03739732
+v -0.04836320 0.05587780 -0.03739731
+v -0.05028896 0.05483675 0.01987713
+v -0.04796777 0.05607912 0.00062686
+v -0.04796777 0.05607427 0.01437706
+v -0.04796777 0.05605983 0.03087730
+v -0.04792779 0.05604541 0.03634129
+v -0.05028326 0.05483189 0.03634128
+v -0.05029467 0.05483681 0.00337689
+v -0.05029896 0.05484175 -0.03739732
+v -0.05029753 0.05484173 -0.03235919
+v -0.04796777 0.05605502 0.03362734
+v -0.04796777 0.05605021 0.03634129
+f 1 2 6
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+f 1 12 11
+f 1 11 10
+f 1 10 9
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_30.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7202a44820175b9e623035163625ed6266b3fac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05362563 -0.00743550 -0.07636061
+v -0.05164614 -0.00470610 -0.07146222
+v -0.05164425 0.00534810 -0.07146218
+v -0.05362185 0.00621581 -0.07636056
+v -0.05350463 -0.01562374 -0.07911084
+v -0.05361996 -0.03473390 -0.07636071
+v -0.05164992 -0.03200450 -0.07146232
+v -0.05164236 0.00708769 -0.07146217
+v -0.05361996 0.00708771 -0.07636055
+v -0.05292988 -0.01772134 -0.08122367
+v -0.05292421 -0.01835315 -0.08122367
+v -0.05347816 -0.01835316 -0.07911085
+v -0.05361807 -0.03594276 -0.07636071
+v -0.05338363 0.00708772 -0.07823351
+v -0.05326830 0.00708772 -0.07911075
+v -0.05164803 -0.03473392 -0.07146233
+v -0.03431285 0.00708769 -0.07146217
+v -0.05280699 -0.01483608 -0.08122365
+v -0.05260658 0.00708772 -0.08016668
+v -0.05229652 0.00708773 -0.08065786
+v -0.05215283 -0.03594274 -0.08122373
+v -0.05316054 -0.03594275 -0.07911091
+v -0.05164047 -0.03594278 -0.07146233
+v -0.05164614 -0.03511721 -0.07146233
+v -0.03431285 0.00708772 -0.07933149
+v -0.03431285 -0.03594278 -0.07146233
+v -0.05246667 -0.01327761 -0.08122365
+v -0.05070839 0.00708773 -0.08101238
+v -0.04171277 -0.03594274 -0.08122373
+v -0.03431285 -0.03592169 -0.07933452
+v -0.04171088 -0.02381199 -0.08122369
+v -0.04171277 -0.02108257 -0.08122368
+v -0.04171656 -0.01949041 -0.08122367
+v -0.04172034 -0.01835315 -0.08122367
+v -0.04205119 -0.01553107 -0.08122366
+v -0.04522745 0.00708773 -0.08102672
+v -0.03431285 -0.03594275 -0.07933452
+v -0.04796697 0.00708773 -0.08117484
+v -0.05175958 -0.01114631 -0.08122364
+v -0.04171088 -0.03314171 -0.08122372
+v -0.04297572 -0.01297856 -0.08122365
+v -0.04610093 0.00708773 -0.08107450
+v -0.04525582 -0.01053556 -0.08122364
+v -0.04794807 -0.01019017 -0.08122364
+v -0.04796697 -0.01019017 -0.08122364
+v -0.05042669 -0.01044711 -0.08122364
+v -0.05068570 -0.01047659 -0.08122364
+v -0.04304567 -0.01290274 -0.08122365
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+f 38 47 39
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+f 38 48 43
+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_31.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede8fc536858a20049343d320ad124003324eb0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_31.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.05311738 -0.02654384 -0.08736007
+v -0.05298562 -0.03594019 -0.09017613
+v -0.05303029 -0.03594019 -0.08860791
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+v -0.05292979 -0.01772485 -0.08122463
+v -0.05309952 -0.02381343 -0.08736006
+v -0.05263949 -0.03594019 -0.09087406
+v -0.05293315 -0.02927425 -0.08959027
+v -0.05288290 -0.02654383 -0.08946442
+v -0.05290077 -0.03594020 -0.08745104
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+v -0.05298786 -0.01835765 -0.08461169
+v -0.05280809 -0.01483813 -0.08122461
+v -0.05295101 -0.02108554 -0.08736005
+v -0.05225315 -0.03594018 -0.09163226
+v -0.05272993 -0.02381342 -0.08926138
+v -0.04171158 -0.03594022 -0.08122469
+v -0.05256467 -0.01637854 -0.08658385
+v -0.05246753 -0.01327753 -0.08122461
+v -0.05267187 -0.01852152 -0.08744358
+v -0.05223975 -0.03576874 -0.09161851
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+v -0.05243180 -0.02108553 -0.08898855
+v -0.04264503 -0.03594020 -0.08736010
+v -0.04171046 -0.03200469 -0.08122468
+v -0.05070893 -0.01605835 -0.08688946
+v -0.05070893 -0.01808788 -0.08826417
+v -0.05218281 -0.01954258 -0.08880031
+v -0.05175963 -0.01114463 -0.08122460
+v -0.05068548 -0.01047653 -0.08122460
+v -0.05070893 -0.03594018 -0.09188288
+v -0.05070893 -0.02381342 -0.08978588
+v -0.04325803 -0.03594019 -0.08974680
+v -0.04264615 -0.03473508 -0.08736010
+v -0.04171158 -0.02222260 -0.08122464
+v -0.04796774 -0.01604574 -0.08689051
+v -0.05042644 -0.01044375 -0.08122460
+v -0.04796774 -0.01018911 -0.08122460
+v -0.04796774 -0.01809292 -0.08826523
+v -0.05070893 -0.01945182 -0.08883414
+v -0.05070893 -0.02108553 -0.08924445
+v -0.05007583 -0.03594018 -0.09193786
+v -0.04796774 -0.02108553 -0.08924234
+v -0.04796774 -0.02381342 -0.08977637
+v -0.04796774 -0.03594018 -0.09202670
+v -0.04473861 -0.03594019 -0.09110458
+v -0.04328371 -0.02927425 -0.08942531
+v -0.04325915 -0.03473507 -0.08968229
+v -0.04267183 -0.02927426 -0.08736008
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+v -0.04794876 -0.01018911 -0.08122460
+v -0.04522878 -0.01818369 -0.08819967
+v -0.04522878 -0.01954762 -0.08879925
+v -0.04796774 -0.01945686 -0.08883309
+v -0.04522878 -0.02108553 -0.08915668
+v -0.04594116 -0.03594018 -0.09177290
+v -0.04522878 -0.02381342 -0.08965476
+v -0.04343892 -0.02381342 -0.08913872
+v -0.04333284 -0.02654383 -0.08930475
+v -0.04272096 -0.02654384 -0.08736007
+v -0.04171939 -0.01835766 -0.08122463
+v -0.04346907 -0.01643904 -0.08650560
+v -0.04383083 -0.01966359 -0.08875589
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+v -0.04297554 -0.01297751 -0.08122461
+v -0.04336522 -0.01859463 -0.08739705
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+f 49 63 50
+f 50 63 51
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+f 52 53 66
+f 52 66 64
+f 54 65 55
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_32.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de49392970dd94fab1b49c8ab0d0492357db287c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_32.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.00136306 -0.05612427 0.03051433
+v 0.00347696 -0.05612427 0.03051696
+v 0.00410200 -0.05657944 0.03064863
+v 0.00136306 -0.05657944 0.03064599
+v -0.00411483 -0.05657944 0.03064863
+v -0.00200092 -0.05612427 0.03051696
+v 0.00410200 -0.05612427 0.03051960
+v 0.00410200 -0.05920230 0.03145701
+v 0.00684389 -0.05612427 0.03063809
+v 0.00684389 -0.05908757 0.03153074
+v 0.00136306 -0.05919481 0.03145438
+v -0.00411483 -0.05917936 0.03145438
+v -0.00685672 -0.05904636 0.03153337
+v -0.00472512 -0.05612427 0.03054066
+v -0.00411483 -0.05612427 0.03051960
+v 0.00410200 -0.06056734 0.03277098
+v 0.00932338 -0.05612428 0.03143332
+v 0.00886640 -0.05862772 0.03182039
+v 0.00684389 -0.06045261 0.03301324
+v -0.00411483 -0.06054486 0.03284998
+v -0.00685672 -0.05612427 0.03066179
+v -0.00685672 -0.06041187 0.03307117
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_33.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c61d0ce69fc01c10d1c3df5a9bf330d8882b2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_33.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_4.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320fc3784fb9632fca83aa40d7d4efb90a91932c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_5.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589ce0adc9eaca5c7040117194e8f4a2d2ff9972
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_5.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_6.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63eee11369c765dacbc97fd987260f8aff07f59e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_7.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b1575a30b410b0f90b02cbd97655928b5d02e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_8.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a30e5baec7e04c596cda9108ac23efd5cd8ebb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01460470 -0.01677587 0.02686419
+v 0.01460470 -0.01677601 0.06476648
+v 0.01460470 0.00708733 0.02686428
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+v 0.04795457 0.00708719 0.06583085
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+v 0.05370362 0.00708728 0.04188253
+v 0.05347014 -0.00743251 0.05562663
+v 0.05347014 -0.01677597 0.05562660
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_9.obj b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7850475ab56e2890812cb94ff6187286fbf066
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_collision_9.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02295565 0.05347295 -0.03740059
+v -0.02295565 0.05611271 -0.07636006
+v -0.02878670 0.05611751 -0.07636006
+v -0.02925193 0.05347295 -0.03740059
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+v -0.02295401 0.00708772 -0.07932385
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+v -0.03974684 0.05606472 -0.07636006
+v -0.02878670 0.05575277 -0.07910955
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+v -0.03974684 0.05329057 -0.03740059
+v -0.03974684 0.03751055 -0.07087831
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+v -0.03904159 0.00708772 -0.07957225
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+v -0.02401106 0.05508088 -0.08115238
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+
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24868a236c9e53261e56d82ffbac502e758f767d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mjcf/mesh/jewelry_box_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5998070125ef323d403af0b0b98ab6e423d869dc19e4082fa71674fa096afc
+size 8475678
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/textures/material_0.png b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24868a236c9e53261e56d82ffbac502e758f767d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5998070125ef323d403af0b0b98ab6e423d869dc19e4082fa71674fa096afc
+size 8475678
diff --git a/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/video.mp4 b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaf1782a0d282bfe3f0fe687ffba1bb5f951b11e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e51f936658ed545a6f2d1a359172444423acfcb64b290f48f260fdb811a3e1b0
+size 569448