diff --git a/.gitattributes b/.gitattributes
index 3e08f6a2ead4bfe7e8cf308e36b25096c4c97b6d..425f52e30e0a0f92f975fbaf0debf7a015ab47f1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5278,3 +5278,5 @@ dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_ho
 dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/basket_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/mesh/basket_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.urdf b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07c1cf7dc63d4c244bbe976ad19bc288ca4d2c42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_031">
+   <link name="jewelry_box_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_031.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_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.7000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>3c7f43b4ab46560c8cade9d0347fbff9</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>brown jewelry box</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>brown leather jewelry box with open lid, drawers, and gold accents</description>
+         <min_height>0.1418</min_height>
+         <max_height>0.1418</max_height>
+         <real_height>0.1418</real_height>
+         <min_mass>1.2</min_mass>
+         <max_mass>2.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132852</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052104 -0.075026 -0.038636</min>
+            <max>0.090553 0.074974 0.103138</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Main body, lower drawer, and side tray panels are merged; latch hardware is inconsistently split.","merge_groups":[{"colors":["Red","Maroon"],"target_part":"drawer/front hardware assembly","reason":"Both are small drawer hardware pieces."}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.usd b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..be245da289162fabb64b220cae000fb0744837c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/jewelry_box_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bedb919288bdbb1caa2d5ae4036d7c2df2b31d4cd5fc5b337f6db7cc089227a3
+size 4871704
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.glb b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a81f129f12b8eeb50373849a67a10ed526323295
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b0b758dca0353593082490520188657577c554e6cf5630acbeb2870cf4eb66
+size 16716192
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.mtl b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab25d37568c175904fca4153f850fbcc0f4384f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_031_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/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7d87cd9be9511e51eb9c694a057c43233e91a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031.obj
@@ -0,0 +1,123530 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_031_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_collision.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935a202cd2f158628d9ea4e57225c5076d7abcdd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_collision.obj
@@ -0,0 +1,15486 @@
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..23cf60e161210af30c68611bff49fd3f70cfa183
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_box_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1850356a2b847686ff9c1209aafdd71d8caa02677918c90213a45b7feeaec3d
+size 13431110
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material.mtl b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18cbad46194d167735ee7e1d9ae20460ac826071
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_031_geometry_Looks_material_0
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+map_Kd jewelry_box_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material_0.png b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material_0.png
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+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1850356a2b847686ff9c1209aafdd71d8caa02677918c90213a45b7feeaec3d
+size 13431110
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/jewelry_box_031.xml b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/jewelry_box_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..187cd5ca87ba382a032fe918ae009bfa8b1fb100
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/jewelry_box_031.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_031">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc59f91383cf28dc99878c5c3b62818ebb1d244
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031.obj
@@ -0,0 +1,123530 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_031_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ed6189a9eada8177b3ad973fb232556d735e6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision.obj
@@ -0,0 +1,15486 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_0.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca42fe4b0c9ef37058aa0fe4a97d7f4605ea01c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_0.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_1.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b848b80a927a05050befc012272a05dcfc5530
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_1.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_10.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d4bf1954dd91a7978b79adddd66ee1a3d7e06c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_11.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970fdd27ba3e9f4405de49429928e8426064a0ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_12.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a559a5ba34b78e99a71ed596e334f87ab817df9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00120270 -0.01115443 0.07850072
+v -0.01167236 -0.01115443 0.07850072
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_13.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3383bc60e9aeb820c6eacb88106552b139050a42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05215462 0.00368668 0.04016248
+v -0.05214939 -0.01114727 0.04016243
+v -0.05195604 -0.01115429 0.04053396
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+v -0.04956791 -0.01115430 0.04366376
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+v -0.02353370 0.00615772 0.07191842
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+v -0.02607337 0.06056529 0.05217906
+v -0.01162965 0.06056519 0.07850098
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_14.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7760a1803ba78b8a25d840aa12925aad66da46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00029443 -0.07507392 0.00738669
+v 0.00047079 -0.07514018 0.00738669
+v -0.00029443 -0.07479416 0.01233852
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+v -0.00029443 0.00003190 0.01182737
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+v 0.03254812 -0.07399163 0.01233852
+v 0.00047079 -0.07477943 0.01233852
+v 0.03039925 -0.00373776 0.01233878
+v -0.00029443 -0.03338693 0.01233188
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+v 0.04513881 -0.00126391 0.00738697
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+v 0.03501732 -0.07382230 0.01233852
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+v -0.00029443 -0.00450347 0.01230435
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_15.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123992f38c5a127835de2a42c643b376909b16b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00029444 0.06203341 0.00738720
+v -0.00029444 0.06203340 0.01184454
+v -0.00029444 0.07509868 0.00738725
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+v -0.00029444 0.07432096 0.02609418
+v 0.00787426 0.07416492 0.02701737
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+v 0.01774210 0.07439004 0.02568364
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+v 0.03245729 0.07434911 0.02568364
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_16.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59b5c167593232ca8dcc0ad35c4051aef913374
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_16.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_17.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54f7d4b6d8903c97d918ec450dd1772c893778da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_17.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_18.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f836b08d36b55b6725854eb7c2333a6a443a63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_18.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_19.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e1cf776d2aedb1bd29e082e694da44dcfd455d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_2.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b1f0753d871192d934a651f2daac1c9ba6ef0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_2.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_20.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c477baa94a953d049b6c7b2ff4ad5257220fe86c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_20.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_21.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1b25781ccc35c6f6ea845eec482b707e21a542
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+f 17 24 20
+f 17 20 18
+f 19 20 25
+f 20 22 21
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+f 20 27 25
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_22.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e1f4cb95bf9f788c696617c50b31bc20020328
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_22.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05373320 0.03197745 -0.03577367
+v 0.06643551 0.04568948 -0.03577866
+v 0.06643551 0.03197745 -0.03577770
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+v 0.06643551 0.05063024 -0.03577763
+v 0.06643551 0.03197742 -0.02827317
+v 0.05419697 0.03197742 -0.02819450
+v 0.06643551 0.05137863 -0.02547403
+v 0.06533637 0.05137310 -0.02547403
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+v 0.05793456 0.05134549 -0.02547403
+v 0.05546646 0.05133720 -0.02547403
+v 0.05402663 0.05133444 -0.02547403
+v 0.05373320 0.05133444 -0.02547403
+v 0.05373320 0.05166037 -0.03575746
+v 0.06643551 0.05309923 -0.03574232
+v 0.06574544 0.03197742 -0.02826813
+v 0.05723205 0.03197742 -0.02821063
+v 0.06643551 0.05968870 -0.02547400
+v 0.06327734 0.03197742 -0.02825098
+v 0.06463386 0.03197742 -0.02826006
+v 0.05373320 0.05967213 -0.02547400
+v 0.05373320 0.05309923 -0.03573627
+v 0.05373320 0.05557099 -0.03532271
+v 0.06643551 0.05376758 -0.03563036
+v 0.06643551 0.05973289 -0.02563338
+v 0.06624030 0.05968870 -0.02547400
+v 0.05476395 0.05967489 -0.02547400
+v 0.05373320 0.05987099 -0.02617705
+v 0.05969891 0.05557099 -0.03532473
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+v 0.05476395 0.05691319 -0.03488393
+v 0.05723205 0.05691596 -0.03488494
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_23.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ca900591ad0d1cdcaef9fd31403e63fecc8cac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01163381 -0.06052490 0.07850054
+v 0.00119660 -0.06052490 0.07850054
+v -0.00279824 -0.06058429 0.08667107
+v -0.00584348 -0.06052492 0.08385718
+v -0.01098164 -0.05314474 0.07910435
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+v -0.01162835 -0.01393309 0.07850071
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+v 0.00982206 -0.06058429 0.08667107
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+v -0.00279824 -0.06052493 0.08667107
+v -0.00584348 -0.05809074 0.08385719
+v 0.00445195 -0.01856401 0.09333798
+v 0.00445468 -0.01393314 0.09333572
+v 0.00120206 -0.01393309 0.07850071
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+v 0.01624272 -0.02844684 0.09145595
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_24.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c55c7f977f4e1cf5416310b18dbf9dfcb53d69d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_24.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03141511 -0.02994348 0.00412226
+v 0.03177552 -0.04823601 0.00452250
+v 0.03141511 -0.02994349 0.00738686
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+v 0.04470768 -0.00537864 0.00738695
+v 0.04242156 -0.00537863 0.00536418
+v 0.04242286 -0.04823601 0.00561057
+v 0.04413648 -0.04823601 0.00657745
+v 0.04435247 -0.00537863 0.00633712
+f 1 2 6
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+f 11 14 15
+f 12 15 13
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_25.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a2ab402d123cd4e4d8ea0a2325d296727a618b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_25.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.03491090 -0.05921703 0.03066850
+v -0.03538643 -0.05921704 0.03172405
+v -0.03160691 -0.06457944 0.03797290
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+v -0.04777484 -0.05921703 0.03066850
+v -0.03994408 -0.05921706 0.03797292
+v -0.03160691 -0.07395590 0.03797287
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+v -0.03300261 -0.07417327 0.03797287
+v -0.03160691 -0.06638451 0.03349614
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_26.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3bda0da95575e6e5ade488cf30f09fb470d0617
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_26.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_27.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b668aa67c5f084ccf58dcd91f0c0d13e02a7c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_27.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.03167422 0.06545741 0.06001834
+v -0.03167422 0.06056660 0.06000751
+v -0.03167422 0.06769362 0.05999889
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_28.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1c027f78b2221506849ab4f444bfabc2ee9913
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_28.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.08190966 0.05556802 -0.00940678
+v 0.08437735 0.05556803 -0.00965114
+v 0.08190966 0.05804012 -0.00942802
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_29.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1536cdeb9b56867d3d0a95dddfb63da66a624c81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_29.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_3.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6d0cc70f11fd88dd23b457d38821fe480dc34a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_30.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a074ebe2aedfec3625e02cd7c1c2fd5daf159f70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04780399 0.00259900 0.03066622
+v -0.04480586 -0.00003153 0.01233612
+v -0.04780037 0.00121097 0.03066621
+v -0.04780399 0.02484993 0.03066630
+v -0.03147459 -0.00003153 0.01233612
+v -0.04778950 -0.00003159 0.03066621
+v -0.04779312 0.00011995 0.03066621
+v -0.04480586 0.01356996 0.01233617
+v -0.04778950 0.05062850 0.03066640
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+v -0.03398903 -0.00003158 0.02815401
+v -0.03493648 -0.00003159 0.03066621
+v -0.04778406 0.05556844 0.03066641
+v -0.04479861 0.06050843 0.01233634
+v -0.02943659 0.00368403 0.01233613
+v -0.03441837 -0.00003159 0.02931321
+v -0.02931883 0.00615703 0.01233614
+v -0.03358687 0.06189035 0.02815424
+v -0.03386404 0.06189034 0.02890611
+v -0.03484409 -0.00003159 0.03046165
+v -0.03452344 0.06189034 0.03064312
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+v -0.04773696 0.06189034 0.03066644
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+v -0.02932608 0.03580270 0.01233625
+v -0.02937499 0.03826964 0.01233626
+v -0.03135865 0.06189040 0.01233635
+v -0.02930072 0.01603690 0.01233618
+v -0.03448902 0.06189034 0.03056416
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_31.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc1a72313c5e4f03b83b5e3b156af7f552479f44
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05373320 -0.06021518 -0.02864734
+v 0.05723205 -0.06022420 -0.02864734
+v 0.05373320 -0.06004372 -0.02720875
+v 0.05373320 -0.05998955 -0.02957345
+v 0.05373320 -0.05966466 -0.03086576
+v 0.05476395 -0.05966466 -0.03086677
+v 0.06216576 -0.05966466 -0.03087282
+v 0.06643551 -0.05966466 -0.03087484
+v 0.06643551 -0.06007077 -0.02924962
+v 0.06643551 -0.06021518 -0.02864734
+v 0.05969891 -0.05991736 -0.02617773
+v 0.05476395 -0.05991736 -0.02617773
+v 0.05373320 -0.05990834 -0.02617773
+v 0.05373320 -0.05949317 -0.03138127
+v 0.06643551 -0.05955636 -0.03120876
+v 0.06643551 -0.05990834 -0.02617773
+v 0.06308834 -0.05970980 -0.02547458
+v 0.05373320 -0.05970980 -0.02547458
+v 0.05373320 -0.05924048 -0.03210057
+v 0.05476395 -0.05924950 -0.03210157
+v 0.06216576 -0.05924950 -0.03210763
+v 0.06643551 -0.05924950 -0.03210965
+v 0.06643551 -0.05970078 -0.02547458
+v 0.05373320 -0.05163247 -0.02547455
+v 0.05373320 -0.05876215 -0.03272100
+v 0.05373320 -0.05808528 -0.03358555
+v 0.06643551 -0.05808528 -0.03358555
+v 0.06643551 -0.05165955 -0.02547455
+v 0.05723205 -0.05163247 -0.02547455
+v 0.05373320 0.03197465 -0.02819303
+v 0.05373320 -0.05693008 -0.03486374
+v 0.06643551 -0.05693008 -0.03486374
+v 0.06463386 -0.05165053 -0.02547455
+v 0.06643551 0.03197465 -0.02827273
+v 0.06216576 0.03197465 -0.02824347
+v 0.06080924 0.03197465 -0.02823439
+v 0.05834239 0.03197465 -0.02821825
+v 0.05723205 0.03197465 -0.02821119
+v 0.05587429 0.03197465 -0.02820312
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+v 0.06643551 0.02905060 -0.03577843
+v 0.06643551 0.01602760 -0.03578049
+v 0.05373320 0.02942063 -0.03577439
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+v 0.06643551 -0.05000794 -0.03577569
+v 0.05373320 -0.00126420 -0.03577249
+v 0.05373320 -0.05067579 -0.03576763
+v 0.06643551 -0.05067579 -0.03577469
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+f 54 56 55
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_32.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758f473367716ae914c9f63ad97f7d004ace7ddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_32.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03493687 -0.00003159 0.03066801
+v -0.03489070 -0.00003159 0.03056559
+v -0.04778954 -0.00003159 0.03066801
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+v -0.03444059 -0.06208903 0.03057837
+v -0.03484453 -0.00003159 0.03046155
+v -0.04480756 -0.00003153 0.01406064
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+v -0.04774337 -0.06208903 0.03066778
+v -0.03354470 -0.06208902 0.02815456
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+v -0.03327780 -0.00003153 0.01406064
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+v -0.04784147 -0.01362032 0.03066796
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+v -0.04776790 -0.06056432 0.03066779
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+v -0.03345381 -0.06208902 0.02754495
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+v -0.03380005 -0.00003158 0.02692582
+v -0.03323597 -0.00373699 0.01406063
+v -0.04480323 -0.05984139 0.01406042
+v -0.04777944 -0.05809199 0.03066780
+v -0.03310469 -0.06208897 0.01406041
+v -0.03325905 -0.06208901 0.02568361
+v -0.03322442 -0.00620933 0.01406062
+f 1 2 6
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_33.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f5d52f0c2fbc218f01ec0b30cb4592563ec68f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_33.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01774478 -0.05067939 0.10183043
+v 0.01624459 -0.05067939 0.10177591
+v 0.01624459 -0.05218064 0.10177591
+v 0.01624459 -0.05959559 0.10176851
+v 0.01624459 -0.06054926 0.10176704
+v 0.01774478 -0.06054926 0.10180388
+v 0.01775736 -0.06054926 0.10180093
+v 0.01959330 -0.05067939 0.10127928
+v 0.01774478 -0.01609149 0.10180551
+v 0.01624459 -0.01759274 0.10176425
+v 0.01624459 -0.06054923 0.09145717
+v 0.01951408 -0.06054926 0.10125272
+v 0.01952288 -0.06054926 0.10124830
+v 0.02082691 -0.05067939 0.10058370
+v 0.02079924 -0.02103327 0.10058529
+v 0.01956564 -0.02103327 0.10125286
+v 0.01953420 -0.01393317 0.10125584
+v 0.01774478 -0.01393317 0.10180110
+v 0.01624459 -0.01393317 0.10175984
+v 0.01624459 -0.01609149 0.10176278
+v 0.02072505 -0.06054921 0.08797929
+v 0.01624459 -0.02597502 0.09145876
+v 0.02072505 -0.02350183 0.08798089
+v 0.02074894 -0.06054926 0.10052620
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+v 0.02061062 -0.01393317 0.10063689
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+v 0.02267920 -0.03585856 0.08677685
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+v 0.02514767 -0.01393312 0.08712619
+v 0.02514767 -0.01609144 0.08712471
+v 0.02514767 -0.04326895 0.08712314
+v 0.02678367 -0.04573756 0.08832565
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+v 0.02677864 -0.01609144 0.08833018
+v 0.02677990 -0.01856005 0.08833017
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+v 0.02801351 -0.01609145 0.08951650
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+v 0.02815057 -0.01393313 0.08967419
+v 0.02801099 -0.06054922 0.08951928
+v 0.02677739 -0.06054921 0.08833150
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_34.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d432f2535836d4801d3cbf6b59d7877e96b371
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_34.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.06643654 -0.04865785 -0.03577599
+v 0.07696953 -0.03337690 -0.03581914
+v 0.07696953 -0.04865785 -0.03581768
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+v 0.06643654 0.01603054 -0.03578030
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+v 0.07696953 -0.04865788 -0.02821664
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+v 0.06643654 0.04897199 -0.02807831
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+v 0.07696953 0.04568456 -0.03582113
+v 0.07696953 0.04897199 -0.02812304
+v 0.07203763 0.04897202 -0.03579913
+v 0.07450616 0.04815016 -0.03580974
+v 0.07696953 0.04815016 -0.03581884
+v 0.07696953 0.04897202 -0.03581732
+f 1 2 3
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+f 1 5 2
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_35.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d85d03bac7465a411097f3864d9df95c2d4ab5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05723113 -0.01855424 0.00735578
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+v 0.05588435 -0.01855424 0.00723659
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+v 0.05649339 0.03196667 0.00728534
+v 0.05588895 0.03196667 0.00723237
+v 0.05511100 -0.04833531 0.00592756
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_36.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484bcd286d40126fe9cb0581702a1dd37072f16f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_36.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00280631 -0.06550884 0.08666956
+v -0.00280258 -0.06303776 0.08666957
+v -0.00278580 -0.06797859 0.08666955
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+v -0.00069907 -0.06797860 0.08860121
+v -0.00199885 -0.06550884 0.08741592
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+v -0.00070653 -0.06550885 0.08860861
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+v -0.00199885 -0.06059476 0.08740855
+v 0.00982405 -0.06059476 0.08666958
+v -0.00250608 -0.06986904 0.08666954
+v 0.00728418 -0.07044971 0.09547656
+v 0.00825574 -0.06797863 0.09684367
+v 0.00824269 -0.06550888 0.09685845
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_37.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c25c220d35d10cb85e6173f4c8dea97918cbafa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_37.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.08191003 -0.03832384 -0.00940309
+v 0.08024030 -0.03832383 -0.00980172
+v 0.08023934 -0.04326496 -0.00980174
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_38.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074be475f77ea744f7390ae6a86ddb0cc0e0efa8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_38.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_39.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94776e45805ab358ff003a0dd364d2ff6daffe6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_39.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_4.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328b7e0b0277ae08bf9d783a64c67b2e680af348
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_4.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_40.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0cdbd07284f4d96d1dc1007d4339d2156580da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_40.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_41.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0278563d004b5a3acc3878c0e6b58cfef4a91a39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_41.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 18 28 29
+f 18 29 19
+f 18 30 31
+f 18 31 28
+f 21 31 30
+f 21 30 22
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_42.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98feaafd0e6360b82f9fbdd89fc973e3493a36ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_42.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05723123 0.03197620 -0.01512814
+v 0.05722518 0.04816606 -0.01513468
+v 0.05799043 0.03197620 -0.01511933
+v 0.05588752 0.03197620 -0.01507971
+v 0.05859914 0.04816606 -0.01511487
+v 0.05861275 0.03197620 -0.01511053
+v 0.05587618 0.04816606 -0.01508185
+v 0.05373395 0.03197619 -0.01481559
+v 0.05373395 0.04815813 -0.01482873
+v 0.05861199 0.03827622 -0.01511051
+v 0.05861275 0.03580534 -0.01511052
+v 0.05983623 0.04816605 -0.01416402
+v 0.05983925 0.04568725 -0.01417504
+v 0.05929179 0.03197619 -0.01458228
+v 0.05373395 0.04816605 -0.01482873
+v 0.05373395 0.03197616 -0.00593220
+v 0.06109147 0.04568725 -0.01294026
+v 0.06107483 0.04816605 -0.01292924
+v 0.05984682 0.03197619 -0.01414647
+v 0.05373395 0.04816602 -0.00592554
+v 0.05373395 0.04815810 -0.00592554
+v 0.05446668 0.03197613 0.00345742
+v 0.05446063 0.04816599 0.00345748
+v 0.06052056 0.03197619 -0.01346635
+v 0.06107786 0.04815813 -0.01292484
+v 0.06145746 0.04568724 -0.01135771
+v 0.06106954 0.03197619 -0.01291169
+v 0.06141133 0.04816604 -0.01136430
+v 0.05476083 0.03197612 0.00456895
+v 0.05512076 0.03197612 0.00592698
+v 0.05512076 0.03580526 0.00592699
+v 0.05512228 0.04816598 0.00592704
+v 0.06135840 0.03197618 -0.01135776
+v 0.06123136 0.03197618 -0.01205549
+v 0.06141209 0.04815812 -0.01135770
+v 0.06141662 0.04568719 0.00345747
+v 0.06141813 0.04074544 0.00345745
+v 0.06138486 0.03197613 0.00345742
+v 0.06136293 0.04816599 0.00345088
+v 0.05546633 0.03197612 0.00651466
+v 0.05588903 0.03197611 0.00723220
+v 0.05589130 0.04568717 0.00723225
+v 0.05589206 0.04816597 0.00723006
+v 0.06136293 0.04815807 0.00345748
+v 0.06111340 0.04816598 0.00512147
+v 0.06112399 0.04568718 0.00514126
+v 0.06112021 0.04074543 0.00513684
+v 0.06111113 0.03333439 0.00512141
+v 0.06110886 0.03197612 0.00512141
+v 0.05649321 0.03197611 0.00728502
+v 0.05723123 0.03580525 0.00735107
+v 0.05723123 0.04321630 0.00734890
+v 0.05723123 0.04816597 0.00734671
+v 0.06004871 0.04816598 0.00636065
+v 0.06111264 0.04815806 0.00512587
+v 0.06005779 0.03197612 0.00635619
+v 0.06005249 0.04568718 0.00637605
+v 0.06005779 0.04074543 0.00637162
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+v 0.05794808 0.03197611 0.00731804
+v 0.05882524 0.03580525 0.00728063
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+v 0.05882372 0.04074542 0.00728065
+v 0.05881465 0.04815805 0.00727848
+v 0.05881843 0.04816597 0.00727408
+v 0.05882372 0.03197611 0.00727842
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+f 1 19 24
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+f 1 27 34
+f 1 34 33
+f 1 33 38
+f 1 38 49
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+f 1 60 50
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+f 32 40 41
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+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 39 45 44
+f 41 50 51
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+f 42 53 43
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+f 45 55 46
+f 46 56 47
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+f 46 58 56
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+f 50 60 51
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+f 51 64 52
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+f 53 65 66
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_43.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98906517254be7e5ad721950fbbc96e193d12251
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04480223 -0.06056511 -0.00482568
+v -0.04480223 -0.06056513 0.00098885
+v -0.04481125 -0.05809404 -0.00148088
+v -0.04480223 -0.05107480 -0.00482565
+v -0.04478419 -0.06101263 -0.00482568
+v -0.04480223 -0.05910586 0.00738675
+v -0.04478419 -0.06101268 0.00738675
+v -0.04479321 -0.06056516 0.00738675
+v -0.04480223 -0.05315289 0.00738677
+v -0.04480223 -0.05107483 0.00345742
+v 0.03071141 -0.05107480 -0.00482565
+v 0.04526934 -0.06101263 -0.00482568
+v 0.04447560 -0.06101268 0.00738675
+v -0.04479321 -0.05107485 0.00738678
+v 0.03265968 -0.05107480 -0.00481848
+v 0.03266870 -0.05108064 -0.00482565
+v 0.04733487 -0.05974498 -0.00482568
+v 0.04519718 -0.06101265 0.00131042
+v 0.04733487 -0.05941715 0.00098885
+v 0.04733487 -0.05934614 0.00170371
+v 0.04733487 -0.05883733 0.00327569
+v 0.04733487 -0.05747338 0.00517881
+v 0.04733487 -0.05562396 0.00575502
+v 0.04473717 -0.05958938 0.00738675
+v 0.04443050 -0.05107485 0.00738678
+v 0.04425011 -0.05107484 0.00636947
+v 0.04733487 -0.05157777 -0.00482565
+v 0.04515209 -0.05562397 0.00738677
+v 0.04511601 -0.05679433 0.00738676
+v 0.04733487 -0.05362764 0.00528163
+v 0.04480933 -0.05308771 0.00738677
+v 0.04733487 -0.05359554 0.00527206
+v 0.04733487 -0.05239404 0.00348133
+v 0.04733487 -0.05238820 0.00345742
+v 0.04733487 -0.05195915 0.00101398
+v 0.04733487 -0.05195624 0.00098888
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+f 1 5 7
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+f 23 31 28
+f 25 30 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 27
+f 25 27 26
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_44.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eba8fc4f25407794abdf8687b545d33bf9de360
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_44.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.05373320 0.04952643 -0.00568371
+v 0.05373320 0.00449463 -0.00502134
+v 0.05373320 0.04952646 -0.01495459
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+v 0.03082525 0.00449463 -0.00474118
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+v 0.03206951 0.04952647 -0.01596430
+v -0.04479510 0.04952643 -0.00474102
+v -0.04479510 0.00449463 -0.00474118
+v -0.04479510 0.00449467 -0.01596446
+v -0.04479510 0.04952647 -0.01596430
+v -0.04480475 0.01356626 -0.01596443
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 12
+f 1 12 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 5
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+f 4 9 10
+f 4 10 6
+f 7 11 13
+f 7 13 12
+f 7 12 8
+f 9 12 13
+f 9 13 10
+f 10 13 11
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_45.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533fcf7842d4592b65e9c2e0fd69492294bf804e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_45.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.04478389 0.06086681 -0.01596426
+v -0.04479274 0.06086680 -0.01382706
+v -0.04473965 0.06298627 -0.01596425
+v 0.04468079 0.06086681 -0.01596426
+v -0.04478389 0.06086672 0.00738719
+v -0.04476619 0.06197462 0.00738720
+v -0.04473965 0.06298618 0.00738720
+v -0.04460692 0.06444544 0.00738721
+v -0.04450960 0.06545704 -0.00148159
+v -0.04448305 0.06545709 -0.01596424
+v 0.04438880 0.06545709 -0.01596424
+v 0.04560101 0.06086678 -0.00888751
+v 0.04454807 0.06086672 0.00738719
+v -0.04450075 0.06545700 0.00738721
+v -0.04450960 0.06545702 0.00345796
+v -0.04412912 0.06691626 0.00738722
+v -0.04386367 0.06792782 0.00738722
+v -0.04384597 0.06792786 -0.00148158
+v -0.04379289 0.06792791 -0.01596423
+v 0.04405257 0.06730170 -0.01596423
+v 0.04425608 0.06636656 0.00738721
+v 0.04442419 0.06545700 0.00738721
+v 0.04521169 0.06086675 0.00098703
+v 0.04399948 0.06759072 -0.01596423
+v 0.04403487 0.06767283 0.00345797
+v 0.04400833 0.06767848 0.00592661
+v 0.04399063 0.06768130 0.00738722
+v 0.04462771 0.06152693 0.00738720
+v -0.04306733 0.06970018 0.00738723
+v -0.04301424 0.06961668 -0.01596422
+v 0.04454807 0.06399774 0.00738721
+v 0.04393754 0.06775790 -0.01596423
+v 0.04356591 0.06891530 0.00738722
+v 0.04375173 0.06840951 0.00738722
+v -0.04202323 0.07093559 0.00738723
+v -0.04201438 0.07092144 0.00345798
+v -0.04200554 0.07091295 0.00098707
+v -0.04199669 0.07090446 -0.00148157
+v -0.04194360 0.07085209 -0.01596422
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+v -0.03901483 0.07290346 0.00738724
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+v -0.03654617 0.07343334 0.00345799
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+v -0.00446240 0.07514052 0.00592664
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+v 0.00243039 0.07406954 -0.01596421
+v -0.00098504 0.07512634 0.00738725
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_46.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4fb1500e70aefba276bb3c26bbee458cf33f86a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_46.obj
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_47.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec12b4f50416132d19903a920b7d3f945bd404a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_47.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04480712 0.05804287 -0.01596427
+v -0.04479748 0.06051355 -0.01596426
+v -0.04479748 0.04952647 -0.01596430
+v -0.04479748 0.04952638 0.00738715
+v -0.04479748 0.06051346 0.00738719
+v -0.04478784 0.06086540 -0.01596426
+v 0.03206898 0.04952647 -0.01596430
+v 0.04441546 0.04952638 0.00738715
+v -0.04478784 0.06086531 0.00738719
+v 0.04468554 0.06086540 -0.01596426
+v 0.05373319 0.05043216 -0.01596429
+v 0.05373319 0.04985278 -0.01531971
+v 0.05373319 0.04952646 -0.01495399
+v 0.05373319 0.04952643 -0.00568290
+v 0.05373319 0.05026117 0.00100984
+v 0.05373319 0.05079725 0.00308533
+v 0.05373319 0.05088161 0.00325677
+v 0.05373319 0.05324351 0.00565455
+v 0.05373319 0.05557211 0.00615513
+v 0.04478200 0.05157196 0.00738716
+v 0.04454085 0.06086531 0.00738719
+v 0.04559224 0.06086537 -0.00888751
+v 0.05373319 0.06038588 -0.00888751
+v 0.05373319 0.06021274 -0.01032754
+v 0.05373319 0.05903403 -0.01596426
+v 0.04514853 0.05557210 0.00738717
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+v 0.05373319 0.05780749 0.00559513
+v 0.05373319 0.05948681 0.00324537
+v 0.05373319 0.05978760 0.00098703
+v 0.05373319 0.06027155 -0.00641888
+v 0.04521605 0.06086534 0.00098703
+f 1 2 6
+f 1 6 10
+f 1 10 25
+f 1 25 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
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+f 3 13 14
+f 3 14 8
+f 3 8 4
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+f 6 22 10
+f 7 11 12
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+f 11 28 19
+f 11 19 18
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+f 11 15 14
+f 11 14 13
+f 11 13 12
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+f 19 21 26
+f 21 28 29
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+f 21 32 23
+f 21 23 33
+f 22 33 23
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_48.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9901df3bcfb4695d56f1ad5e11a25af71f2dec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_48.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04483164 -0.01608115 -0.02716119
+v -0.04480152 0.03161160 -0.01596436
+v -0.04482411 0.03161164 -0.02716101
+v -0.04482411 -0.04573500 -0.02716130
+v -0.04480152 -0.04943460 -0.01596466
+v -0.04479399 0.04822617 -0.01596430
+v -0.04481658 0.04716509 -0.02716096
+v -0.04481658 -0.04943456 -0.02716131
+v 0.03209290 -0.04943460 -0.01596466
+v 0.03113662 0.04822617 -0.01596430
+v -0.04480152 0.04822621 -0.02713464
+v -0.04480152 0.04822621 -0.02716095
+v 0.03094084 -0.04943456 -0.02716131
+v 0.03070741 0.04822621 -0.02716095
+f 1 2 3
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+f 1 7 12
+f 1 12 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
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+f 2 9 10
+f 2 10 6
+f 2 6 3
+f 3 6 7
+f 4 8 5
+f 5 8 13
+f 5 13 9
+f 6 10 14
+f 6 14 12
+f 6 12 11
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_49.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1feb4d5d1db33120ee740f5ca067ca6bb725e6f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_49.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.05372341 0.04201258 -0.02819635
+v 0.05372341 0.04074126 -0.02819514
+v 0.05372341 0.04201261 -0.03577107
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+v 0.05372341 0.03085904 -0.02819155
+v 0.05372341 0.03332962 -0.03577352
+v 0.04489121 0.04201262 -0.03837945
+v 0.03070290 -0.01455461 -0.02716457
+v 0.05372341 0.02735963 -0.02819035
+v -0.04482122 0.04201258 -0.02716437
+v 0.05372341 0.02694681 -0.03577354
+v 0.04489121 0.03827075 -0.03837946
+v 0.04241388 0.01850630 -0.03898203
+v 0.04361827 0.04201262 -0.03868433
+v 0.03069310 -0.02493488 -0.02716461
+v 0.05372341 0.02344737 -0.02819036
+v -0.04605498 0.04201260 -0.03358492
+v -0.04606478 0.03085906 -0.03358496
+v -0.04483101 0.02838848 -0.02716442
+v 0.05372341 -0.00125815 -0.03577243
+v 0.04489121 0.00368297 -0.03837838
+v 0.04241388 0.04201262 -0.03896743
+v 0.04241388 -0.00125814 -0.03898089
+v 0.03007622 -0.00125814 -0.03941642
+v 0.03007622 0.02344741 -0.03941028
+v 0.03007622 0.04201262 -0.03940538
+v 0.05372341 -0.02493488 -0.02819296
+v -0.04482122 -0.02493488 -0.02716461
+v -0.04628999 0.04201261 -0.03605538
+v -0.04607457 -0.01361093 -0.03358512
+v -0.04483101 -0.01608151 -0.02716458
+v 0.05372341 -0.02493485 -0.03576889
+v 0.04489121 -0.02493484 -0.03837365
+v 0.04241388 -0.02493484 -0.03897735
+v 0.03007622 -0.02493484 -0.03940925
+v 0.02760869 -0.00125813 -0.03947571
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+v -0.04606478 -0.02493486 -0.03358516
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+v -0.02174196 -0.00372868 -0.03952169
+v -0.02174196 0.00368298 -0.03952167
+v -0.02174196 0.03085909 -0.03951673
+v -0.01927443 0.04201263 -0.03951427
+v -0.02914456 -0.02493484 -0.03942256
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_5.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2056c1b9cd4a1a7a9de769f421da8b8029a83391
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_5.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.03160691 -0.06783478 0.03290678
+v -0.02787866 -0.07172349 0.03677170
+v -0.03160691 -0.07024657 0.03315669
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+v -0.02783217 -0.06662668 0.03672709
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+v -0.02018043 -0.07044894 0.04390353
+v -0.02272326 -0.07044893 0.04150245
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+v -0.02535442 -0.07179586 0.03919063
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_50.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ced1ac48a9a0badb0e51db5d6c439f2e007926
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_50.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.04536546 -0.06107014 -0.02716244
+v 0.04536546 -0.05044081 -0.02716241
+v 0.05373320 -0.06003905 -0.02716244
+v 0.04536546 -0.06071433 -0.01876879
+v 0.04735930 -0.05044497 -0.02716241
+v 0.04536546 -0.05055426 -0.01596467
+v 0.05373320 -0.05049183 -0.01596467
+v 0.05373320 -0.05047306 -0.02716241
+v 0.05373320 -0.05921296 -0.01747747
+v 0.05373320 -0.05906730 -0.01596470
+v 0.04536546 -0.06070393 -0.01872495
+v 0.04982661 -0.05045433 -0.02716241
+v 0.04536546 -0.05917238 -0.01596470
+v 0.05315814 -0.05046994 -0.02716241
+v 0.05229475 -0.05046578 -0.02716241
+v 0.04536546 -0.05937944 -0.01605569
+v 0.04536546 -0.06009527 -0.01637030
+f 1 2 5
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+f 10 16 17
+f 10 17 11
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_51.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c41c142764d3e6f32a7f5acb4223645e16feee33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_51.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.06205974 0.05136432 -0.02547271
+v 0.06205974 0.05968503 -0.02547268
+v 0.06286970 0.05136513 -0.02547271
+v 0.06205974 0.05219383 -0.01296874
+v 0.06463440 0.05968747 -0.02547268
+v 0.06205974 0.05922786 -0.01867038
+v 0.06533686 0.05137410 -0.02547271
+v 0.06643508 0.05187197 -0.01799084
+v 0.06643508 0.05225088 -0.01629860
+v 0.06643508 0.05348052 -0.01439448
+v 0.06205974 0.05407618 -0.01207863
+v 0.06643508 0.05968910 -0.02547268
+v 0.06205974 0.05882368 -0.01618398
+v 0.06643508 0.05923357 -0.01876765
+v 0.06643508 0.05137980 -0.02547271
+v 0.06643508 0.05557231 -0.01379353
+v 0.06205974 0.05557230 -0.01186144
+v 0.06205974 0.05818480 -0.01381217
+v 0.06643508 0.05877641 -0.01629857
+v 0.06643508 0.05702686 -0.01428121
+v 0.06205974 0.05813835 -0.01374155
+v 0.06643508 0.05756631 -0.01446376
+v 0.06643508 0.05844883 -0.01580156
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+f 1 3 4
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_52.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d6c4a52eb030e4b670dc237b59c6438cf15e07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_52.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.05373320 -0.05971081 -0.02547458
+v 0.05373320 -0.05951423 -0.01294162
+v 0.05373320 -0.05163832 -0.02547455
+v 0.05567659 -0.05971324 -0.02547458
+v 0.05723205 -0.06074251 -0.01294162
+v 0.05558085 -0.06019634 -0.01294162
+v 0.05483358 -0.05993781 -0.01294162
+v 0.05373320 -0.04834309 -0.01294158
+v 0.05415594 -0.05163710 -0.02547455
+v 0.05373320 -0.04834309 -0.01483944
+v 0.05584942 -0.04834308 -0.01513632
+v 0.05597500 -0.04834308 -0.01514614
+v 0.05723205 -0.04834308 -0.01519521
+v 0.05723205 -0.05971445 -0.02547458
+v 0.05965414 -0.06010774 -0.01294162
+v 0.05969891 -0.05971445 -0.02547458
+v 0.06463386 -0.05970838 -0.02547458
+v 0.06556017 -0.05970717 -0.02547458
+v 0.06643551 -0.05970595 -0.02547458
+v 0.06643551 -0.05927389 -0.01876891
+v 0.06109770 -0.04834309 -0.01294158
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+v 0.05992271 -0.04834309 -0.01414017
+v 0.06117479 -0.05923264 -0.01294162
+v 0.06094725 -0.05941106 -0.01294162
+v 0.06258602 -0.05562302 -0.01294160
+v 0.06254872 -0.05594102 -0.01294161
+v 0.06165971 -0.05864155 -0.01294162
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_53.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3236b28543c7cac13e6d34a750dade1e12c0a159
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_53.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.04480311 -0.05107483 0.00302388
+v -0.04479438 -0.05107485 0.00738678
+v -0.04479438 -0.04823809 0.00738679
+v -0.04479438 -0.04823807 0.00302389
+v 0.03363730 -0.05107483 0.00302388
+v 0.04443377 -0.05107485 0.00738678
+v 0.04439883 -0.04823809 0.00738679
+v 0.03064992 -0.04823807 0.00302389
+v 0.03995271 -0.05107483 0.00335958
+v 0.04425034 -0.05107484 0.00636983
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_54.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48cf4590c0b282a0e141fc62d6d4f4d15fa8ad35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_54.obj
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_55.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb25799523534f587831c709f7e2c947ccc7275
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_55.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_56.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2e9ce005021a39eb1e6e84538e76bf5af35d7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_56.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_57.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9066ef7b3f1965b4f3c5c6e5a88dbad0c3e560
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_57.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_58.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffec83f72c7134dde44001b26a3c11f536c1f861
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_58.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05722568 0.04816606 -0.01513218
+v 0.05859904 0.04816606 -0.01511290
+v 0.05587596 0.04816606 -0.01508078
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+v 0.06205892 0.05968427 -0.02547400
+v 0.06205892 0.05219396 -0.01296677
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_59.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9c64b5d40dcdb1d6f5b480a4e071427a5ed26a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_59.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.03180002 0.00449460 0.00317595
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+v 0.03180002 0.00449458 0.00738699
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_6.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6258f75664a6ed28928bcc13276bfd1ea28049cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_6.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.01492608 -0.01393313 0.09099763
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_60.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68329a2d9014757982f59774108384aa8981a171
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_60.obj
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_61.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a536ea21901299d4c3a0e2a65c69fa20a7f687
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_61.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.05373320 -0.00537859 -0.00574040
+v 0.05372355 -0.04823597 -0.00591813
+v 0.05373320 -0.02994344 -0.00593816
+v 0.05373320 -0.00537856 -0.01481422
+v 0.03051649 -0.00537859 -0.00455550
+v 0.03029464 -0.02994344 -0.00455559
+v 0.03033322 -0.04823597 -0.00461931
+v 0.05372355 -0.04823594 -0.01483113
+v 0.05373320 -0.02994341 -0.01477969
+v 0.05373320 -0.02501786 -0.01481987
+v 0.03108557 -0.00537855 -0.01596450
+v -0.04479555 -0.00537859 -0.00455550
+v -0.04479555 -0.02994344 -0.00455559
+v -0.04478591 -0.04823597 -0.00461931
+v 0.05373320 -0.02844141 -0.01481988
+v 0.03116274 -0.04823593 -0.01596466
+v -0.04479555 -0.00537855 -0.01596450
+v -0.04480520 -0.02810576 -0.01596458
+v -0.04478591 -0.04823593 -0.01596466
+f 1 2 3
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+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 9 3
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+f 2 14 19
+f 2 19 16
+f 2 16 8
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+f 4 8 11
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+f 5 13 6
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+f 11 16 19
+f 11 19 18
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+f 13 18 14
+f 14 18 19
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_62.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7697e8346e6b2c4f30c18b629ef480085d895a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_62.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03597415 0.07358833 -0.01596421
+v 0.03715380 0.07337671 -0.01596421
+v 0.03597415 0.07359061 -0.01629855
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+v 0.03748812 0.05035340 -0.02716204
+v 0.03843853 0.05035340 -0.02716204
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+v 0.04301293 0.05048534 -0.01596429
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+f 42 44 43
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_63.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4303066ab94cf1d78b77935dfe2bd740445211c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_63.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04733487 -0.04823775 -0.00734435
+v 0.04733487 -0.05157804 -0.00482565
+v 0.04733487 -0.04823773 -0.01474783
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+v 0.04733487 -0.05974552 -0.00482568
+v 0.04733487 -0.05055503 -0.01596358
+v 0.03116265 -0.04823772 -0.01596357
+v -0.04480081 -0.04823776 -0.00482564
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+f 16 19 24
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_64.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ddd1985bf49784f0ede1ed794e2ef35ad395fad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_64.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.04736906 0.06023969 -0.03317725
+v 0.04677181 0.06023970 -0.03568496
+v 0.04732990 0.06023968 -0.02864668
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_65.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d184953c70b2a71dfd633b79185cdc507a0715
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_65.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_66.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4b1aa0215a4cb2b9a937a83fe8d6c0540e5662
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_66.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_67.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..650420e472ed405475540147e28df98f46b2097d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_67.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+v 0.02054016 -0.07407785 -0.01596475
+v 0.02761184 -0.07404826 -0.01596475
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+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_68.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4a29f16a13312e729933e5b3d1af96633fedc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_68.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03140834 -0.00538312 0.00738695
+v 0.03176925 -0.02993990 0.00738686
+v 0.03364292 -0.05107036 0.00302257
+v 0.03140834 -0.00538310 0.00351522
+v -0.04479806 -0.00538312 0.00738695
+v 0.03176925 -0.04823449 0.00738679
+v 0.03266001 -0.05107033 -0.00481771
+v 0.03050989 -0.00538307 -0.00455456
+v -0.04479038 -0.05107036 0.00302257
+v -0.04479806 -0.00538307 -0.00455456
+v -0.04480573 -0.01856503 0.00099060
+v -0.04479806 -0.02993990 0.00738686
+v -0.04479038 -0.04823449 0.00738679
+v 0.03070955 -0.05107033 -0.00482488
+v 0.03147745 -0.05035465 -0.00482487
+v 0.03040239 -0.04823444 -0.00482487
+v -0.04479806 -0.05107034 -0.00148030
+v -0.04479038 -0.04823444 -0.00482487
+v -0.04479806 -0.02993985 -0.00455465
+v -0.04479806 -0.05107034 -0.00394989
+v -0.04479038 -0.05107033 -0.00482488
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 13
+f 3 13 9
+f 3 9 17
+f 3 17 20
+f 3 20 21
+f 3 21 14
+f 3 14 7
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 18
+f 8 18 10
+f 9 13 17
+f 10 18 21
+f 10 21 19
+f 10 19 11
+f 11 20 17
+f 11 17 12
+f 11 19 20
+f 12 17 13
+f 14 21 18
+f 14 18 16
+f 14 16 15
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_69.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1b1aae6b30d2aa8195829a518d68a2ca884045
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_69.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05373257 -0.06042914 -0.00888819
+v 0.04733550 -0.06018570 -0.00889036
+v 0.04733550 -0.06018331 -0.00891853
+v 0.04733550 -0.05903049 -0.01596470
+v 0.05373257 -0.05999833 -0.01142837
+v 0.05373257 -0.06038499 -0.00744905
+v 0.04733550 -0.06003057 -0.00641954
+v 0.04733550 -0.05055523 -0.01596467
+v 0.04748957 -0.05903407 -0.01596470
+v 0.05373257 -0.05906749 -0.01596470
+v 0.05373257 -0.06031698 -0.00641954
+v 0.05373257 -0.05985636 -0.00022299
+v 0.05373257 -0.05976328 0.00098858
+v 0.04733550 -0.05941720 0.00098858
+v 0.05373257 -0.05049198 -0.01596467
+v 0.04733550 -0.04823892 -0.01474659
+v 0.05373257 -0.04823892 -0.01483112
+v 0.05373257 -0.05966066 0.00196173
+v 0.04733550 -0.05934561 0.00170381
+v 0.04733550 -0.04823894 -0.00734281
+v 0.05373257 -0.04823895 -0.00591667
+v 0.05373257 -0.05952939 0.00251875
+v 0.04733550 -0.05883724 0.00327517
+v 0.04733550 -0.05239427 0.00348110
+v 0.05373257 -0.05096940 0.00347243
+v 0.05373257 -0.05891600 0.00383218
+v 0.05373257 -0.05839689 0.00477500
+v 0.05373257 -0.05785750 0.00559861
+v 0.04733550 -0.05747323 0.00517814
+v 0.04733550 -0.05359600 0.00527135
+v 0.05373257 -0.05326663 0.00567014
+v 0.05373257 -0.05562352 0.00617731
+v 0.04733550 -0.05562352 0.00575467
+v 0.04733550 -0.05362702 0.00528002
+v 0.05373257 -0.05400532 0.00584353
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 17
+f 1 17 21
+f 1 21 25
+f 1 25 31
+f 1 31 35
+f 1 35 32
+f 1 32 28
+f 1 28 27
+f 1 27 26
+f 1 26 22
+f 1 22 18
+f 1 18 13
+f 1 13 12
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+f 1 6 2
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+f 24 30 25
+f 25 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 33
+f 31 33 35
+f 32 35 33
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_7.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a454f9e3ae3a2db549155dbb039af65fc97ead5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04480795 -0.00003153 0.01406064
+v -0.03327435 -0.00003153 0.01406064
+v -0.04480360 -0.00003151 0.00738697
+v -0.04480360 -0.05910318 0.00738675
+v -0.04480360 -0.05808827 0.01406043
+v -0.00029879 -0.00373822 0.01229683
+v -0.00029879 -0.00219375 0.01218839
+v -0.00029879 -0.00003152 0.01182715
+v -0.00029879 -0.06311142 0.01406041
+v -0.00029879 -0.00003151 0.00738697
+v -0.04479924 -0.06055938 0.00738675
+v -0.04479924 -0.06055940 0.01406042
+v -0.00029879 -0.07458451 0.01406037
+v -0.00029879 -0.07507724 0.00738669
+v -0.04477310 -0.06157431 0.00738674
+v -0.04473824 -0.06303053 0.01333660
+v -0.04473824 -0.06303053 0.01406041
+v -0.02914369 -0.07401821 0.01406037
+v -0.00029879 -0.07471689 0.01338882
+v -0.00029879 -0.07479779 0.01257290
+v -0.00446867 -0.07514343 0.00839793
+v -0.00200247 -0.07511402 0.00738669
+v -0.04473388 -0.06303051 0.00738674
+v -0.04445937 -0.06550165 0.01406040
+v -0.03161424 -0.07390054 0.01406037
+v -0.03161424 -0.07390054 0.01333656
+v -0.02914369 -0.07401083 0.00738670
+v -0.00446867 -0.07516550 0.00738669
+v -0.00940541 -0.07479043 0.01086659
+v -0.04445066 -0.06550163 0.00738673
+v -0.04384065 -0.06797277 0.01406039
+v -0.03408044 -0.07364313 0.01406037
+v -0.03161424 -0.07388581 0.00738670
+v -0.04381450 -0.06797275 0.00738672
+v -0.04381886 -0.06797275 0.00839796
+v -0.04330471 -0.06923040 0.01406039
+v -0.03654663 -0.07336365 0.01406037
+v -0.03654663 -0.07335628 0.00738670
+v -0.04306071 -0.06973049 0.00738671
+v -0.04307813 -0.06975257 0.01333657
+v -0.04307813 -0.06975993 0.01406038
+v -0.03901719 -0.07284148 0.01406037
+v -0.03901719 -0.07284882 0.00738670
+v -0.04197575 -0.07096605 0.00738671
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+v -0.04024593 -0.07228989 0.01406037
+v -0.04076008 -0.07205454 0.01406038
+v -0.04074701 -0.07204717 0.00839795
+v -0.04073830 -0.07204717 0.00738671
+f 1 2 8
+f 1 8 10
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+f 1 5 12
+f 1 12 17
+f 1 17 24
+f 1 24 31
+f 1 31 36
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+f 16 23 24
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+f 19 29 21
+f 19 21 20
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+f 24 30 31
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+f 30 34 35
+f 30 35 31
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+f 32 37 38
+f 32 38 33
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+f 34 41 35
+f 35 41 36
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+f 43 48 49
+f 43 49 50
+f 44 50 49
+f 44 49 45
+f 45 49 48
+
diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_8.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188099311ddce2edd6306ff244dfc4158b188da7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04476550 0.06189042 0.00738720
+v -0.04773767 0.06189034 0.03066824
+v -0.04476550 0.06197464 0.00738720
+v -0.00029908 0.06189042 0.00738720
+v -0.04771909 0.06298644 0.03066824
+v -0.03453009 0.06189034 0.03066824
+v -0.04474228 0.06298652 0.00738720
+v -0.00029908 0.07509940 0.00738725
+v -0.00029908 0.06189041 0.01181962
+v -0.04758906 0.06545722 0.03066825
+v -0.03248673 0.06540410 0.03066825
+v -0.00029908 0.06353193 0.02568433
+v -0.00029908 0.06387397 0.02792674
+v -0.00029908 0.06458914 0.02916191
+v -0.00029908 0.06544297 0.02944904
+v -0.00029908 0.06582518 0.02957666
+v -0.04460760 0.06444541 0.00738721
+v -0.00099103 0.07512661 0.00738725
+v -0.00029908 0.07439192 0.02568437
+v -0.04710144 0.06792799 0.03066826
+v -0.04450543 0.06545730 0.00738721
+v -0.03172511 0.06781916 0.03066826
+v -0.00029908 0.06711693 0.02957667
+v -0.00446940 0.07511236 0.00738725
+v -0.00446940 0.07509292 0.00839907
+v -0.00029908 0.07432066 0.02609228
+v -0.01927916 0.07435436 0.02568437
+v -0.02420645 0.07414964 0.02699472
+v -0.04701785 0.06817935 0.03066826
+v -0.04386456 0.06792807 0.00738722
+v -0.04412927 0.06691618 0.00738722
+v -0.03379170 0.07041690 0.03066827
+v -0.00029908 0.07039747 0.02870159
+v -0.03645736 0.07265964 0.03066828
+v -0.03599760 0.07248603 0.03066828
+v -0.02914304 0.07401236 0.00738724
+v -0.03556571 0.07418462 0.02418258
+v -0.03556571 0.07418462 0.02488676
+v -0.02914304 0.07431937 0.02568437
+v -0.00029908 0.07415870 0.02700839
+v -0.02667707 0.07414575 0.02698788
+v -0.03901621 0.07322713 0.03066828
+v -0.04617263 0.06977427 0.03066827
+v -0.04306579 0.06970050 0.00738723
+v -0.00029908 0.07210512 0.02815466
+v -0.00029908 0.07286825 0.02790855
+v -0.03060126 0.07394370 0.00738724
+v -0.03161365 0.07389576 0.00738724
+v -0.03307188 0.07376231 0.00738724
+v -0.03407962 0.07366773 0.00738724
+v -0.03553785 0.07353039 0.00738724
+v -0.03655024 0.07343451 0.00738724
+v -0.03800382 0.07312227 0.00738724
+v -0.03901621 0.07290331 0.00738724
+v -0.04148218 0.07293821 0.03066828
+v -0.03081488 0.07412372 0.02695142
+v -0.03162758 0.07424552 0.02561600
+v -0.02914304 0.07413668 0.02697421
+v -0.00029908 0.07376095 0.02728642
+v -0.04609833 0.06985978 0.03066827
+v -0.04202553 0.07093653 0.00738723
+v -0.04006576 0.07239800 0.00738724
+v -0.04355805 0.07211418 0.03066827
+v -0.04153791 0.07292007 0.03066828
+v -0.04481658 0.07120206 0.03066827
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_9.obj b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mjcf/mesh/jewelry_box_031_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/textures/material_0.png b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/video.mp4 b/dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/video.mp4
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