diff --git a/.gitattributes b/.gitattributes
index c958c7aea963ac7336bb6edecf0a0a78b88c23f6..33cdf4397819b263ef0afac61a5c7cc07e44e739 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2704,6 +2704,5 @@ dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/1908aff04338563aa8374bf41e2df4a5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/15f10949038a50bdae77d34a410c7879.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.urdf b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a9ce254f5bf8aab3a1376fb180e9f3b8e48d5f82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_003">
+   <link name="jewelry_box_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>15e7c42e78ca5a0cb0b420caefee57d6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>ornate jewelry box</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>wooden jewelry box with gold accents and intricate carvings</description>
+         <min_height>0.1647</min_height>
+         <max_height>0.1647</max_height>
+         <real_height>0.1647</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230558</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Lid, box body, and base/feet are mislabeled and merged inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..122dc76562391727ffbd2e4b0e1ffaa0a0ee0d32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92be01ec2e541dd70bb9f9f0dc11165302668ae06937d0bd37dba2b98e72523
+size 4990691
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f051c117bff313031eeb508c3839b7d433dae7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf9a42189f1e62837c5debe0fd5c8d339dbc1848fba2b2a106cbd009b856eef
+size 17653516
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.mtl b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bac73a0461ad54d88021701afa33a104c1675569
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_003_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/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb2728b75a3237c8fb4271d72c82d87866d3f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.obj
@@ -0,0 +1,126506 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_collision.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e736df5c0a381d81ede745fae3cdda3d49b92ef5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_collision.obj
@@ -0,0 +1,6910 @@
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f867fd57660c5bebc04b978dc2e31cce301a431b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a20e633c91e8b2ed4b648b81bb893940503bf95aae6ed7d7c0204559aa3c017
+size 14210578
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material.mtl b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2dd86e392fdcacdbe3ed8869ed8d85476116baea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_003_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material_0.png b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f867fd57660c5bebc04b978dc2e31cce301a431b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1a20e633c91e8b2ed4b648b81bb893940503bf95aae6ed7d7c0204559aa3c017
+size 14210578
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/jewelry_box_003.xml b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/jewelry_box_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c74c941fda3eed511262c5c90b1fcbc25d5f7851
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/jewelry_box_003.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_003">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_003_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_003">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3cae4f91c834e5840fcc19281c326c31f0d77f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003.obj
@@ -0,0 +1,126506 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a4b6ec3d5c2ccd5e54149f65a95532fdaf2a6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision.obj
@@ -0,0 +1,6910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_0.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c5fd4f5ae1797ac9fa6bf2db59c364a69c7c00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_1.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec0813070bf50089149f443f1dcfd463a47ff45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_1.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01722208 0.12444465 0.01070410
+v -0.01722208 0.12444465 0.01170410
+v -0.01722208 0.12544465 0.01070410
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+v -0.01622208 0.12444465 0.01070410
+v -0.01622208 0.12444465 0.01170410
+v -0.01622208 0.12544465 0.01070410
+v -0.01622208 0.12544465 0.01170410
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_10.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fe5777db6ba67bc635925d43fa9923a4056782
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_10.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_11.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03533823f38ff342af15aa367c290189d0baab02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00243217 -0.12474913 -0.03351871
+v 0.00061094 -0.13694521 -0.02730087
+v -0.00097800 -0.13694521 -0.02730087
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+v -0.00243217 -0.13817694 -0.02010633
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_12.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602b1da1d30c00e12610ac2edad1d3d4db5c7366
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.07877701 0.13485090 -0.06938646
+v -0.06980318 0.13433096 -0.07385318
+v -0.07429625 0.13431295 -0.07385318
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+v -0.07429625 0.13481714 -0.06806961
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+v -0.03963190 0.12187888 -0.06806966
+v -0.04375157 0.11694712 -0.06806968
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_13.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d858864f5849827ed2c654c8df73ae26077e7c97
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_13.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.09945972 -0.11148901 -0.06937596
+v -0.09923337 -0.11148899 -0.07319879
+v -0.09945170 -0.11604181 -0.06937598
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_14.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71668ecfebea43c69190938af0fec366b0aa3aea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_14.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_15.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61dd8b5d3181e40759e52df3a8d3597bea6d7f37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_16.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef368732cfdbe7db19d4d7e3bf0fd7792f98a044
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.01672789 0.12494212 -0.02764237
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_17.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4b0cff47ceabd626ee03be159ebc203109b0b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_17.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.04113866 -0.12661593 0.01124570
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+v 0.03704742 -0.13329574 0.01124568
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+v 0.03747390 -0.12661587 -0.00613692
+v 0.03637794 -0.13249022 0.01389704
+v 0.03834917 -0.12661595 0.01585277
+v 0.03834917 -0.12661698 0.01585277
+v 0.03367028 -0.13559093 0.01138567
+v 0.03228918 -0.13692319 0.00998999
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+v 0.03251234 -0.13337076 -0.01114653
+v 0.03644985 -0.13292536 0.00228530
+v 0.03182055 -0.13268868 -0.01423103
+v 0.03353143 -0.12661584 -0.01494854
+v 0.03559689 -0.13149535 -0.00396246
+v 0.03349671 -0.13328649 0.01456207
+v 0.03519520 -0.12661596 0.01789598
+v 0.03276525 -0.12661596 0.01937042
+v 0.02900379 -0.13589443 0.01232634
+v 0.02900379 -0.13695199 0.01008625
+v 0.02900379 -0.13712584 0.00676548
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_18.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57401c19633858e8e85fbac1dcdac867b3fcf879
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_18.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01104822 0.12494213 -0.02858252
+v 0.01104822 0.12494213 -0.02841979
+v 0.01104822 0.13360970 -0.02356435
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+v 0.02696327 0.13660094 -0.01364773
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+f 32 41 33
+f 33 41 35
+f 36 41 37
+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_19.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ab572ce940abd51ffbe84769a6aa36a5810336
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_19.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.07886446 -0.11148515 -0.06806896
+v -0.07899825 -0.11148515 -0.06811995
+v -0.07899825 -0.11148515 -0.06806896
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+v -0.07429518 -0.12514553 -0.07781782
+v -0.06082248 -0.12514553 -0.07764561
+v -0.06531068 -0.12514553 -0.07777453
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+v -0.05725058 -0.13453539 -0.07028761
+v -0.05633429 -0.13464291 -0.06937555
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_2.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e1e3aee4a557f975f2651bffc9be680366ebd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_2.obj
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_20.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4987cf77ce81b2b155a5b9452921f36f2c67f8dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04532334 -0.12474799 0.01124200
+v 0.04113653 -0.12661575 0.01124199
+v 0.04458075 -0.12474797 0.00676521
+v 0.04526843 -0.12474800 0.01402390
+v 0.04085625 -0.12661576 0.01267930
+v 0.03747272 -0.12661569 -0.00613454
+v 0.04097183 -0.12474793 -0.00670636
+v 0.04425135 -0.12474801 0.01749096
+v 0.03834822 -0.12661577 0.01585272
+v 0.03353152 -0.12661566 -0.01494902
+v 0.03962536 -0.12474791 -0.01114709
+v 0.03692372 -0.12474804 0.02360082
+v 0.03519295 -0.12661578 0.01789793
+v 0.03322813 -0.12661565 -0.01551571
+v 0.03695262 -0.12474789 -0.01563934
+v 0.03347084 -0.12474804 0.02412629
+v 0.03276581 -0.12661578 0.01937130
+v 0.02926381 -0.12661564 -0.01957521
+v 0.03314144 -0.12474788 -0.02010067
+v 0.03349106 -0.12474788 -0.01974005
+v 0.03304031 -0.12474804 0.02417781
+v 0.02901532 -0.12474804 0.02440448
+v 0.02915112 -0.12661578 0.01955676
+v 0.02891708 -0.12661564 -0.01988946
+v 0.02901821 -0.12474786 -0.02370168
+v 0.02451646 -0.12474803 0.02308566
+v 0.02451646 -0.12661577 0.01736216
+v 0.02421884 -0.12661562 -0.02346986
+v 0.02436043 -0.12474785 -0.02722541
+v 0.02004360 -0.12474802 0.01957223
+v 0.02046546 -0.12661577 0.01535816
+v 0.02370163 -0.12661562 -0.02375320
+v 0.01580767 -0.12661562 -0.02513384
+v 0.02002337 -0.12474785 -0.02775603
+v 0.02002337 -0.12661562 -0.02456201
+v 0.01674963 -0.12474801 0.01570334
+v 0.02033254 -0.12661576 0.01487391
+v 0.01580767 -0.12474785 -0.02821453
+v 0.01580767 -0.12661567 -0.01017344
+v 0.01595793 -0.12474799 0.01124200
+v 0.01939058 -0.12661575 0.01124199
+v 0.01580767 -0.12474792 -0.00693819
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_21.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e7581a75aa489747bfac458424ddc6b4f7e7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_21.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01745074 0.12494323 -0.00413557
+v 0.01634538 0.12494317 0.01124604
+v 0.02188892 0.13255896 0.00760551
+v 0.02482358 0.13352505 -0.00413554
+v 0.04061336 0.12494323 -0.00413557
+v 0.01665443 0.12494316 0.01434765
+v 0.02188892 0.13255895 0.01047616
+v 0.02642177 0.13670084 0.00948904
+v 0.02648581 0.13666853 0.00676963
+v 0.02673361 0.13653685 0.00448741
+v 0.02900839 0.13529433 -0.00413553
+v 0.03555707 0.13164924 -0.00413555
+v 0.03562946 0.13158698 -0.00405856
+v 0.04475362 0.12494318 0.00898031
+v 0.01751757 0.12494314 0.01825217
+v 0.02228429 0.13195083 0.01346228
+v 0.02527742 0.13294919 0.01425145
+v 0.02900839 0.13596582 0.01244768
+v 0.02900839 0.13697975 0.01020945
+v 0.02900839 0.13717130 0.00676963
+v 0.02900839 0.13671163 0.00399247
+v 0.03186508 0.13675951 0.00385498
+v 0.03357743 0.13358969 -0.00413554
+v 0.03646475 0.13296479 0.00229042
+v 0.04478703 0.12494317 0.01124604
+v 0.03714969 0.13371175 0.00676962
+v 0.02275484 0.12494313 0.02196147
+v 0.02570063 0.12494312 0.02344629
+v 0.02900839 0.13369018 0.01482888
+v 0.03345213 0.12494312 0.02365251
+v 0.03349668 0.13337774 0.01458141
+v 0.03371664 0.13569289 0.01147155
+v 0.03236625 0.13695341 0.01012971
+v 0.03255002 0.13702407 0.00676963
+v 0.03479417 0.13598739 0.00676963
+v 0.04362876 0.12494315 0.01572523
+v 0.03710792 0.13336219 0.01124607
+v 0.02901952 0.12494312 0.02395497
+v 0.03641742 0.13253261 0.01392149
+v 0.03798776 0.12494313 0.02047940
+v 0.04247884 0.12494315 0.01727055
+f 1 2 3
+f 1 3 4
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+f 1 14 25
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+f 32 39 37
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+f 33 35 34
+f 36 37 39
+f 36 39 41
+f 39 40 41
+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_22.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a316dd42659d4228c5c340c1938de7ab8b60fbc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.07943405 -0.11148335 -0.06859339
+v -0.07943405 -0.11148335 -0.06759339
+v -0.07943405 -0.09309181 -0.06859339
+v -0.07943405 -0.09309181 -0.06759339
+v -0.07843405 -0.11148335 -0.06859339
+v -0.07843405 -0.11148335 -0.06759339
+v -0.07843405 -0.09309181 -0.06859339
+v -0.07843405 -0.09309181 -0.06759339
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_23.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee71828ecd7311fa854ae172b9e66aaf55608db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_23.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07857996 -0.11128959 -0.06806800
+v 0.07857996 -0.11605684 -0.06806802
+v 0.07857996 -0.11128959 -0.06810190
+v 0.07849492 -0.11128959 -0.06806908
+v 0.05284671 -0.11289098 -0.06806800
+v 0.07857591 -0.13482589 -0.06806831
+v 0.07857591 -0.13486051 -0.06932598
+v 0.07857996 -0.11605684 -0.06855814
+v 0.04899584 -0.11605684 -0.06806802
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_24.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c7046c3b4d10faebd5057015e23bde09ad153c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_25.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6900ac27ad664877a68fb267a360d271cb888a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.07903890 -0.09211844 -0.06758485
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_3.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb9eb818d432444081467baa16beba2cf236ce9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_3.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_4.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc77a81c30b104089d4b2c7b5d3b70043a8c16f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_4.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_5.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668b409eb3881df0cf472475b28fa6c9302f1ceb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_5.obj
@@ -0,0 +1,913 @@
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_6.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ed4f37715419d3c6be7b749e9528ddf051f147
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_6.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_7.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2423520060ec476d06bd237be979e11ed5bfcec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_7.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_8.obj b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26044dd7b58101979cac8ecee830710e353c9c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.01620921 -0.13331422 -0.01236059
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