diff --git a/.gitattributes b/.gitattributes
index 52db387b9cc6859396dc63ab7d5ee630ed1031dc..b31f600f56923c69b68d62d2560cbcd1f53a8440 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2819,3 +2819,5 @@ dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_ho
dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/mesh/pill_organizer_007.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/pill_organizer_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.urdf b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d3bdbe2e76a2766bd02f60e216d1296bac98dba
--- /dev/null
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+ leather
+ brown rectangular jewelry box with open lid and sliding drawers
+ 0.1270
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+ NO: {"summary":"Key functional parts are merged into one body color; drawers and lid are not separated, not fixable by merging.","merge_groups":[{"colors":["Yellow","Teal"],"target_part":"interior organizer compartment","reason":"small divider patches on same organizer area"},{"colors":["Green","Brown"],"target_part":"hardware accents","reason":"small latch/logo fragments, not separate functions"}]}
+
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+
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.usd b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.usd
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.glb b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.glb
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.mtl b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.mtl
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.mtl
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.obj
new file mode 100644
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_collision.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa0f30e807502b377c7f32db23f06995dd9c7e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_collision.obj
@@ -0,0 +1,12806 @@
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d859341f3909f250f79a8a0ba79f77b4cdc1bc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993e59f6fa6ea6a7d898f028b18948d225a439c45c2d856d8fcb8cd0d80ab932
+size 12478423
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material.mtl b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f34e12995fcd85a5f5e74af4b266b7d917219cd8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_012_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material_0.png b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d859341f3909f250f79a8a0ba79f77b4cdc1bc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993e59f6fa6ea6a7d898f028b18948d225a439c45c2d856d8fcb8cd0d80ab932
+size 12478423
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/jewelry_box_012.xml b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/jewelry_box_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a091f1dcc46c50463c80f5b019336b8d2fa10448
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/jewelry_box_012.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d413be92df3dd33ef1d308745768765c94e2ab2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012.obj
@@ -0,0 +1,117518 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d55cab9c8b88914c4fc943ac23058ceb444eb61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision.obj
@@ -0,0 +1,12806 @@
+# https://github.com/mikedh/trimesh
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+o jewelry_box_012_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_0.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a7c08d4fbb1dc76b4b311c1941e478915d00ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_0.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_1.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba98b94f90c25d6fd4871a71c8bcb2f9c3d19507
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_1.obj
@@ -0,0 +1,298 @@
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_10.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765e7c871d04815eb8f4cde47bc4f07cde9fe535
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.02039990 -0.05274397 0.05152317
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+v -0.02124629 -0.05054260 0.05227813
+v -0.01041491 -0.05074065 0.03307096
+v -0.00930330 -0.05480432 0.03307095
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_11.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f53589cf505a66cf6538916d123bf6464ed023
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_12.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d62c89b4a38878e7a1e1f5acb0548c87714ecc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 52 54 60
+f 53 61 62
+f 53 62 58
+f 54 62 60
+f 55 59 63
+f 55 63 56
+f 60 62 61
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_13.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4890d7c5bbfaa6df3a5e171408dfc73bcce75afc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00967361 0.01011932 0.08849339
+v -0.00967361 0.01011929 0.09742346
+v -0.00967361 0.02166674 0.08849343
+v -0.00963326 0.04840460 0.08816097
+v -0.00074522 0.04840836 0.08547657
+v -0.00138348 0.01011933 0.08603030
+v -0.00954400 0.01011929 0.09756462
+v -0.00967361 0.01243177 0.09742347
+v -0.00967361 0.02626922 0.08849465
+v -0.00963326 0.04840835 0.08841697
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+v -0.00967361 0.04095368 0.08849949
+v -0.00064495 0.04840836 0.08547657
+v -0.00022678 0.01011933 0.08575636
+v -0.00808406 0.01011929 0.09767108
+v -0.00808406 0.01243177 0.09768067
+v -0.00808406 0.01933924 0.09768667
+v -0.00808406 0.02394546 0.09769028
+v -0.00808406 0.04006163 0.09769631
+v -0.00954400 0.01703800 0.09756464
+v -0.00967361 0.01933924 0.09742229
+v -0.00963326 0.04840831 0.09745111
+v -0.00967361 0.04095365 0.09741161
+v 0.00008502 0.04840836 0.08573975
+v 0.00007524 0.01011933 0.08575636
+v -0.00670359 0.01011929 0.09747011
+v -0.00669014 0.01243177 0.09747850
+v -0.00667669 0.01933924 0.09748689
+v -0.00667303 0.02394546 0.09749050
+v -0.00665835 0.04006163 0.09749774
+v -0.00953789 0.03775665 0.09756113
+v -0.00954156 0.02624670 0.09756348
+v -0.00665469 0.04697285 0.09749895
+v -0.00808284 0.04697285 0.09769394
+v -0.00953544 0.04840831 0.09755878
+v -0.00954400 0.02164423 0.09756346
+v -0.00967361 0.02394546 0.09742112
+v -0.00967361 0.04084870 0.09741280
+v -0.00963326 0.04697285 0.09745230
+v 0.00049953 0.04840835 0.08619432
+v 0.00117203 0.01011933 0.08696218
+v -0.00109125 0.01011930 0.09454048
+v 0.00111823 0.01011931 0.09338489
+v 0.00110600 0.04697287 0.09337545
+v 0.00110478 0.04840833 0.09336709
+v -0.00667792 0.04840831 0.09748581
+v -0.00808284 0.04840831 0.09768080
+v 0.00111334 0.03315044 0.09338019
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+v 0.00182375 0.04840833 0.09294002
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+v 0.00227249 0.02624672 0.09268993
+v 0.00227004 0.03315044 0.09268516
+v 0.00281661 0.01011932 0.08937863
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+v 0.00280805 0.04840833 0.09152126
+v 0.00226515 0.04095367 0.09268041
+v 0.00226026 0.04840833 0.09267565
+v 0.00226638 0.04006165 0.09268041
+v 0.00281049 0.03775668 0.08937753
+v 0.00280805 0.04840834 0.08937398
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+f 43 56 57
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+f 44 58 45
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+f 44 60 61
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+f 53 56 55
+f 53 55 54
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_14.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8eeed1c80110b4ffe3addeeafb9d1ceaf024b7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04921088 0.00576539 -0.02601812
+v 0.06472818 0.00576539 -0.02601226
+v 0.04921088 0.00576535 -0.01746649
+v 0.04921088 0.04053278 -0.02601799
+v 0.06354634 0.04927413 -0.02601964
+v 0.06472818 0.00576536 -0.01896851
+v 0.06472818 0.04927413 -0.02601880
+v 0.05451851 0.00576535 -0.01746649
+v 0.04921088 0.05391823 -0.01746631
+v 0.04921088 0.04927413 -0.02601713
+v 0.06123583 0.05157969 -0.02575003
+v 0.06354634 0.05157969 -0.02575003
+v 0.06472818 0.05040098 -0.02588734
+v 0.06472818 0.04758617 -0.01746634
+v 0.05430584 0.05392766 -0.01746631
+v 0.04921088 0.05389939 -0.02170864
+v 0.04921088 0.05157969 -0.02573915
+v 0.05892533 0.05289513 -0.02532639
+v 0.06123583 0.05289513 -0.02532806
+v 0.06472818 0.05157969 -0.02574919
+v 0.06354634 0.05289513 -0.02532806
+v 0.06472818 0.05393237 -0.01746631
+v 0.06123583 0.05347978 -0.02402027
+v 0.04921088 0.05347035 -0.02402027
+v 0.06472818 0.05389939 -0.02170864
+v 0.04921088 0.05184843 -0.02565291
+v 0.05199382 0.05289042 -0.02532053
+v 0.04921088 0.05300829 -0.02505344
+v 0.06472818 0.05318274 -0.02468923
+v 0.06472818 0.05289513 -0.02532722
+v 0.06472818 0.05347978 -0.02402027
+v 0.04921088 0.05288570 -0.02531885
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+f 19 29 21
+f 21 29 30
+f 23 31 29
+f 26 32 27
+f 27 32 28
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_15.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025b6f8637f5f768e492ed3117a3a3b5751632f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05418845 0.01703435 0.03307121
+v -0.05417686 0.00321425 0.03307116
+v -0.05417851 0.04006233 0.03307130
+v -0.04876724 0.03296104 0.02797602
+v -0.04874075 0.00529310 0.02797592
+v -0.05416692 0.00267098 0.03307116
+v -0.05417023 0.04697515 0.03307132
+v -0.05413877 0.05157631 0.03307134
+v -0.05412222 0.05388243 0.03307135
+v -0.04846919 0.05388245 0.02797610
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+v -0.04072981 0.00267098 0.03307116
+v -0.04836819 0.05558433 0.02797610
+v -0.05386722 0.05593910 0.03307136
+v -0.04832016 0.05618304 0.02797611
+v -0.03838515 0.00267100 0.02797591
+v -0.03896800 0.00267099 0.03072104
+v -0.03727408 0.01012708 0.02941234
+v -0.03727408 0.05117163 0.03307134
+v -0.05376456 0.05639367 0.03307136
+v -0.04787309 0.05710327 0.02797611
+v -0.03847953 0.00267099 0.02915795
+v -0.03727408 0.00802054 0.02797593
+v -0.03727408 0.00824227 0.02873852
+v -0.03859379 0.00267099 0.02952653
+v -0.03727408 0.00861369 0.02893752
+v -0.03727408 0.05440907 0.03307135
+v -0.05335060 0.05715868 0.03307136
+v -0.04731010 0.05814546 0.02797611
+v -0.03727408 0.05920428 0.02797612
+v -0.03727408 0.05679281 0.03166089
+v -0.03838846 0.05613312 0.03307136
+v -0.05190505 0.05811218 0.03307136
+v -0.04624044 0.05867210 0.02797612
+v -0.03925447 0.05923200 0.02797612
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+v -0.04274662 0.05909893 0.03307137
+v -0.03727408 0.05916547 0.02830629
+v -0.03727408 0.05804012 0.03087186
+v -0.04045163 0.05815098 0.03307136
+v -0.05152421 0.05826740 0.03307136
+v -0.04505651 0.05913221 0.02797612
+v -0.04156436 0.05924863 0.02797612
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+v -0.03727408 0.05841154 0.03025092
+v -0.04896594 0.05902132 0.03307137
+v -0.04387590 0.05920428 0.02797612
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_16.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196593ee15c60b4819b636c6e2de9bc3a8ba6e39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.02217195 -0.05986234 0.01705002
+v -0.02217195 -0.05986334 0.01754558
+v -0.02217195 -0.05084583 0.01705005
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+v -0.02217195 -0.05986634 0.01968620
+v -0.01501305 -0.05990825 0.02684511
+v -0.02217195 -0.05084586 0.02475784
+v -0.00737293 -0.04984173 0.03307097
+v -0.00577341 -0.04976993 0.03146825
+v 0.00116091 -0.04986761 0.01991049
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+v -0.02217195 -0.05987634 0.02684511
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+v -0.02217195 -0.05961309 0.02893397
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+v 0.02464960 -0.04974993 0.01705006
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_17.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174e36df3982b8d1598850e35df12a5e3fe1de15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_17.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03497172 0.02451427 0.01705033
+v 0.03497523 0.01479581 0.01705029
+v 0.03493664 0.02451427 0.01682286
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+v 0.03119673 0.01479582 0.01378182
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_18.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2429183a9af564bcc34657ca3775e21b0a886fdd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_18.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.05503358 -0.05666894 0.03999821
+v -0.05451050 -0.05666894 0.04071819
+v -0.05485217 -0.04933029 0.03999824
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+v -0.05132962 -0.05666895 0.04480489
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+v -0.05431093 -0.04933029 0.04071822
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_19.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975755e3465d0bfbb87be709c6c1e4929ca12d43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_19.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.05419170 -0.01060566 0.03307111
+v -0.05418314 -0.00369832 0.03307114
+v -0.04850118 0.00266587 0.02794830
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+v -0.03670583 -0.04967718 0.02915773
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+v -0.03740431 -0.04967719 0.03156495
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_2.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc04fca354a8846a706be3befa2ec376918ee9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.02178379 0.05618711 0.08178450
+v -0.02178379 0.04894440 0.08136963
+v -0.02178379 0.05725228 0.08137919
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_20.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e85059c59c8c49d7bdcd536a77cf8be0f3b2d40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.04876739 0.03295129 0.02797602
+v -0.04846974 0.05387002 0.02797610
+v -0.04843615 0.05387006 0.01705044
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_21.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a555c207f0e27328380aff2063093cf221809b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_21.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00356309 0.00841111 0.01705146
+v -0.00356309 0.00839924 0.01980647
+v -0.00356309 0.01504200 0.01705149
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_22.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed590623bd3b7bd76ae912a2d0dedc81836a351
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_22.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.07741141 -0.04975708 -0.01097796
+v 0.07279056 -0.05206118 -0.01188228
+v 0.07725077 -0.05206943 -0.01107333
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+v 0.08029546 -0.04515293 -0.02651235
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_23.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a8a9a756ae5e6b37b169332eb43f6fb201f37d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_23.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02888737 0.01404937 0.01300851
+v 0.02979554 0.01400555 0.01300851
+v 0.04155517 0.01341221 0.00922004
+v 0.02569713 0.01395229 0.01114164
+v 0.02569713 0.01329622 0.01300851
+v 0.03815691 0.01189981 0.01471461
+v 0.04155517 0.01216952 0.01476704
+v 0.03119893 0.01390036 0.01300851
+v 0.04155517 0.01304404 0.01297221
+v 0.04155517 0.00716176 0.00922002
+v 0.03815691 0.01326185 0.00922004
+v 0.02569713 0.01366910 0.01114049
+v 0.02569713 0.00760203 0.01300849
+v 0.03815691 0.01012446 0.01502229
+v 0.04155517 0.01124645 0.01492665
+v 0.04155517 0.00768025 0.01297219
+v 0.03130139 0.00729929 0.01300849
+v 0.03113373 0.00729929 0.01300849
+v 0.02569713 0.00753731 0.01186129
+v 0.02569713 0.00759598 0.01114047
+v 0.03815691 0.00751373 0.00922002
+v 0.02888737 0.00739908 0.01300849
+v 0.04155517 0.00831810 0.01456882
+v 0.04155517 0.01012446 0.01510642
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 7
+f 3 7 15
+f 3 15 24
+f 3 24 23
+f 3 23 16
+f 3 16 10
+f 3 10 21
+f 3 21 11
+f 3 11 4
+f 3 8 9
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+f 4 20 19
+f 4 19 13
+f 4 13 5
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 9 8
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+f 10 19 20
+f 10 20 21
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+f 11 20 12
+f 13 19 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 16 23 17
+f 17 23 18
+f 18 23 22
+f 18 22 19
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_24.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b10e0e2cba708e34016b87f87cf9d8590b290a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_24.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02456753 0.00348564 0.01113995
+v 0.01597093 0.00348564 0.01113995
+v 0.02437422 0.00348563 0.01248888
+v 0.03119634 0.00309205 0.01300877
+v 0.03815746 0.00206522 0.01113995
+v 0.01596876 -0.00706780 0.01113991
+v 0.01837094 -0.00139234 0.01300875
+v 0.01838397 0.00348563 0.01300877
+v 0.02428083 0.00348563 0.01292792
+v 0.03350730 0.00270983 0.01300877
+v 0.03815746 0.00205283 0.01143392
+v 0.02422870 0.00348563 0.01300877
+v 0.03815746 0.00006631 0.01113994
+v 0.01837094 -0.00706781 0.01300873
+v 0.02395069 -0.00706780 0.01113991
+v 0.03815746 0.00178526 0.01300877
+v 0.03815746 0.00180696 0.01297328
+v 0.03815746 -0.00268466 0.01270874
+v 0.03815094 -0.00282618 0.01113993
+v 0.02341639 -0.00706781 0.01300873
+v 0.03815746 -0.00262888 0.01300875
+f 1 2 8
+f 1 8 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 8
+f 4 8 7
+f 4 7 14
+f 4 14 20
+f 4 20 21
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+f 4 16 10
+f 5 11 17
+f 5 17 16
+f 5 16 21
+f 5 21 18
+f 5 18 13
+f 6 14 7
+f 6 15 20
+f 6 20 14
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 15 19 20
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_25.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82a3ba355cda92a471bfdcd743604c30dcaf196
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03742653 0.00677833 0.01191412
+v -0.03080760 0.00748335 0.01191413
+v -0.03742653 0.00743944 0.01704977
+v -0.03742653 0.01611908 0.01191416
+v -0.03080760 0.00841237 0.01704977
+v -0.03080760 0.01476758 0.01191415
+v -0.03742653 0.01482425 0.01704979
+v -0.03080760 0.01349926 0.01704979
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_26.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478b3e863bad4b9f5dca2f5bc7f448d95c39c130
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_26.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.01494011 0.01703914 0.01092212
+v -0.00120296 0.01703914 0.01092212
+v -0.01494011 0.01703914 0.01122265
+v -0.01494011 0.03145181 0.01092218
+v -0.00450042 0.01703912 0.01704971
+v -0.00122582 0.03145181 0.01092218
+v -0.00451118 0.03145179 0.01704977
+v -0.00968328 0.01703912 0.01704971
+v -0.01494011 0.01933732 0.01122626
+v -0.01494011 0.03145181 0.01121311
+v -0.00965504 0.03145179 0.01704977
+v -0.01494011 0.01941351 0.01122626
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 12
+f 1 12 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 4 11 7
+f 4 7 6
+f 5 7 11
+f 5 11 8
+f 8 12 9
+f 8 11 10
+f 8 10 12
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_27.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818624be6294725e524dde315a26ecbd889a382c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_27.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02888806 0.03776065 0.03297393
+v 0.03015051 0.04236584 0.03269338
+v 0.03015188 0.04466844 0.03269338
+v 0.03015188 0.04697104 0.03269339
+v 0.02888806 0.04236584 0.03297239
+v 0.02735056 0.03776065 0.03290690
+v 0.02735056 0.03545805 0.03290689
+v 0.02735193 0.03084852 0.03290687
+v 0.02735881 0.00267098 0.03290054
+v 0.02888806 0.00267098 0.03295977
+v 0.02984246 0.00267098 0.03274935
+v 0.03013676 0.00267098 0.03268388
+v 0.03554825 0.00267099 0.03074176
+v 0.03338503 0.04697105 0.03087129
+v 0.02888806 0.04697104 0.03296928
+v 0.02735469 0.04466844 0.03290225
+v 0.02419855 0.01012516 0.02920648
+v 0.02735331 0.02394507 0.03290529
+v 0.02715528 0.00267098 0.03256386
+v 0.03670344 0.00267099 0.02985331
+v 0.03454022 0.04697105 0.03006545
+v 0.02735743 0.04697104 0.03290070
+v 0.02419855 0.01255785 0.02892749
+v 0.02419855 0.00857276 0.02840531
+v 0.02649655 0.00267098 0.03146966
+v 0.02649792 0.04697104 0.03146982
+v 0.03758771 0.00267099 0.02869676
+v 0.03491290 0.04697105 0.02890890
+v 0.03824644 0.00267100 0.02684504
+v 0.02419855 0.01257953 0.02892125
+v 0.02599184 0.04697105 0.02915673
+v 0.02419855 0.00801337 0.02684506
+v 0.02599046 0.00267099 0.02915657
+v 0.03513844 0.04697106 0.02684520
+v 0.03787650 0.00267101 0.02511646
+v 0.03499129 0.04697110 0.01705041
+v 0.03506968 0.04697110 0.01759596
+v 0.03511506 0.04697109 0.01991060
+v 0.02419855 0.01378070 0.02773977
+v 0.02596709 0.04697106 0.02684520
+v 0.02419855 0.01410159 0.02684508
+v 0.02419855 0.00784426 0.02453353
+v 0.02598496 0.00267099 0.02861103
+v 0.03775273 0.00267101 0.02455221
+v 0.02617612 0.04697110 0.01705041
+v 0.03561701 0.01012521 0.01705028
+v 0.02596296 0.04697107 0.02453367
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+v 0.02419855 0.01415363 0.02634786
+v 0.02419855 0.00774022 0.01705027
+v 0.02596846 0.00267100 0.02684504
+v 0.03510818 0.00267104 0.01705025
+v 0.02603860 0.04697110 0.01753828
+v 0.02419855 0.01429243 0.01705029
+v 0.02596159 0.04697108 0.02222214
+v 0.02419855 0.01431843 0.02222202
+v 0.02594233 0.00267104 0.01705025
+v 0.02602210 0.04697110 0.01759751
+v 0.02596709 0.04697109 0.01991060
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_28.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f872ff324651f05c2878692b246c2b0858ffa8aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_28.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_29.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab068c25f13b4ee5f6ad64be222c154f10d966d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_29.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_3.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402a72001a1b22bdd506832c8de0df34828222e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_3.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00967239 -0.03713169 0.08849495
+v -0.00964913 -0.04877091 0.08823219
+v -0.00967239 -0.03713172 0.09741325
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+v -0.00117821 -0.04877090 0.08561808
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_30.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad04dc182b67d5bcc3a1203b5b766ff0691dcfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_30.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.07741167 -0.00139136 -0.01096561
+v 0.07741167 0.00091246 -0.01096725
+v 0.07600111 0.00091246 -0.01125681
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_31.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1f1ff997b72bcfc26daf30b1d27cf50a78650a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_31.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01501707 0.00632212 0.01113996
+v 0.01597025 0.00348564 0.01113995
+v 0.01501707 0.00806146 0.01300861
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+v 0.02348386 0.02451428 0.01300885
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+v 0.02376501 0.02451428 0.01252189
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+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_32.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18704bda89f633b53479e4c0d43baab52ce6c10d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_32.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04921088 -0.05447141 -0.01755706
+v 0.05846809 -0.05448195 -0.01754212
+v 0.04921088 -0.05447141 -0.01754212
+v 0.04921088 -0.05443979 -0.02170963
+v 0.06472818 -0.05448458 -0.01754212
+v 0.04921088 -0.02757958 -0.01754202
+v 0.06354634 -0.05401309 -0.02402040
+v 0.05430584 -0.05443979 -0.02170963
+v 0.04921088 -0.05400782 -0.02402040
+v 0.06472818 -0.05443716 -0.02170963
+v 0.06472818 -0.04818173 -0.01754210
+v 0.05521881 -0.02757958 -0.01754202
+v 0.04921088 -0.02757954 -0.02601483
+v 0.06472818 -0.05401309 -0.02402040
+v 0.04921088 -0.05388403 -0.02429015
+v 0.05892533 -0.05340203 -0.02534593
+v 0.06472818 -0.05371546 -0.02466781
+v 0.06472818 -0.02757957 -0.01897214
+v 0.04921088 -0.02856198 -0.02601566
+v 0.04968332 -0.02757954 -0.02601483
+v 0.04921088 -0.05339676 -0.02534261
+v 0.05199382 -0.05339940 -0.02534345
+v 0.04921088 -0.05312547 -0.02542894
+v 0.05892533 -0.05206139 -0.02576840
+v 0.06472818 -0.05340203 -0.02534759
+v 0.06472818 -0.02757954 -0.02601151
+v 0.06440157 -0.02757954 -0.02601234
+v 0.06472818 -0.02903081 -0.02601318
+v 0.06472818 -0.04402807 -0.02601904
+v 0.04921088 -0.03086398 -0.02601650
+v 0.04921088 -0.05206139 -0.02576259
+v 0.06354634 -0.05206139 -0.02576923
+v 0.06472818 -0.05274883 -0.02555343
+v 0.04921088 -0.05158993 -0.02581571
+v 0.04921088 -0.04975938 -0.02601823
+v 0.06123583 -0.04975938 -0.02602155
+v 0.06472818 -0.02790878 -0.02601234
+v 0.06472818 -0.04633008 -0.02601988
+v 0.04921088 -0.03547063 -0.02601818
+v 0.06472818 -0.05093672 -0.02589290
+v 0.06472818 -0.05206139 -0.02576923
+v 0.04921088 -0.04745474 -0.02601905
+v 0.06472818 -0.04863471 -0.02602072
+v 0.06472818 -0.04975938 -0.02602072
+v 0.04921088 -0.04007727 -0.02601903
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+f 2 6 3
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+f 4 8 5
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+f 5 14 17
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+f 16 33 25
+f 16 25 17
+f 19 20 27
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+f 19 29 38
+f 19 38 30
+f 21 23 22
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+f 24 32 33
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+f 24 36 32
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+f 38 43 39
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_33.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22a23e913847ea785976ba5f34fc800892f793d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_33.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03727243 0.00751468 0.01705027
+v -0.03727243 0.00750824 0.02032462
+v -0.03727243 0.01470784 0.01705029
+v -0.00356911 0.00841084 0.01705027
+v -0.00356911 0.00839891 0.01990958
+v -0.00356911 0.00839431 0.02211910
+v -0.03727243 0.00750640 0.02222195
+v -0.03727243 0.01471609 0.01747865
+v -0.02186755 0.01687625 0.01705030
+v -0.00356911 0.01504172 0.01705030
+v -0.00356911 0.00839431 0.02222195
+v -0.03727243 0.00751189 0.02453311
+v -0.03727243 0.01471793 0.01759723
+v -0.03727243 0.01473535 0.01990960
+v -0.03727243 0.01474910 0.02222197
+v -0.02188075 0.01687623 0.02204411
+v -0.00442695 0.01687625 0.01705030
+v -0.00367468 0.01527471 0.01705030
+v -0.00356911 0.01525634 0.02160365
+v -0.00356911 0.00840347 0.02453311
+v -0.03727243 0.00768800 0.02684548
+v -0.03727243 0.01474175 0.02406243
+v -0.02186755 0.01687622 0.02453314
+v -0.02188075 0.01687623 0.02222198
+v -0.00442365 0.01687625 0.01754884
+v -0.00356911 0.01526185 0.02229458
+v -0.00440715 0.01687624 0.02005965
+v -0.00356911 0.00861535 0.02684548
+v -0.03727243 0.00775496 0.02708144
+v -0.00356911 0.00889511 0.02811359
+v -0.03727243 0.01473808 0.02453313
+v -0.02165309 0.01687621 0.02666764
+v -0.00356911 0.01524716 0.02372605
+v -0.00440055 0.01687623 0.02222803
+v -0.00440055 0.01687623 0.02241317
+v -0.00441045 0.01687622 0.02452225
+v -0.03727243 0.00823926 0.02873797
+v -0.00356911 0.01012423 0.02879969
+v -0.03727243 0.01445188 0.02642199
+v -0.02109549 0.01687621 0.02836894
+v -0.02116148 0.01687621 0.02826851
+v -0.02163330 0.01687621 0.02684430
+v -0.00356911 0.01523982 0.02440730
+v -0.00452923 0.01687621 0.02602511
+v -0.03727243 0.00861350 0.02893642
+v -0.00356911 0.01222293 0.02869563
+v -0.00594797 0.01687620 0.02877672
+v -0.00808598 0.01242656 0.02916150
+v -0.03727243 0.01012423 0.02941197
+v -0.03727243 0.01439135 0.02666279
+v -0.01975594 0.01687620 0.02901268
+v -0.00356911 0.01395198 0.02676443
+v -0.00478988 0.01687621 0.02718190
+v -0.00609644 0.01687620 0.02878156
+v -0.01964046 0.01687620 0.02905745
+v -0.01964046 0.01242656 0.02925830
+v -0.03727243 0.01055259 0.02938293
+v -0.03727243 0.01247059 0.02909737
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 29
+f 1 29 37
+f 1 37 45
+f 1 45 49
+f 1 49 57
+f 1 57 58
+f 1 58 50
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+f 1 39 31
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+f 1 22 15
+f 1 15 14
+f 1 14 13
+f 1 13 8
+f 1 8 3
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+f 1 9 17
+f 1 17 18
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+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 4 26 33
+f 4 33 43
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+f 31 41 42
+f 31 42 32
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+f 38 47 48
+f 38 48 49
+f 38 49 45
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+f 40 50 51
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+f 44 53 52
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+f 46 53 47
+f 47 54 48
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+f 48 55 56
+f 48 56 49
+f 49 56 55
+f 49 55 57
+f 50 58 55
+f 50 55 51
+f 55 58 57
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_34.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3052f2ea6617b5a7a34fa56afaa9e5269ceed35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_34.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03670652 -0.04967718 0.02915776
+v -0.02217195 -0.05085002 0.02915775
+v -0.02217195 -0.05084901 0.02811025
+v -0.03683795 -0.04967717 0.02832539
+v -0.03740431 -0.04967719 0.03156503
+v -0.02217195 -0.05085300 0.02928305
+v -0.02217195 -0.05971633 0.02811022
+v -0.03689427 -0.04967717 0.02811026
+v -0.03846820 -0.04967719 0.03307097
+v -0.02217195 -0.05088180 0.03045439
+v -0.02217195 -0.05961306 0.02893433
+v -0.04505491 -0.05982162 0.03307093
+v -0.02657143 -0.05975307 0.02811022
+v -0.04850316 -0.04967717 0.02811026
+v -0.05413237 -0.04967719 0.03307097
+v -0.03596806 -0.05245486 0.03307096
+v -0.02217195 -0.05250948 0.03297140
+v -0.02217195 -0.05146972 0.03174130
+v -0.02217195 -0.05135849 0.03160970
+v -0.02217195 -0.05958426 0.02915772
+v -0.04345282 -0.05969748 0.03307093
+v -0.04736417 -0.05967861 0.03307093
+v -0.04505491 -0.05966072 0.02811022
+v -0.04274252 -0.05978982 0.02811022
+v -0.04850942 -0.05198610 0.02811025
+v -0.05413863 -0.05436657 0.03307095
+v -0.03595242 -0.05263561 0.03307096
+v -0.02217195 -0.05396833 0.03297139
+v -0.02217195 -0.05865373 0.03069329
+v -0.04274252 -0.05964187 0.03307093
+v -0.04964840 -0.05931713 0.03307093
+v -0.04733288 -0.05864975 0.02811022
+v -0.05193576 -0.05863090 0.03307093
+v -0.04850942 -0.05206357 0.02811025
+v -0.05410421 -0.05480949 0.03307095
+v -0.04846561 -0.05436655 0.02811024
+v -0.04833106 -0.05666953 0.02811023
+v -0.03595242 -0.05404878 0.03307095
+v -0.02217195 -0.05666955 0.03181461
+v -0.03836181 -0.05662783 0.03307094
+v -0.04044265 -0.05867360 0.03307093
+v -0.02217195 -0.05855343 0.03085743
+v -0.02217195 -0.05685128 0.03172234
+v -0.05267423 -0.05809463 0.03307094
+v -0.05307161 -0.05749083 0.03266787
+v -0.05383198 -0.05691782 0.03307094
+v -0.05391021 -0.05652555 0.03307094
+f 1 2 3
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+f 1 14 15
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+f 1 5 2
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+f 32 33 44
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+f 44 46 45
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_35.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00805ee9e3752809cb725bdc1fa919b7fb498e44
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_35.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.07741076 0.04927821 -0.01097840
+v 0.07916761 0.03546291 -0.01101626
+v 0.07916273 0.04697215 -0.01101787
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+v 0.07741076 0.01890631 -0.01098180
+v 0.07883887 0.01890631 -0.01100974
+v 0.07916761 0.01890631 -0.01101632
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+v 0.07916761 0.04236705 -0.01101788
+v 0.07916680 0.04466960 -0.01101788
+v 0.08032230 0.04466961 -0.01230027
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+v 0.08092691 0.04006450 -0.01343963
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+v 0.08081136 0.01890632 -0.01323420
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_36.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae2431a9df6db3203d61e58c8be8f0f96936408
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_36.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_37.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ef178270315620d6a0748d7e48c5b57b012458
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_37.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00611912 -0.05043719 0.01705005
+v 0.00577867 -0.05035895 0.01705006
+v 0.00611912 -0.05986181 0.01705002
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_38.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898f8bf0be5ab23b49de9f8b349c6b7560775100
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.06473048 -0.04513578 -0.02601879
+v 0.07278978 -0.04513578 -0.02603889
+v 0.06473048 -0.04513581 -0.01897013
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+f 2 5 8
+f 2 8 6
+f 3 7 9
+f 4 10 5
+f 5 10 16
+f 5 16 8
+f 6 8 12
+f 6 12 13
+f 6 13 19
+f 6 19 11
+f 7 14 15
+f 7 15 9
+f 8 16 12
+f 9 15 21
+f 9 21 17
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 12 16 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 19
+f 14 18 21
+f 14 21 15
+f 17 21 20
+f 17 20 23
+f 19 24 20
+f 20 24 23
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_39.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da91daf66873e4383ea66f055529c9d2b20f0b5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_39.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.04843526 -0.05436659 0.01705004
+v -0.04846620 -0.05436663 0.02810651
+v -0.04851003 -0.05206364 0.02810976
+v -0.04850487 -0.04967717 0.02810977
+v -0.04840690 -0.04967713 0.01705006
+v -0.04832698 -0.05666959 0.01705003
+v -0.04846620 -0.05436663 0.02810975
+v -0.04832956 -0.05666963 0.02810974
+v -0.03689301 -0.04967717 0.02810977
+v -0.03723075 -0.04967713 0.01705006
+v -0.04719776 -0.05876039 0.01705002
+v -0.04733440 -0.05864981 0.02810973
+v -0.02217452 -0.05084878 0.02810976
+v -0.02217452 -0.05084777 0.02706832
+v -0.02217452 -0.05084575 0.02475591
+v -0.02217452 -0.05084572 0.01705005
+v -0.04719776 -0.05876241 0.01990914
+v -0.04505534 -0.05984652 0.01705002
+v -0.04505534 -0.05987067 0.01990914
+v -0.04719519 -0.05876443 0.02222154
+v -0.04719003 -0.05876444 0.02453287
+v -0.04505534 -0.05984957 0.02453287
+v -0.04505534 -0.05978220 0.02684527
+v -0.04505534 -0.05966051 0.02810973
+v -0.02217452 -0.05971683 0.02810973
+v -0.02217452 -0.05986161 0.01705002
+v -0.04274277 -0.05992798 0.01705002
+v -0.04274277 -0.05995012 0.01990914
+v -0.04274277 -0.05993104 0.02684527
+v -0.04274277 -0.05978924 0.02810973
+v -0.02657022 -0.05975304 0.02810973
+v -0.02217452 -0.05987673 0.02684527
+v -0.02217452 -0.05986362 0.01754477
+v -0.02657022 -0.05991294 0.02684527
+v -0.02217452 -0.05986665 0.01968612
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 26
+f 1 26 27
+f 1 27 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 8
+f 3 8 12
+f 3 12 24
+f 3 24 30
+f 3 30 31
+f 3 31 25
+f 3 25 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 11 18 19
+f 11 19 17
+f 12 17 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 13 25 32
+f 13 32 35
+f 13 35 33
+f 13 33 26
+f 13 26 16
+f 13 16 15
+f 13 15 14
+f 17 19 20
+f 18 27 19
+f 19 22 21
+f 19 21 20
+f 19 27 28
+f 19 28 29
+f 19 29 22
+f 22 29 23
+f 23 29 24
+f 24 29 30
+f 25 31 34
+f 25 34 32
+f 26 33 28
+f 26 28 27
+f 28 33 34
+f 28 34 29
+f 29 34 30
+f 30 34 31
+f 32 34 35
+f 33 35 34
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_4.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba850366331e4f0ec84819cc2011ee61ac2ba02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02414400 -0.05975517 0.05738666
+v -0.02414400 -0.05971988 0.05701803
+v -0.02377502 -0.05969440 0.05738666
+v -0.02414400 -0.05023030 0.05738670
+v -0.02414400 -0.05881904 0.05459781
+v -0.02196665 -0.05881023 0.05738666
+v -0.02243204 -0.04981763 0.05738670
+v -0.01966547 -0.04992445 0.05230449
+v -0.02414400 -0.05034793 0.05673799
+v -0.02414400 -0.05880728 0.05457543
+v -0.01729947 -0.05337485 0.05230447
+v -0.02196998 -0.05864653 0.05699166
+v -0.02161179 -0.05860634 0.05738666
+v -0.02194837 -0.04980390 0.05738670
+v -0.02194837 -0.04978920 0.05690216
+v -0.01963805 -0.04991857 0.05230449
+v -0.02125610 -0.05054003 0.05230448
+v -0.02414400 -0.05040870 0.05642557
+v -0.02414400 -0.05666939 0.05303476
+v -0.01731277 -0.05338171 0.05230447
+v -0.02132175 -0.05837991 0.05738667
+v -0.01566230 -0.05207997 0.05230448
+v -0.01963805 -0.04974214 0.05459089
+v -0.01994055 -0.05015678 0.05738670
+v -0.01735349 -0.04988916 0.05230449
+v -0.02414400 -0.05054201 0.05599326
+v -0.02132425 -0.05201233 0.05230448
+v -0.02414400 -0.05436684 0.05296015
+v -0.02414400 -0.05348562 0.05329146
+v -0.02414400 -0.05178199 0.05441129
+v -0.02414400 -0.05129188 0.05483016
+v -0.02383984 -0.05064395 0.05532316
+v -0.02130597 -0.05203880 0.05230448
+v -0.01966298 -0.05338661 0.05230447
+v -0.01963472 -0.05338955 0.05230447
+v -0.02086966 -0.05761337 0.05738667
+v -0.01565482 -0.05206429 0.05230448
+v -0.01732773 -0.04989700 0.05230449
+v -0.01962724 -0.05026461 0.05738670
+v -0.01959234 -0.05480208 0.05738668
+v -0.01607118 -0.05079196 0.05358896
+v -0.01607118 -0.05130658 0.05358896
+v -0.01567975 -0.05051847 0.05230448
+v -0.01569222 -0.05051161 0.05230448
+v -0.01734435 -0.05039203 0.05445208
+v -0.01944109 -0.05055083 0.05738669
+v -0.01812553 -0.05058122 0.05628926
+v -0.01882528 -0.05206431 0.05738669
+v -0.01882445 -0.05204666 0.05738669
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 21
+f 1 21 36
+f 1 36 40
+f 1 40 48
+f 1 48 49
+f 1 49 46
+f 1 46 39
+f 1 39 24
+f 1 24 14
+f 1 14 7
+f 1 7 4
+f 1 4 9
+f 1 9 18
+f 1 18 26
+f 1 26 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 25
+f 8 25 38
+f 8 38 44
+f 8 44 43
+f 8 43 37
+f 8 37 22
+f 8 22 11
+f 8 11 20
+f 8 20 35
+f 8 35 34
+f 8 34 33
+f 8 33 27
+f 8 27 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 11 21 13
+f 11 13 12
+f 11 22 21
+f 14 23 15
+f 14 24 23
+f 15 23 16
+f 16 23 25
+f 17 26 18
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 26
+f 19 28 27
+f 19 27 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 21 22 36
+f 22 37 36
+f 23 24 25
+f 24 38 25
+f 24 39 38
+f 26 32 31
+f 36 37 40
+f 37 41 42
+f 37 42 40
+f 37 43 41
+f 38 39 45
+f 38 45 44
+f 39 46 47
+f 39 47 45
+f 40 42 48
+f 41 47 49
+f 41 49 42
+f 41 43 47
+f 42 49 48
+f 43 44 47
+f 44 45 47
+f 46 49 47
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_40.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90f81c949debaa832d2ea68f1ff589718b6f9b99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_40.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06585803 -0.05450102 -0.01708575
+v 0.06816913 -0.05449553 -0.01708575
+v 0.06585803 -0.05444513 -0.01477282
+v 0.06472970 -0.05444147 -0.01477282
+v 0.06472970 -0.05449644 -0.01708575
+v 0.06472970 -0.05443869 -0.02170878
+v 0.07278978 -0.05444694 -0.02170878
+v 0.07278978 -0.05448361 -0.01708575
+v 0.06816913 -0.05443964 -0.01477282
+v 0.06472970 -0.05380639 -0.01264454
+v 0.06472970 -0.05401346 -0.02402030
+v 0.07278978 -0.05402446 -0.02402030
+v 0.07278978 -0.05442772 -0.01477282
+v 0.06472970 -0.05292939 -0.01212303
+v 0.07278978 -0.05377432 -0.01288414
+v 0.06472970 -0.05340404 -0.02534660
+v 0.07278978 -0.05341229 -0.02535788
+v 0.07278978 -0.05206246 -0.01188201
+v 0.06472970 -0.05206246 -0.01164663
+v 0.06472970 -0.05274972 -0.02555378
+v 0.07278978 -0.05206333 -0.02579339
+v 0.07278978 -0.04994920 -0.01261633
+v 0.06472970 -0.04975767 -0.01240350
+v 0.06472970 -0.05206241 -0.02576943
+v 0.07278978 -0.04976037 -0.02604568
+v 0.07278978 -0.04513891 -0.01896312
+v 0.06472970 -0.04513891 -0.01896876
+v 0.06472970 -0.05093796 -0.02589205
+v 0.06472970 -0.04976037 -0.02602031
+v 0.06472970 -0.04745741 -0.02602030
+v 0.06472970 -0.04513888 -0.02601889
+v 0.07277478 -0.04513888 -0.02603862
+v 0.07278978 -0.04513888 -0.02603862
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 13
+f 2 13 9
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 14
+f 4 14 19
+f 4 19 23
+f 4 23 27
+f 4 27 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 24
+f 4 24 20
+f 4 20 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 7
+f 7 12 17
+f 7 17 21
+f 7 21 25
+f 7 25 33
+f 7 33 26
+f 7 26 22
+f 7 22 18
+f 7 18 15
+f 7 15 13
+f 7 13 8
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 14 15 18
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 28 29
+f 26 33 32
+f 26 32 31
+f 26 31 27
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_41.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55fd906b5e061cdf000e187672fadfc2eb67a8cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_41.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04921088 -0.02757954 -0.02601488
+v 0.04968332 -0.02757954 -0.02601488
+v 0.04921088 -0.02757958 -0.01673728
+v 0.04921088 -0.01520902 -0.02601666
+v 0.06472818 -0.02757954 -0.02601216
+v 0.05583099 -0.02757958 -0.01673728
+v 0.04921088 0.00576535 -0.01673716
+v 0.04921088 0.00090857 -0.02601751
+v 0.06472818 -0.00600130 -0.02601480
+v 0.06354634 -0.00830241 -0.02601481
+v 0.06472818 -0.02757957 -0.01897241
+v 0.06472818 -0.00327917 -0.01673719
+v 0.05375442 0.00576535 -0.01673716
+v 0.04921088 0.00576539 -0.02601749
+v 0.04968332 0.00321295 -0.02601750
+v 0.06472818 -0.00026973 -0.02601478
+v 0.06472818 0.00275595 -0.01673717
+v 0.06472818 0.00576536 -0.01896865
+v 0.05442889 0.00575882 -0.01673716
+v 0.04968332 0.00576539 -0.02601749
+v 0.06472818 0.00203465 -0.02601386
+v 0.06472818 0.00576539 -0.02601204
+v 0.06472818 0.00433576 -0.02601295
+f 1 2 5
+f 1 5 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 17
+f 3 17 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 16
+f 5 16 21
+f 5 21 23
+f 5 23 22
+f 5 22 18
+f 5 18 17
+f 5 17 12
+f 5 12 11
+f 6 11 12
+f 7 13 18
+f 7 18 22
+f 7 22 20
+f 7 20 14
+f 8 14 20
+f 8 20 15
+f 8 15 9
+f 9 15 20
+f 9 20 16
+f 13 19 18
+f 16 20 21
+f 17 18 19
+f 20 22 23
+f 20 23 21
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_42.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6209937fabb85b80ff15eab40d5ea2232e5e68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_42.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.06472818 0.05158113 -0.01166068
+v 0.06472818 0.05002386 -0.01213025
+v 0.06472818 0.05328705 -0.01266569
+v 0.06239336 0.05273772 0.00025953
+v 0.06241311 0.05158109 0.00029454
+v 0.06243438 0.04927964 0.00032954
+v 0.06243438 0.04697622 0.00032953
+v 0.06243438 0.04467970 0.00032540
+v 0.06472818 0.04925213 -0.01238768
+v 0.06472818 0.05361090 -0.01362334
+v 0.06123583 0.05390222 -0.00089994
+v 0.06123583 0.05323679 0.00068997
+v 0.06123583 0.05158109 0.00117599
+v 0.06472818 0.05387963 -0.01477047
+v 0.06123583 0.04927964 0.00123365
+v 0.06123583 0.04697622 0.00123776
+v 0.06123583 0.04467970 0.00123775
+v 0.06263034 0.04467970 -0.00089998
+v 0.06472818 0.04842033 -0.01477255
+v 0.06123583 0.05407942 -0.00321272
+v 0.05892533 0.05473501 -0.00321272
+v 0.05892533 0.05454994 -0.00089994
+v 0.05892533 0.05354884 0.00095770
+v 0.04921088 0.05158108 0.00357116
+v 0.05892533 0.05158108 0.00181031
+v 0.05892533 0.04927963 0.00187414
+v 0.06472818 0.05391016 -0.01595466
+v 0.05892533 0.04467969 0.00175467
+v 0.06273212 0.04467971 -0.00321276
+v 0.06472818 0.04758856 -0.01746634
+v 0.05892533 0.05473108 -0.00552551
+v 0.04921088 0.05392099 -0.01708325
+v 0.04921088 0.05390125 -0.00321272
+v 0.04921088 0.05375063 -0.00042832
+v 0.06472818 0.05393871 -0.01708325
+v 0.04921088 0.05326533 0.00172794
+v 0.04921088 0.05304286 0.00222632
+v 0.04921088 0.04949520 0.00356909
+v 0.04921088 0.04791431 0.00276589
+v 0.04921088 0.04467970 -0.00102561
+v 0.06273212 0.04467971 -0.00322100
+v 0.05292805 0.04467976 -0.01746635
+v 0.06472818 0.05393182 -0.01746631
+v 0.06269262 0.04467973 -0.00784245
+v 0.06265161 0.04467974 -0.01015318
+v 0.06249818 0.04467974 -0.01154950
+v 0.06130419 0.04467975 -0.01270280
+v 0.06014666 0.04467975 -0.01364604
+v 0.05892533 0.05471829 -0.00783417
+v 0.04921088 0.05391804 -0.01746631
+v 0.04921088 0.04467976 -0.01746635
+v 0.05661635 0.05393083 -0.01746631
+v 0.05892533 0.05463562 -0.01014696
+v 0.05199382 0.05392493 -0.01746631
+v 0.05430584 0.05392985 -0.01746631
+f 1 2 9
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+f 1 30 43
+f 1 43 35
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+f 1 27 14
+f 1 14 10
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+f 30 50 54
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_43.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0d11bfb496e22283d975fdbc0c344923583007
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_43.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.04506312 0.01011927 0.01555654
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_44.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2898f909463541cf2f6001250a5d0e486d5fc33c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_44.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03577707 -0.04743315 -0.02902406
+v -0.02887777 -0.04054473 -0.02902796
+v -0.02656844 -0.04515203 -0.02902798
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+v -0.00348739 -0.04743315 -0.02902798
+v -0.03577707 -0.04743330 0.01092983
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+v -0.03577707 -0.04742511 0.01092983
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_45.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f86a6ebe1e9682018281706e24a12710ea90a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_45.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01501537 0.05985792 0.01091837
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+v -0.01270445 0.06002505 0.00141005
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+f 14 38 46
+f 14 46 52
+f 14 52 59
+f 14 59 69
+f 14 69 61
+f 14 61 60
+f 14 60 53
+f 14 53 47
+f 14 47 41
+f 14 41 40
+f 14 40 31
+f 14 31 27
+f 14 27 17
+f 15 19 16
+f 15 18 28
+f 15 28 29
+f 15 29 30
+f 15 30 19
+f 17 27 18
+f 18 27 31
+f 18 31 32
+f 18 32 39
+f 18 39 28
+f 19 30 20
+f 20 33 34
+f 20 34 21
+f 20 30 33
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 26
+f 26 37 36
+f 28 39 29
+f 29 39 30
+f 30 39 42
+f 30 42 49
+f 30 49 48
+f 30 48 56
+f 30 56 63
+f 30 63 72
+f 30 72 67
+f 30 67 57
+f 30 57 50
+f 30 50 43
+f 30 43 36
+f 30 36 35
+f 30 35 34
+f 30 34 33
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 39
+f 38 44 45
+f 38 45 46
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 43 50 45
+f 43 45 51
+f 44 51 45
+f 45 50 57
+f 45 57 66
+f 45 66 58
+f 45 58 52
+f 45 52 46
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 52 58 59
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 64
+f 54 64 55
+f 55 63 56
+f 55 64 63
+f 57 65 66
+f 57 67 68
+f 57 68 65
+f 58 66 68
+f 58 68 59
+f 59 68 69
+f 61 70 62
+f 61 69 70
+f 62 70 68
+f 62 68 64
+f 63 64 71
+f 63 71 72
+f 64 68 67
+f 64 67 71
+f 65 68 66
+f 67 72 71
+f 68 70 69
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_46.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c10171dd4c67f4921844e623f645dfa006d9e9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_46.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.06472969 -0.00427947 -0.01843019
+v 0.07278297 -0.00430007 -0.01843019
+v 0.06472969 -0.00302690 -0.01304383
+v 0.06472969 0.00377484 -0.01843016
+v 0.07278297 -0.00267830 -0.01344072
+v 0.07278297 0.00379385 -0.01843016
+v 0.06472969 -0.00236059 -0.01244976
+v 0.06472969 0.00250163 -0.01311563
+v 0.07278297 -0.00139560 -0.01237101
+v 0.07278297 0.00214431 -0.01351756
+v 0.06472969 -0.00139165 -0.01199554
+v 0.06472969 0.00091072 -0.01206420
+v 0.07278297 0.00091073 -0.01244912
+v 0.07278297 0.00090360 -0.01244849
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 13
+f 2 13 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 12 13
+f 8 13 10
+f 9 14 12
+f 9 12 11
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_47.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7651dc37315dc3dc09958b0e24cfdfd88073e3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_47.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01679439 -0.01301605 0.01134421
+v 0.01679439 -0.01060741 0.01134422
+v 0.01679795 -0.04650151 0.01134409
+v 0.01876850 -0.04650152 0.01364078
+v 0.01877028 -0.03363616 0.01364307
+v 0.01877384 -0.00707167 0.01364036
+v 0.01679617 -0.00830299 0.01134423
+v 0.01877028 -0.02673062 0.01364253
+v 0.02389334 -0.04650151 0.01134409
+v 0.01992377 -0.04650152 0.01479471
+v 0.01992911 -0.00707167 0.01478424
+v 0.01679795 -0.00707166 0.01134423
+v 0.01877206 -0.02442621 0.01364365
+v 0.03353247 -0.04650152 0.01490419
+v 0.02389156 -0.00707166 0.01134423
+v 0.03251426 -0.02442621 0.01399441
+v 0.02617896 -0.04650153 0.01704952
+v 0.02623414 -0.00830301 0.01704966
+v 0.02623592 -0.00707168 0.01704966
+v 0.03483904 -0.04650153 0.01610057
+v 0.03366953 -0.02442622 0.01497687
+v 0.03350754 -0.00707168 0.01506016
+v 0.03246620 -0.02255025 0.01403352
+v 0.03412345 -0.00707168 0.01555055
+v 0.03483548 -0.00707168 0.01612528
+v 0.03497789 -0.04650153 0.01704952
+v 0.03497611 -0.00707168 0.01704966
+f 1 2 7
+f 1 7 12
+f 1 12 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 6
+f 3 9 14
+f 3 14 20
+f 3 20 26
+f 3 26 17
+f 3 17 10
+f 3 10 4
+f 4 10 5
+f 5 10 8
+f 6 11 19
+f 6 19 27
+f 6 27 25
+f 6 25 24
+f 6 24 22
+f 6 22 15
+f 6 15 12
+f 6 12 7
+f 6 8 13
+f 6 13 10
+f 6 10 11
+f 8 10 13
+f 9 15 16
+f 9 16 14
+f 10 17 11
+f 11 18 19
+f 11 17 18
+f 14 16 21
+f 14 21 20
+f 15 22 23
+f 15 23 16
+f 16 23 22
+f 16 22 24
+f 16 24 25
+f 16 25 21
+f 17 26 27
+f 17 27 19
+f 17 19 18
+f 20 21 25
+f 20 25 27
+f 20 27 26
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_48.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4135bd3bcdc50563e9009a094f4cab81eec9ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_48.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05892591 0.01012677 0.00190069
+v 0.05613580 0.01012677 0.00165805
+v 0.05892591 0.00576528 0.00175887
+v 0.06123608 0.00576529 0.00124366
+v 0.06123608 0.00782224 0.00124524
+v 0.06123608 0.01703660 0.00124527
+v 0.06123608 0.04467969 0.00123749
+v 0.05893369 0.04467968 0.00175271
+v 0.05892591 0.04467968 0.00175429
+v 0.05613580 0.00795937 0.00099473
+v 0.05729413 0.04467969 0.00084675
+v 0.05613580 0.04467588 -0.00052873
+v 0.05720657 0.00576529 0.00086237
+v 0.06136579 0.00576529 0.00114597
+v 0.06243786 0.00576529 0.00033455
+v 0.06243850 0.01012678 0.00033614
+v 0.06243850 0.01242751 0.00033615
+v 0.06243721 0.02164188 0.00033461
+v 0.06243396 0.04467207 0.00032838
+v 0.06243461 0.04467969 0.00032523
+v 0.05613580 0.00576529 -0.00034138
+v 0.05617472 0.00576529 -0.00029411
+v 0.05613905 0.04467969 -0.00052716
+v 0.05613580 0.04467970 -0.00237847
+v 0.06245926 0.00576529 0.00020220
+v 0.06266031 0.01012678 -0.00090069
+v 0.06266226 0.01703660 -0.00090067
+v 0.06243786 0.01933733 0.00033460
+v 0.06265318 0.04006299 -0.00090058
+v 0.06263113 0.04467969 -0.00090057
+v 0.05613580 0.00576534 -0.01354003
+v 0.05613580 0.04467974 -0.01419376
+v 0.06263697 0.00576529 -0.00090071
+v 0.06264799 0.00576529 -0.00114965
+v 0.06273749 0.00576530 -0.00321209
+v 0.06275954 0.01012679 -0.00321207
+v 0.06276149 0.01703661 -0.00321205
+v 0.06275435 0.04006300 -0.00321196
+v 0.06273295 0.04467970 -0.00321195
+v 0.06263178 0.04467969 -0.00090845
+v 0.05994934 0.00576534 -0.01364559
+v 0.05613580 0.00953641 -0.01372120
+v 0.06014650 0.04467974 -0.01364703
+v 0.06016011 0.02854794 -0.01364709
+v 0.06016141 0.02624340 -0.01364709
+v 0.06016141 0.02394647 -0.01364710
+v 0.06016011 0.02164193 -0.01364711
+v 0.06015104 0.00576534 -0.01364559
+v 0.05613580 0.01242756 -0.01381573
+v 0.06269598 0.00576532 -0.00783485
+v 0.06269598 0.01933736 -0.00783480
+v 0.06269404 0.04006302 -0.00783472
+v 0.06269274 0.04467972 -0.00784259
+v 0.06273295 0.04467970 -0.00321983
+v 0.05613580 0.01012683 -0.01374483
+v 0.05613580 0.01209236 -0.01381101
+v 0.06130417 0.04467974 -0.01270326
+v 0.06131650 0.02624340 -0.01269386
+v 0.06131650 0.02394647 -0.01269387
+v 0.06131585 0.02164193 -0.01269388
+v 0.06131455 0.01933738 -0.01269389
+v 0.06131066 0.01242756 -0.01269391
+v 0.06130742 0.00782229 -0.01269236
+v 0.06130612 0.00576534 -0.01269079
+v 0.06265058 0.00576533 -0.01014780
+v 0.06265123 0.04467973 -0.01015397
+v 0.06249817 0.04467973 -0.01154835
+v 0.06250012 0.00576533 -0.01153589
+v 0.06237170 0.00576533 -0.01166036
+v 0.06263437 0.00576533 -0.01029748
+v 0.06250206 0.04467211 -0.01154205
+v 0.06250077 0.04236757 -0.01154363
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 11
+f 2 11 12
+f 2 12 24
+f 2 24 32
+f 2 32 49
+f 2 49 56
+f 2 56 55
+f 2 55 42
+f 2 42 31
+f 2 31 21
+f 2 21 10
+f 3 13 22
+f 3 22 21
+f 3 21 31
+f 3 31 41
+f 3 41 48
+f 3 48 64
+f 3 64 69
+f 3 69 68
+f 3 68 70
+f 3 70 65
+f 3 65 50
+f 3 50 35
+f 3 35 34
+f 3 34 33
+f 3 33 25
+f 3 25 15
+f 3 15 14
+f 3 14 4
+f 3 10 13
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 30
+f 7 30 40
+f 7 40 39
+f 7 39 54
+f 7 54 53
+f 7 53 66
+f 7 66 67
+f 7 67 57
+f 7 57 43
+f 7 43 32
+f 7 32 24
+f 7 24 23
+f 7 23 11
+f 7 11 9
+f 7 9 8
+f 7 18 19
+f 10 21 22
+f 10 22 13
+f 11 23 12
+f 12 23 24
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 20
+f 20 29 30
+f 20 28 27
+f 20 27 29
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 31 42 41
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 35 50 36
+f 36 50 37
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 41 42 55
+f 41 55 56
+f 41 56 48
+f 43 57 44
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 56 49
+f 50 65 66
+f 50 66 51
+f 51 66 52
+f 52 66 53
+f 57 67 58
+f 58 67 59
+f 59 67 60
+f 60 67 68
+f 60 68 61
+f 61 68 62
+f 62 68 69
+f 62 69 63
+f 63 69 64
+f 65 70 71
+f 65 71 66
+f 66 71 67
+f 67 71 72
+f 67 72 68
+f 68 72 71
+f 68 71 70
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_49.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db1f88eefa0d406d84068bb67f243219cba765b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_49.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04155496 0.01340726 0.00921314
+v 0.04155496 0.02166260 0.00847812
+v 0.03815746 0.01325549 0.00921314
+v 0.04155496 -0.00421865 0.00921307
+v 0.04198213 -0.04575271 0.00878500
+v 0.04198213 -0.01521257 0.00876441
+v 0.04198213 -0.01318008 0.00876097
+v 0.04198213 -0.01088363 0.00874027
+v 0.04198213 -0.00858058 0.00870922
+v 0.04198213 -0.00835622 0.00869542
+v 0.03815746 0.02166260 0.00811577
+v 0.04155496 0.02166273 -0.02600701
+v 0.03815746 -0.00356535 0.00921308
+v 0.03815746 -0.03593341 0.00823289
+v 0.03815746 -0.04575271 0.00769451
+v 0.04198213 -0.04575258 -0.02601761
+v 0.04198213 -0.00835609 -0.02601057
+v 0.03815746 0.02166273 -0.02602771
+v 0.03815746 0.01009470 -0.02603120
+v 0.03815746 -0.04575258 -0.02603831
+v 0.04198213 -0.04515207 -0.02601761
+f 1 2 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 17
+f 2 17 12
+f 2 12 18
+f 2 18 11
+f 3 11 18
+f 3 18 19
+f 3 19 20
+f 3 20 15
+f 3 15 14
+f 3 14 13
+f 4 13 5
+f 5 14 15
+f 5 15 20
+f 5 20 16
+f 5 16 21
+f 5 21 17
+f 5 17 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 13 14
+f 12 19 18
+f 12 17 19
+f 16 20 21
+f 17 21 19
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_5.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b252986afd1efe5220aae8b3c5fbd2e414bf3dd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_5.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00964944 -0.04745609 0.09744544
+v -0.00964944 -0.04877056 0.09743981
+v -0.00964944 -0.04054823 0.09743984
+v -0.01069816 -0.03713369 0.09629271
+v -0.01069816 -0.04877055 0.09629267
+v -0.04077457 -0.04933035 0.05739097
+v -0.03295568 -0.04933035 0.05739097
+v -0.00964944 -0.04877052 0.08822891
+v -0.00964944 -0.03713370 0.09743423
+v -0.01014061 -0.03713370 0.09690002
+v -0.01160970 -0.03713369 0.09513431
+v -0.01160970 -0.04877055 0.09513427
+v -0.05327949 -0.04933029 0.04205073
+v -0.04279235 -0.04933034 0.05492236
+v -0.03436724 -0.04933034 0.05549031
+v -0.01319826 -0.04877050 0.08279123
+v -0.01046364 -0.04877052 0.08687371
+v -0.00964944 -0.03713367 0.08850449
+v -0.05327507 -0.03713349 0.04204515
+v -0.05381048 -0.03713349 0.04135911
+v -0.05430608 -0.03713349 0.04072368
+v -0.05411581 -0.04933029 0.04097107
+v -0.04638099 -0.04933029 0.03999824
+v -0.02723863 -0.04877044 0.06402642
+v -0.01713647 -0.03713363 0.07866942
+v -0.05485035 -0.03713349 0.03999828
+v -0.05430608 -0.04933029 0.04072364
+v -0.05485035 -0.04933029 0.03999824
+v -0.04741643 -0.03713349 0.03999828
+v -0.02361017 -0.03713360 0.07025702
+v -0.02210569 -0.03713361 0.07218580
+v -0.02065873 -0.03713361 0.07405835
+v -0.01963214 -0.03713362 0.07539668
+f 1 2 8
+f 1 8 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 18
+f 4 18 25
+f 4 25 33
+f 4 33 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 26
+f 4 26 21
+f 4 21 20
+f 4 20 19
+f 4 19 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 22
+f 6 22 27
+f 6 27 28
+f 6 28 23
+f 6 23 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 11 19 13
+f 11 13 12
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 15 23 24
+f 15 24 16
+f 16 18 17
+f 16 24 18
+f 18 24 25
+f 21 26 28
+f 21 28 27
+f 21 27 22
+f 23 28 26
+f 23 26 29
+f 23 29 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 24 29 30
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_50.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684ed2ca1ec4e7a23d4b00a871b658c6a30b832e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_50.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04198213 -0.05466876 0.00834458
+v 0.04198213 -0.05466789 0.01065707
+v 0.03815746 -0.05450633 -0.01708073
+v 0.04198213 -0.05448713 -0.01708073
+v 0.04198213 -0.05448112 0.01220007
+v 0.03815746 -0.05445930 0.01065707
+v 0.03815746 -0.05445395 -0.02170571
+v 0.04198213 -0.05443824 -0.02170571
+v 0.04198213 -0.05437553 0.01296956
+v 0.03815746 -0.05414338 0.01296956
+v 0.03815746 -0.05401233 -0.02401821
+v 0.04198213 -0.05400273 -0.02401821
+v 0.04198213 -0.05429336 -0.02247520
+v 0.03815746 -0.05413552 0.01298970
+v 0.04198213 -0.05364940 0.01450048
+v 0.03815746 -0.05352198 0.01443602
+v 0.03815746 -0.05340401 -0.02532351
+v 0.04198213 -0.05339442 -0.02533560
+v 0.04198213 -0.05380025 -0.02445734
+v 0.04198213 -0.05206275 0.01511285
+v 0.03815746 -0.05206275 0.01504437
+v 0.03815746 -0.05350452 0.01444408
+v 0.03815746 -0.05339616 -0.02533963
+v 0.03815746 -0.05207830 -0.02576667
+v 0.04198213 -0.05295193 -0.02547659
+v 0.04198213 -0.05045600 0.01489933
+v 0.04198213 -0.04984507 0.01480265
+v 0.03815746 -0.05016275 0.01473416
+v 0.03815746 -0.05206260 -0.02577069
+v 0.04198213 -0.05206260 -0.02575860
+v 0.04198213 -0.04575271 0.00878777
+v 0.03815746 -0.04575271 0.00769195
+v 0.03815746 -0.04976026 -0.02604061
+v 0.04198213 -0.05129632 -0.02584724
+v 0.04198213 -0.04575258 -0.02601643
+v 0.03815746 -0.04575258 -0.02603657
+v 0.04198213 -0.04976026 -0.02602046
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 19
+f 1 19 18
+f 1 18 25
+f 1 25 30
+f 1 30 34
+f 1 34 37
+f 1 37 35
+f 1 35 31
+f 1 31 27
+f 1 27 26
+f 1 26 20
+f 1 20 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 10
+f 3 10 14
+f 3 14 16
+f 3 16 22
+f 3 22 21
+f 3 21 28
+f 3 28 32
+f 3 32 36
+f 3 36 33
+f 3 33 29
+f 3 29 24
+f 3 24 23
+f 3 23 17
+f 3 17 11
+f 3 11 7
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 9 15 16
+f 9 16 14
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 24 29 30
+f 24 30 25
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 36 35
+f 33 35 37
+f 33 37 34
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_51.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b540a83eca900eaa7b86013e187e24646eee3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_51.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03497786 -0.04650153 0.01704952
+v 0.03533533 -0.04972826 0.01704951
+v 0.03815745 -0.05206391 0.01504548
+v 0.03815745 -0.05204036 0.01504212
+v 0.03815745 -0.05016267 0.01473662
+v 0.03815745 -0.05015089 0.01471595
+v 0.03815745 -0.04924019 0.01297276
+v 0.03815745 -0.04923626 0.01294484
+v 0.03815745 -0.04909886 0.01134408
+v 0.03492142 -0.04650153 0.01666692
+v 0.02617911 -0.04650153 0.01704952
+v 0.03558619 -0.05206391 0.01704950
+v 0.03815745 -0.05350454 0.01444448
+v 0.03547017 -0.05368251 0.01704949
+v 0.03521931 -0.05612415 0.01704948
+v 0.03480540 -0.05806856 0.01704948
+v 0.03353231 -0.04650152 0.01490419
+v 0.03483676 -0.04650153 0.01610057
+v 0.03815745 -0.05436552 0.01134406
+v 0.02389319 -0.04650151 0.01134409
+v 0.01992340 -0.04650152 0.01479471
+v 0.00612322 -0.05043615 0.01704950
+v 0.03815745 -0.05352156 0.01443722
+v 0.03480854 -0.05806856 0.01528451
+v 0.03815745 -0.05414309 0.01297274
+v 0.03350722 -0.05905254 0.01704947
+v 0.03480854 -0.05806855 0.01297273
+v 0.03480854 -0.05806461 0.01134405
+v 0.01679712 -0.04650151 0.01134409
+v 0.01876947 -0.04650152 0.01364078
+v 0.00612322 -0.04897455 0.01134408
+v 0.00612322 -0.05986249 0.01704947
+v 0.03119622 -0.05983240 0.01704947
+v 0.03187980 -0.05960209 0.01134404
+v 0.03350722 -0.05905254 0.01528450
+v 0.03350722 -0.05905122 0.01297272
+v 0.03389291 -0.05875549 0.01134404
+v 0.00612322 -0.05985201 0.01134404
+v 0.00809244 -0.05985987 0.01297272
+v 0.00809244 -0.05986380 0.01528450
+v 0.00809244 -0.05986642 0.01704947
+v 0.02888521 -0.05986642 0.01704947
+v 0.03119622 -0.05983238 0.01134404
+v 0.03350722 -0.05904598 0.01134404
+v 0.00670646 -0.05985331 0.01134404
+v 0.01040344 -0.05986117 0.01134404
+v 0.01040344 -0.05986379 0.01297272
+v 0.01040344 -0.05986904 0.01704947
+v 0.02888521 -0.05986378 0.01134404
+v 0.02956879 -0.05985462 0.01134404
+v 0.01271445 -0.05986247 0.01134404
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 18
+f 1 18 17
+f 1 17 20
+f 1 20 29
+f 1 29 30
+f 1 30 21
+f 1 21 11
+f 1 11 22
+f 1 22 32
+f 1 32 41
+f 1 41 48
+f 1 48 42
+f 1 42 33
+f 1 33 26
+f 1 26 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 2
+f 2 12 3
+f 3 13 23
+f 3 23 25
+f 3 25 19
+f 3 19 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 3 12 14
+f 3 14 15
+f 3 15 16
+f 3 16 13
+f 9 17 18
+f 9 18 10
+f 9 19 28
+f 9 28 37
+f 9 37 44
+f 9 44 34
+f 9 34 43
+f 9 43 50
+f 9 50 49
+f 9 49 51
+f 9 51 46
+f 9 46 45
+f 9 45 38
+f 9 38 31
+f 9 31 29
+f 9 29 20
+f 9 20 17
+f 11 21 22
+f 13 16 23
+f 16 24 19
+f 16 19 25
+f 16 25 23
+f 16 26 24
+f 19 24 27
+f 19 27 28
+f 21 30 31
+f 21 31 22
+f 22 31 38
+f 22 38 32
+f 24 26 35
+f 24 35 27
+f 26 33 34
+f 26 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 29 31 30
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 33 42 43
+f 33 43 34
+f 34 36 35
+f 34 44 36
+f 36 44 37
+f 38 45 39
+f 39 45 46
+f 39 46 40
+f 40 46 47
+f 40 47 41
+f 41 47 48
+f 42 49 50
+f 42 50 43
+f 42 48 49
+f 46 51 47
+f 47 51 48
+f 48 51 49
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_52.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3c43f1d8c1f76546d2f66a6654d74666c20416
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_52.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06472818 -0.00139124 -0.01199473
+v 0.06472818 -0.00236076 -0.01244915
+v 0.06472818 0.00091099 -0.01206351
+v 0.06243742 0.00576529 0.00033443
+v 0.06243742 0.00551652 0.00033443
+v 0.06243742 0.00321318 0.00033260
+v 0.06243590 -0.00139128 0.00033077
+v 0.06243438 -0.00558038 0.00032895
+v 0.06247539 -0.00558038 0.00010446
+v 0.06472818 -0.00302711 -0.01304297
+v 0.06263034 -0.00558038 -0.00090034
+v 0.06472818 0.00250135 -0.01311537
+v 0.06263642 0.00576529 -0.00090030
+v 0.06123583 0.00576529 0.00124327
+v 0.06123583 0.00321318 0.00124326
+v 0.06123583 -0.00139128 0.00124143
+v 0.06243590 0.00091095 0.00033259
+v 0.06123583 -0.00369462 0.00123962
+v 0.06123583 -0.00558038 0.00123780
+v 0.06472818 -0.00327809 -0.01673446
+v 0.06273364 -0.00558037 -0.00321227
+v 0.06472818 0.00275790 -0.01673444
+v 0.06273668 0.00576530 -0.00321223
+v 0.05892533 0.00576528 0.00175924
+v 0.05934459 -0.00558039 0.00166144
+v 0.05489524 -0.00558032 -0.01673447
+v 0.06277465 -0.00558034 -0.01054638
+v 0.06264857 -0.00558034 -0.01170145
+v 0.06125710 -0.00558033 -0.01305203
+v 0.06032288 -0.00558033 -0.01382148
+v 0.05442889 0.00576091 -0.01673443
+v 0.06014970 0.00576534 -0.01364582
+v 0.06130571 0.00576534 -0.01269172
+v 0.06237210 0.00576533 -0.01165976
+v 0.06249970 0.00576533 -0.01153485
+v 0.06265009 0.00576533 -0.01014804
+v 0.06269111 0.00576532 -0.00808414
+v 0.06269566 0.00576532 -0.00783430
+v 0.05892533 -0.00558039 0.00175377
+v 0.04921088 0.00576529 -0.00077538
+v 0.04921088 -0.00558032 -0.01673447
+v 0.05375442 0.00576535 -0.01673443
+v 0.04921088 -0.00558038 -0.00097819
+v 0.04921088 0.00576535 -0.01673443
+f 1 2 10
+f 1 10 20
+f 1 20 22
+f 1 22 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 10
+f 3 12 13
+f 3 13 4
+f 4 13 23
+f 4 23 38
+f 4 38 37
+f 4 37 36
+f 4 36 35
+f 4 35 34
+f 4 34 33
+f 4 33 32
+f 4 32 42
+f 4 42 44
+f 4 44 40
+f 4 40 24
+f 4 24 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 8
+f 8 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 25
+f 8 25 39
+f 8 39 43
+f 8 43 41
+f 8 41 26
+f 8 26 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 21
+f 8 21 11
+f 8 11 9
+f 10 11 21
+f 10 21 20
+f 12 22 23
+f 12 23 13
+f 14 24 15
+f 15 25 16
+f 15 24 25
+f 16 25 18
+f 18 25 19
+f 20 26 41
+f 20 41 44
+f 20 44 42
+f 20 42 31
+f 20 31 22
+f 20 21 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 26
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 24 39 25
+f 24 40 39
+f 31 42 32
+f 39 40 43
+f 40 44 41
+f 40 41 43
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_53.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3603835834c7b62cc71eac2b0cbeda5cd9f5272
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_53.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06472818 -0.05206299 -0.01164590
+v 0.06472818 -0.05292920 -0.01212124
+v 0.06472818 -0.04975759 -0.01240229
+v 0.06263945 -0.04597001 -0.00090127
+v 0.06256806 -0.04597001 -0.00046727
+v 0.06243134 -0.04597001 0.00032426
+v 0.06243894 -0.04976032 0.00033459
+v 0.06242223 -0.05206303 0.00030771
+v 0.06239944 -0.05323321 0.00026843
+v 0.06472818 -0.05380704 -0.01264205
+v 0.06472818 -0.04938635 -0.01325789
+v 0.06270629 -0.04597000 -0.00239341
+v 0.06472818 -0.04895056 -0.01473763
+v 0.06472818 -0.04818209 -0.01754210
+v 0.06123583 -0.04597001 0.00123153
+v 0.06123583 -0.04976032 0.00124392
+v 0.06123583 -0.05206303 0.00119845
+v 0.06123583 -0.05370667 0.00070243
+v 0.06123583 -0.05433256 -0.00090130
+v 0.06472818 -0.05444101 -0.01477072
+v 0.06274123 -0.04597000 -0.00321387
+v 0.06472818 -0.05448673 -0.01754212
+v 0.05473574 -0.04596995 -0.01754209
+v 0.06045503 -0.04596996 -0.01381382
+v 0.06178118 -0.04596996 -0.01256968
+v 0.06256958 -0.04596997 -0.01180088
+v 0.06268199 -0.04596997 -0.01014755
+v 0.06041706 -0.04597002 0.00142373
+v 0.05892533 -0.04976033 0.00187426
+v 0.05892533 -0.05206304 0.00183291
+v 0.05892533 -0.05499342 -0.00090130
+v 0.05892533 -0.05402768 0.00097937
+v 0.06472818 -0.05449659 -0.01708332
+v 0.05892533 -0.05512881 -0.00321390
+v 0.05892533 -0.05505975 -0.00783497
+v 0.05892533 -0.05494765 -0.01014758
+v 0.05846809 -0.05448224 -0.01754212
+v 0.04921088 -0.04596995 -0.01754209
+v 0.05892533 -0.04597002 0.00176266
+v 0.04921088 -0.05206304 0.00357098
+v 0.04921088 -0.05354348 0.00225244
+v 0.04921088 -0.05376586 0.00139063
+v 0.04921088 -0.05428772 -0.00090130
+v 0.04921088 -0.05444374 -0.00321390
+v 0.04921088 -0.05287006 0.00312665
+v 0.05892533 -0.05509473 -0.00552444
+v 0.04921088 -0.05448045 -0.01708332
+v 0.04921088 -0.05447238 -0.01754212
+v 0.05615911 -0.05448045 -0.01754212
+v 0.04921088 -0.04597001 -0.00088887
+v 0.04921088 -0.04969488 0.00318452
+f 1 2 10
+f 1 10 20
+f 1 20 33
+f 1 33 22
+f 1 22 14
+f 1 14 13
+f 1 13 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 12 21
+f 4 21 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 38
+f 4 38 50
+f 4 50 39
+f 4 39 28
+f 4 28 15
+f 4 15 6
+f 4 6 5
+f 4 11 13
+f 4 13 14
+f 4 14 12
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 12 14 21
+f 14 22 37
+f 14 37 49
+f 14 49 48
+f 14 48 38
+f 14 38 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 21
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 31 19
+f 18 30 32
+f 18 32 31
+f 19 31 20
+f 20 31 34
+f 20 34 33
+f 22 33 35
+f 22 35 36
+f 22 36 37
+f 28 39 29
+f 29 40 30
+f 29 39 40
+f 30 40 32
+f 31 32 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 34
+f 32 40 45
+f 32 45 41
+f 33 34 46
+f 33 46 35
+f 34 44 47
+f 34 47 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 38 48 47
+f 38 47 44
+f 38 44 43
+f 38 43 42
+f 38 42 41
+f 38 41 45
+f 38 45 40
+f 38 40 51
+f 38 51 50
+f 39 51 40
+f 39 50 51
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_54.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908296000d31102147b879c159ff2864da4c2fd2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_54.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05892343 -0.04596733 0.00176468
+v 0.04921221 -0.04596732 -0.00088868
+v 0.06041696 -0.04596733 0.00142262
+v 0.06123474 -0.00600338 0.00123756
+v 0.06123474 -0.00558433 0.00123756
+v 0.05892476 -0.00558434 0.00175349
+v 0.04921221 -0.04596726 -0.01754209
+v 0.04921353 -0.00558433 -0.00097924
+v 0.04921221 -0.02757655 -0.00100389
+v 0.06123474 -0.04596732 0.00123174
+v 0.06145247 -0.00558433 0.00107315
+v 0.05473625 -0.04596726 -0.01754209
+v 0.04921221 -0.02757649 -0.01754202
+v 0.04921353 -0.00558427 -0.01673497
+v 0.06243089 -0.04596732 0.00032461
+v 0.06243222 -0.00558433 0.00032854
+v 0.05509603 -0.03604447 -0.01754205
+v 0.06045413 -0.04596727 -0.01381151
+v 0.05521949 -0.02757649 -0.01754202
+v 0.05489556 -0.00558427 -0.01673497
+v 0.06256763 -0.04596732 -0.00046724
+v 0.06265127 -0.04284816 -0.00090190
+v 0.06247337 -0.00558433 0.00010365
+v 0.06178038 -0.04596727 -0.01256988
+v 0.06032137 -0.00558428 -0.01382081
+v 0.06125598 -0.00558428 -0.01305164
+v 0.05568016 -0.01233256 -0.01673500
+v 0.05585142 -0.01487453 -0.01673500
+v 0.06263932 -0.04596732 -0.00090191
+v 0.06270570 -0.04596731 -0.00239678
+v 0.06275349 -0.04284815 -0.00321319
+v 0.06275748 -0.01751539 -0.00321498
+v 0.06265260 -0.01751540 -0.00089991
+v 0.06264596 -0.01060898 -0.00089989
+v 0.06262870 -0.00558433 -0.00089987
+v 0.06256896 -0.04596728 -0.01179882
+v 0.06264729 -0.00558429 -0.01170040
+v 0.06274022 -0.04596731 -0.00321320
+v 0.06268180 -0.04596728 -0.01014519
+v 0.06277473 -0.00558429 -0.01054569
+v 0.06275217 -0.01060897 -0.00321496
+v 0.06273225 -0.00558432 -0.00321494
+f 1 2 7
+f 1 7 12
+f 1 12 18
+f 1 18 24
+f 1 24 36
+f 1 36 39
+f 1 39 38
+f 1 38 30
+f 1 30 29
+f 1 29 21
+f 1 21 15
+f 1 15 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 13
+f 2 13 7
+f 3 10 4
+f 4 11 5
+f 4 10 11
+f 5 11 16
+f 5 16 23
+f 5 23 35
+f 5 35 42
+f 5 42 40
+f 5 40 37
+f 5 37 26
+f 5 26 25
+f 5 25 20
+f 5 20 14
+f 5 14 8
+f 5 8 6
+f 7 13 19
+f 7 19 17
+f 7 17 12
+f 8 14 13
+f 8 13 9
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 13 14 20
+f 13 20 19
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 19 18
+f 18 19 25
+f 18 25 26
+f 18 26 24
+f 19 20 27
+f 19 27 28
+f 19 28 25
+f 20 25 27
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 24 26 37
+f 24 37 36
+f 25 28 27
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 33
+f 33 41 34
+f 34 41 35
+f 35 41 42
+f 36 37 40
+f 36 40 39
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_55.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..954a830dd5c4781e051596ece65961d5b053a6ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_55.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00808396 0.04699660 0.02880762
+v -0.00594354 0.04699660 0.02878690
+v -0.00926117 0.04699661 0.02802733
+v -0.00817702 0.01687620 0.02873615
+v -0.00808396 0.01933832 0.02879371
+v -0.00609338 0.01687620 0.02878219
+v -0.00477947 0.04699661 0.02713657
+v -0.00594774 0.01933832 0.02878105
+v -0.00594511 0.01687620 0.02877643
+v -0.00478999 0.01687621 0.02718134
+v -0.00948252 0.04699661 0.02684540
+v -0.00931690 0.01687621 0.02792365
+v -0.00925696 0.01687621 0.02801226
+v -0.00808396 0.01687620 0.02878794
+v -0.00594774 0.01703542 0.02877874
+v -0.00455549 0.04699661 0.02599376
+v -0.00452658 0.01687621 0.02602588
+v -0.00969861 0.04699662 0.02455864
+v -0.00975487 0.01687622 0.02453321
+v -0.00954140 0.01687621 0.02668302
+v -0.00951932 0.01687621 0.02683378
+v -0.00455339 0.04699661 0.02596959
+v -0.00441038 0.01687622 0.02452170
+v -0.00970019 0.04699662 0.02453332
+v -0.00976906 0.01687623 0.02222228
+v -0.00448399 0.04699662 0.02453332
+v -0.00439881 0.01687623 0.02241332
+v -0.00447032 0.04699663 0.02222239
+v -0.00971070 0.04699663 0.02224771
+v -0.00976012 0.01687624 0.01974908
+v -0.00971070 0.04699663 0.02222239
+v -0.00970439 0.04699664 0.01991031
+v -0.00439829 0.01687623 0.02222803
+v -0.00447032 0.04699663 0.02219707
+v -0.00974856 0.01687625 0.01705145
+v -0.00969388 0.04699665 0.01705156
+v -0.00440617 0.01687624 0.02005981
+v -0.00448346 0.04699665 0.01705156
+v -0.00442563 0.01687625 0.01705145
+f 1 2 7
+f 1 7 16
+f 1 16 22
+f 1 22 26
+f 1 26 28
+f 1 28 34
+f 1 34 38
+f 1 38 36
+f 1 36 32
+f 1 32 31
+f 1 31 29
+f 1 29 24
+f 1 24 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 21
+f 4 21 20
+f 4 20 19
+f 4 19 25
+f 4 25 30
+f 4 30 35
+f 4 35 39
+f 4 39 37
+f 4 37 33
+f 4 33 27
+f 4 27 23
+f 4 23 17
+f 4 17 10
+f 4 10 9
+f 4 9 6
+f 4 6 14
+f 4 14 5
+f 5 14 6
+f 6 9 15
+f 6 15 8
+f 7 10 17
+f 7 17 16
+f 8 15 9
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 16 17 22
+f 17 23 22
+f 18 24 19
+f 19 24 25
+f 22 23 26
+f 23 27 28
+f 23 28 26
+f 24 29 25
+f 25 29 31
+f 25 31 32
+f 25 32 30
+f 27 33 28
+f 28 33 34
+f 30 32 36
+f 30 36 35
+f 33 37 38
+f 33 38 34
+f 35 36 38
+f 35 38 39
+f 37 39 38
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_56.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9662c74c429c6582ea9c3758654f83e0e1a6d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_56.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01963751 0.04699660 0.02906099
+v -0.01778381 0.04699660 0.02869525
+v -0.02109315 0.04699661 0.02836856
+v -0.01975221 0.01687620 0.02901117
+v -0.01963751 0.01934103 0.02905912
+v -0.01687164 0.04699661 0.02684344
+v -0.01778723 0.01703836 0.02869159
+v -0.01777971 0.01687620 0.02868804
+v -0.01685048 0.01687621 0.02685398
+v -0.02159293 0.04699661 0.02686829
+v -0.02116279 0.01687621 0.02826725
+v -0.02109793 0.01687621 0.02836845
+v -0.01963751 0.01687620 0.02905733
+v -0.01494012 0.03145294 0.01121395
+v -0.01664087 0.04699662 0.02453178
+v -0.01791354 0.01687620 0.02871467
+v -0.01661629 0.01687622 0.02453167
+v -0.01494012 0.01704138 0.01122455
+v -0.01494012 0.01934110 0.01122811
+v -0.01494012 0.01941775 0.01122811
+v -0.02159976 0.04699661 0.02684344
+v -0.02163390 0.01687621 0.02684333
+v -0.01494012 0.03145294 0.01092277
+v -0.01592329 0.04697309 0.01154069
+v -0.01664019 0.04699662 0.02449272
+v -0.01660810 0.01687623 0.02222179
+v -0.01494012 0.01704138 0.01092271
+v -0.02182507 0.04699662 0.02456019
+v -0.02186740 0.01687622 0.02453167
+v -0.02165302 0.01687621 0.02666578
+v -0.01592329 0.04697309 0.01092282
+v -0.01663268 0.04699663 0.02222190
+v -0.01662858 0.01687625 0.01752035
+v -0.01663063 0.01687625 0.01705163
+v -0.02191451 0.01704138 0.01092271
+v -0.02182644 0.04699662 0.02453178
+v -0.02188174 0.01687623 0.02222179
+v -0.02191520 0.04697308 0.01402812
+v -0.02191520 0.04697309 0.01092282
+v -0.01665384 0.04699665 0.01705174
+v -0.01663268 0.04699663 0.02218284
+v -0.02186808 0.01687625 0.01705163
+v -0.02191451 0.01704137 0.01399605
+v -0.02191520 0.03145294 0.01092277
+v -0.02184077 0.04699663 0.02225030
+v -0.02191520 0.03145293 0.01387183
+v -0.02184077 0.04699663 0.02222190
+v -0.02183531 0.04699664 0.01991024
+v -0.02182644 0.04699665 0.01705174
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 32
+f 1 32 41
+f 1 41 40
+f 1 40 49
+f 1 49 48
+f 1 48 47
+f 1 47 45
+f 1 45 36
+f 1 36 28
+f 1 28 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 5
+f 4 12 11
+f 4 11 22
+f 4 22 30
+f 4 30 29
+f 4 29 37
+f 4 37 42
+f 4 42 34
+f 4 34 33
+f 4 33 26
+f 4 26 17
+f 4 17 9
+f 4 9 8
+f 4 8 16
+f 4 16 13
+f 5 13 7
+f 6 9 14
+f 6 14 15
+f 7 13 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 14
+f 10 21 22
+f 10 22 11
+f 14 23 31
+f 14 31 24
+f 14 24 15
+f 14 20 19
+f 14 19 18
+f 14 18 27
+f 14 27 23
+f 15 24 25
+f 17 26 18
+f 18 26 27
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 23 27 35
+f 23 35 44
+f 23 44 39
+f 23 39 31
+f 24 31 41
+f 24 41 32
+f 24 32 25
+f 26 33 27
+f 27 33 34
+f 27 34 42
+f 27 42 35
+f 28 36 29
+f 29 36 38
+f 29 38 37
+f 31 39 49
+f 31 49 40
+f 31 40 41
+f 35 42 37
+f 35 37 43
+f 35 43 46
+f 35 46 44
+f 36 45 38
+f 37 38 43
+f 38 39 44
+f 38 44 46
+f 38 46 43
+f 38 45 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_57.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8850f8091ed66505e8a44919eb3cd8c00fa0021
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_57.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.07279282 0.05158180 -0.01190372
+v 0.06472969 0.05158180 -0.01166309
+v 0.06472969 0.05002490 -0.01213171
+v 0.07279282 0.04944209 -0.01261299
+v 0.07279282 0.05326397 -0.01290989
+v 0.07278967 0.05326250 -0.01290849
+v 0.06472969 0.05328755 -0.01266644
+v 0.06472969 0.04925198 -0.01239064
+v 0.07278967 0.04641967 -0.01860363
+v 0.07279282 0.04642630 -0.01860222
+v 0.07278967 0.05386669 -0.01477308
+v 0.06472969 0.05361101 -0.01362618
+v 0.07279282 0.05386743 -0.01477590
+v 0.07278098 0.04641967 -0.01860363
+v 0.06472969 0.04641967 -0.01860644
+v 0.07279282 0.04641969 -0.02433533
+v 0.06816931 0.05388879 -0.01477308
+v 0.06585834 0.05388437 -0.01477308
+v 0.06472969 0.05387921 -0.01477308
+v 0.07279282 0.05391975 -0.01708800
+v 0.07278967 0.05391975 -0.01708518
+v 0.06816931 0.05394628 -0.01708518
+v 0.06472969 0.04641970 -0.02601698
+v 0.07278967 0.04641970 -0.02603527
+v 0.07279282 0.04697305 -0.02603527
+v 0.06585834 0.05394480 -0.01708518
+v 0.06472969 0.05391017 -0.01595657
+v 0.07279282 0.05390651 -0.02171079
+v 0.06472969 0.05390282 -0.02170797
+v 0.06472969 0.04810039 -0.02601838
+v 0.07279282 0.04927635 -0.02603808
+v 0.06472969 0.05393891 -0.01708518
+v 0.07279282 0.05348211 -0.02402148
+v 0.07278967 0.05348285 -0.02402007
+v 0.06472969 0.05348063 -0.02402007
+v 0.06472969 0.05368694 -0.02289147
+v 0.06472969 0.04927930 -0.02601838
+v 0.06472969 0.05040295 -0.02588749
+v 0.06472969 0.05158185 -0.02574818
+v 0.07279282 0.05157890 -0.02576366
+v 0.07279282 0.05289634 -0.02533304
+v 0.07278967 0.05289855 -0.02533163
+v 0.06472969 0.05289855 -0.02532741
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 25
+f 1 25 31
+f 1 31 40
+f 1 40 41
+f 1 41 33
+f 1 33 28
+f 1 28 20
+f 1 20 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 19
+f 2 19 27
+f 2 27 32
+f 2 32 29
+f 2 29 36
+f 2 36 35
+f 2 35 43
+f 2 43 39
+f 2 39 38
+f 2 38 37
+f 2 37 30
+f 2 30 23
+f 2 23 15
+f 2 15 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 5 13 11
+f 8 14 9
+f 8 15 14
+f 9 14 15
+f 9 15 23
+f 9 23 24
+f 9 24 16
+f 9 16 10
+f 11 13 12
+f 12 13 17
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 17
+f 16 24 25
+f 17 22 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 20 22 21
+f 20 28 22
+f 22 28 29
+f 22 29 26
+f 23 30 31
+f 23 31 24
+f 24 31 25
+f 26 32 27
+f 26 29 32
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 39 43 40
+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_58.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8516792f5af3eb27ddb0f6299b953a97d534e923
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_58.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00612409 0.00634698 0.01113996
+v 0.01501707 0.00632115 0.01113996
+v 0.00612409 0.00807167 0.01300879
+v 0.00612409 0.01607627 0.01114000
+v 0.01501707 0.00806019 0.01300861
+v 0.01501707 0.01605045 0.01114000
+v 0.01271177 0.00807071 0.01300879
+v 0.00612409 0.01394120 0.01300881
+v 0.01501707 0.01609349 0.01114054
+v 0.01383656 0.01608680 0.01114000
+v 0.01501707 0.00812906 0.01300879
+v 0.01274746 0.00807071 0.01300879
+v 0.00771203 0.01394024 0.01300881
+v 0.01455305 0.01393259 0.01300881
+v 0.01501707 0.01393163 0.01300881
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 15
+f 2 15 11
+f 2 11 5
+f 3 5 7
+f 3 7 12
+f 3 12 11
+f 3 11 15
+f 3 15 14
+f 3 14 13
+f 3 13 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 6 10 9
+f 8 13 9
+f 9 13 14
+f 9 14 15
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_59.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41ed6ca1463df71a17f65059bf0bbfe8baebd42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_59.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.04155517 -0.00149324 0.01483244
+v 0.03815746 -0.00132449 0.01479454
+v 0.04155517 -0.00202915 0.01446267
+v 0.04155517 0.00087311 0.01482641
+v 0.03815746 0.00066787 0.01479454
+v 0.03815746 -0.00247612 0.01386434
+v 0.04155517 -0.00253389 0.01410664
+v 0.04155517 0.00268227 0.01300889
+v 0.03815746 0.00068383 0.01477146
+v 0.03815746 -0.00356387 0.00922053
+v 0.04155517 -0.00335561 0.01307041
+v 0.04155517 0.00354734 0.00922055
+v 0.03815746 0.00279099 0.00922055
+v 0.03815746 0.00180734 0.01297317
+v 0.04155517 -0.00421836 0.00922052
+v 0.04155517 -0.00408003 0.00994358
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 15
+f 1 15 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 9
+f 2 9 14
+f 2 14 13
+f 2 13 10
+f 2 10 6
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 10 13 12
+f 10 12 15
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_6.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834cb79ef02e70d0ad411f2c55738961b2c6ef51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_6.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00963427 0.04466543 0.09745394
+v -0.00963427 0.04095604 0.09745393
+v -0.00963427 0.04840831 0.09744891
+v -0.00997311 0.04840831 0.09707977
+v -0.01069241 0.04840832 0.09629599
+v -0.00967469 0.02393305 0.09742101
+v -0.00967469 0.01011704 0.09742349
+v -0.00963427 0.04095607 0.08851631
+v -0.00967469 -0.00395016 0.09742091
+v -0.00967469 -0.03713370 0.09741319
+v -0.00963427 0.04840835 0.08841268
+v -0.01160671 0.04840832 0.09514055
+v -0.01069598 0.03775744 0.09629595
+v -0.01069717 0.03314373 0.09629593
+v -0.01070074 0.02393306 0.09629337
+v -0.01070193 0.01472239 0.09629333
+v -0.01069598 -0.03713369 0.09629314
+v -0.00963427 0.04839998 0.08815731
+v -0.00967469 -0.03713367 0.08849073
+v -0.01020258 0.04840835 0.08712070
+v -0.02177920 0.04840837 0.08137382
+v -0.01160671 0.03775744 0.09514051
+v -0.01160552 -0.03713369 0.09513770
+v -0.01116799 -0.03713369 0.09569393
+v -0.01773327 -0.03713363 0.07788694
+v -0.01973900 0.04840840 0.07401893
+v -0.01314875 0.04840837 0.08274923
+v -0.01278494 0.04840836 0.08323720
+v -0.02177920 0.04840841 0.07162460
+v -0.02178039 0.04095610 0.08136115
+v -0.02177920 0.04696816 0.08137381
+v -0.02178039 -0.03713364 0.08135580
+v -0.01815653 -0.03713362 0.07733071
+v -0.02010757 0.04840840 0.07353855
+v -0.02012184 -0.03713361 0.07475688
+v -0.02065210 -0.03713361 0.07406412
+v -0.02178039 -0.00519770 0.07216799
+v -0.02178039 -0.00369050 0.07216295
+v -0.02178039 0.00172705 0.07214527
+v -0.02178039 0.00321751 0.07214274
+v -0.02178039 0.00781446 0.07219080
+v -0.02178039 0.04095613 0.07261062
+v -0.02178039 -0.03713361 0.07260527
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+f 1 8 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 2
+f 2 7 9
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+f 2 19 8
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+f 22 31 23
+f 23 31 32
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+f 29 40 41
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+f 30 41 40
+f 30 40 39
+f 30 39 38
+f 30 38 37
+f 30 37 43
+f 30 43 32
+f 30 32 31
+f 34 36 43
+f 34 43 37
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_60.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c756bf65c9826ffc6dee9f3d70f8392c8858cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_60.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.06472969 0.01890637 -0.02601183
+v 0.07279282 0.01890637 -0.02603220
+v 0.06472969 0.01890634 -0.01896782
+v 0.06472969 0.04579488 -0.02601682
+v 0.07279282 0.01890634 -0.01901075
+v 0.07279282 0.03315319 -0.02603434
+v 0.07278967 0.01890634 -0.01896419
+v 0.07279282 0.01890903 -0.01896346
+v 0.06472969 0.04641967 -0.01860610
+v 0.06472969 0.04641970 -0.02601682
+v 0.07278967 0.04641970 -0.02603501
+v 0.07279282 0.04006114 -0.02603503
+v 0.07279282 0.04467181 -0.01896191
+v 0.07278967 0.04641967 -0.01860246
+v 0.07279282 0.04641969 -0.02433531
+v 0.07279282 0.04466914 -0.02603502
+f 1 2 5
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+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 16
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+f 2 15 13
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+f 2 8 5
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+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 8 7
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 11
+f 9 11 10
+f 11 15 16
+f 11 16 12
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_61.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68cdbfa36d08e60ece7eaa5f45d80f9fe13970f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_61.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03742588 0.01611876 0.01191015
+v -0.03742588 0.00677968 0.01191011
+v -0.03080824 0.01477133 0.01191014
+v -0.03733194 0.04714576 0.01139330
+v -0.03742588 0.01613425 0.01190614
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+v -0.03742588 -0.00558465 0.01137708
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+v -0.03742588 -0.00559498 0.01111259
+v -0.03714664 -0.00559498 0.01129693
+v -0.03080760 0.01613440 -0.02901787
+v -0.03080760 0.04714591 -0.02902177
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+v -0.03742588 -0.00559483 -0.02902597
+v -0.03080760 0.01895832 -0.02902187
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+f 17 19 18
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_62.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3b304184b0bce54ec6dfdb6c68a6ba8a805ad2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_62.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03598343 0.04714591 -0.02902818
+v -0.03080759 0.04714591 -0.02902367
+v -0.03733231 0.04714591 -0.02902367
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_63.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9816d0f87c954bd642e5d7ff553ae5a738cfb287
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_63.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.03815745 0.05158299 0.01502045
+v 0.03815745 0.04966953 0.01474978
+v 0.03815745 0.05300020 0.01439793
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+v 0.03381452 0.05831078 0.01705045
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+v 0.03815745 0.05394728 -0.01708033
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+v 0.02624496 0.04606400 0.01705041
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+f 100 114 101
+f 102 116 104
+f 104 116 115
+f 104 115 105
+f 105 115 106
+f 106 115 121
+f 106 121 107
+f 107 120 108
+f 108 120 117
+f 108 117 109
+f 109 117 110
+f 113 121 115
+f 117 120 119
+f 117 119 118
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_64.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5ebb78f25eb6bdb0d695d7c26888ab66aa5703
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_64.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.05613580 0.01509489 -0.00038033
+v 0.04921088 0.01509489 -0.00087037
+v 0.05613580 0.01509494 -0.01378698
+v 0.05613580 0.04467680 -0.00052908
+v 0.04921088 0.01509495 -0.01746645
+v 0.04921088 0.04467969 -0.00102581
+v 0.05352947 0.01509495 -0.01718046
+v 0.05613580 0.04467974 -0.01419497
+v 0.05613580 0.04467970 -0.00237885
+v 0.05430425 0.04467970 -0.00149745
+v 0.05330239 0.01509495 -0.01746645
+v 0.04921088 0.04467975 -0.01746635
+v 0.05292618 0.04467975 -0.01746635
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 12 13
+f 5 13 11
+f 6 10 9
+f 6 9 8
+f 6 8 13
+f 6 13 12
+f 7 11 8
+f 8 11 13
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_65.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd976f906f1d79eaccecfee7f90af7c0c5f598a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_65.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03815784 0.02166499 -0.02602918
+v 0.03815784 0.02391613 -0.02603278
+v 0.04210046 0.02166499 -0.02601112
+v 0.03815784 0.02166486 0.00811666
+v 0.03815784 0.04472955 -0.02603632
+v 0.04210046 0.03380352 -0.02601469
+v 0.04210046 0.02166486 0.00873435
+v 0.03815784 0.03303569 0.01073914
+v 0.04210046 0.04472955 -0.02601465
+v 0.03815784 0.04472942 0.00785306
+v 0.04210046 0.03316666 0.00876689
+v 0.03815784 0.03471332 0.01086558
+v 0.03815784 0.03331793 0.01080416
+v 0.04210046 0.04472942 0.00867663
+v 0.03815784 0.04006457 0.00955077
+v 0.04209545 0.04472942 0.00872720
+v 0.04210046 0.03544941 0.00877052
+v 0.03815784 0.03532521 0.01084751
+v 0.04210046 0.03763958 0.00877053
+v 0.04210046 0.04454879 0.00872720
+v 0.04210046 0.04467072 0.00871637
+v 0.03815784 0.03872337 0.01001673
+v 0.03815784 0.03770956 0.01028403
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 18
+f 1 18 23
+f 1 23 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 9
+f 3 9 14
+f 3 14 21
+f 3 21 20
+f 3 20 19
+f 3 19 17
+f 3 17 11
+f 3 11 7
+f 4 7 8
+f 5 9 6
+f 5 10 16
+f 5 16 14
+f 5 14 9
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 10 15 16
+f 11 17 12
+f 12 17 19
+f 12 19 20
+f 12 20 16
+f 12 16 18
+f 14 16 21
+f 15 22 16
+f 16 22 23
+f 16 23 18
+f 16 20 21
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_66.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa43f09503276e56c92142c5e6d8e536a2a69400
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_66.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02901192 -0.05986434 -0.00552745
+v 0.03119804 -0.05983265 -0.00552745
+v 0.03119804 -0.05983415 0.01066048
+v 0.02901192 -0.05986434 -0.00540101
+v 0.02901192 -0.05986284 -0.02170749
+v 0.03350859 -0.05904607 0.01134403
+v 0.03188109 -0.05960219 0.01134403
+v 0.03119804 -0.05980955 -0.01939605
+v 0.03119804 -0.05983271 0.01134403
+v 0.02901192 -0.05986296 0.01078297
+v 0.02901192 -0.05985563 -0.02389248
+v 0.03119804 -0.05980377 -0.02170749
+v 0.03350859 -0.05904463 0.01066048
+v 0.03389264 -0.05875648 0.01134403
+v 0.02957054 -0.05985432 0.01134403
+v 0.02901192 -0.05986152 0.01134403
+v 0.02901192 -0.05985275 -0.02401892
+v 0.03119804 -0.05975622 -0.02401892
+v 0.03350859 -0.05892206 -0.01939605
+v 0.03350859 -0.05894800 -0.01708462
+v 0.03350859 -0.05896818 -0.01476923
+v 0.03350859 -0.05897826 -0.01245780
+v 0.03350859 -0.05898692 -0.01014637
+v 0.03350859 -0.05899413 -0.00783889
+v 0.03350859 -0.05900135 -0.00552745
+v 0.03480934 -0.05806493 0.01134404
+v 0.02901192 -0.04893645 0.01134407
+v 0.02901192 -0.05948967 -0.02620391
+v 0.03370554 -0.05857770 -0.02393594
+v 0.03350859 -0.05886730 -0.02170749
+v 0.02901192 -0.05946230 -0.02633035
+v 0.03119804 -0.05923611 -0.02633035
+v 0.03308784 -0.05843074 -0.02633034
+v 0.03474578 -0.05795676 -0.01939604
+v 0.03476011 -0.05797983 -0.01708461
+v 0.03476816 -0.05799424 -0.01476922
+v 0.03478070 -0.05801588 -0.00783888
+v 0.03480576 -0.05805771 0.00834511
+v 0.03815746 -0.05445878 0.01066050
+v 0.03815746 -0.05436513 0.01134405
+v 0.03815746 -0.05450622 -0.01708460
+v 0.03012020 -0.04893645 0.01134407
+v 0.03581825 -0.04514732 0.00749960
+v 0.03350859 -0.04514732 0.00749565
+v 0.02901192 -0.04514732 0.00747194
+v 0.03460792 -0.05761385 -0.02465505
+v 0.03468491 -0.05785590 -0.02311014
+v 0.03471803 -0.05790921 -0.02170748
+v 0.02901192 -0.05850565 -0.02792662
+v 0.03119804 -0.05829098 -0.02787130
+v 0.03261696 -0.05804318 -0.02766584
+v 0.03815746 -0.05339683 -0.02533859
+v 0.03815746 -0.05445434 -0.02170747
+v 0.03815746 -0.04909926 0.01134407
+v 0.03243344 -0.04893934 0.01134407
+v 0.03815746 -0.04514732 0.00749565
+v 0.02901192 -0.04514718 -0.02901710
+v 0.03815746 -0.05401202 -0.02401890
+v 0.03815746 -0.05401778 -0.02399124
+v 0.02901192 -0.05845379 -0.02800959
+v 0.02901192 -0.05675659 -0.02873660
+v 0.03119804 -0.05666872 -0.02854300
+v 0.03298937 -0.05666872 -0.02791476
+v 0.03815746 -0.05206415 -0.02577321
+v 0.03512357 -0.04900561 0.01134407
+v 0.03815746 -0.04514719 -0.02603792
+v 0.03119177 -0.04514718 -0.02891832
+v 0.03119804 -0.04515438 -0.02891832
+v 0.02901192 -0.04976040 -0.02902106
+v 0.02901192 -0.05666871 -0.02877217
+v 0.03119804 -0.05436498 -0.02887489
+v 0.03330269 -0.05436499 -0.02810836
+v 0.03815746 -0.04976041 -0.02603793
+v 0.03343608 -0.04514719 -0.02815179
+v 0.03119804 -0.04976040 -0.02891833
+v 0.02901192 -0.05436498 -0.02901713
+v 0.03119804 -0.05206413 -0.02891439
+v 0.03340385 -0.05206414 -0.02814786
+v 0.03343698 -0.04976041 -0.02814785
+v 0.03344145 -0.04745668 -0.02814784
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 27
+f 1 27 45
+f 1 45 57
+f 1 57 69
+f 1 69 76
+f 1 76 70
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+f 1 61 60
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+f 1 49 31
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+f 1 28 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
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+f 3 7 9
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+f 3 10 4
+f 5 11 12
+f 5 12 8
+f 6 13 14
+f 6 14 26
+f 6 26 40
+f 6 40 54
+f 6 54 65
+f 6 65 55
+f 6 55 42
+f 6 42 27
+f 6 27 16
+f 6 16 15
+f 6 15 9
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+f 6 8 13
+f 8 12 13
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 18 19
+f 13 25 26
+f 13 26 14
+f 17 28 18
+f 18 29 30
+f 18 30 19
+f 18 28 31
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+f 18 32 33
+f 18 33 29
+f 19 34 35
+f 19 35 20
+f 19 30 34
+f 20 35 36
+f 20 36 21
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+f 21 37 22
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+f 22 38 23
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+f 23 26 24
+f 24 26 25
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+f 35 41 36
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+f 39 66 56
+f 39 56 54
+f 39 54 40
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+f 43 66 74
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+f 43 67 57
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+f 43 45 44
+f 43 55 56
+f 46 52 58
+f 46 58 47
+f 47 53 48
+f 47 58 59
+f 47 59 53
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 54 56 65
+f 55 65 56
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+f 57 68 69
+f 61 70 62
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+f 63 71 72
+f 63 72 64
+f 64 72 73
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+f 70 76 71
+f 71 77 78
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+f 71 76 77
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+f 73 79 80
+f 73 80 74
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+f 74 79 75
+f 75 79 77
+f 75 77 76
+f 77 79 78
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_67.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc13638fe2375cf785c2641b123bbf21839b031
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_67.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04921088 0.00576535 -0.01746649
+v 0.04921088 0.01509404 -0.01746645
+v 0.05451710 0.00576535 -0.01746649
+v 0.04921088 0.00576529 -0.00077454
+v 0.05330239 0.01509404 -0.01746645
+v 0.04921088 0.01509398 -0.00087039
+v 0.05451439 0.00782104 -0.01746648
+v 0.05613580 0.01242647 -0.01381621
+v 0.05613580 0.01208858 -0.01381205
+v 0.05613580 0.01012421 -0.01374534
+v 0.05613580 0.00953517 -0.01372032
+v 0.05613580 0.00576534 -0.01353898
+v 0.05613580 0.00576529 -0.00034093
+v 0.04921088 0.00709586 0.00228368
+v 0.05352947 0.01509404 -0.01718086
+v 0.05382230 0.01470866 -0.01746646
+v 0.04921088 0.01320540 0.00193764
+v 0.05613580 0.01509398 -0.00038050
+v 0.05450693 0.00840095 -0.01746648
+v 0.05613580 0.01472965 -0.01380161
+v 0.05613580 0.00795797 0.00099535
+v 0.04921088 0.00833421 0.00335937
+v 0.05613580 0.01509403 -0.01378701
+v 0.05435916 0.01242648 -0.01746646
+v 0.04921088 0.01245472 0.00277151
+v 0.05613580 0.01235976 0.00106625
+v 0.05447846 0.01012422 -0.01746647
+v 0.05613580 0.01012415 0.00165620
+v 0.04921088 0.01001913 0.00382843
+v 0.05445338 0.01070230 -0.01746647
+v 0.04921088 0.01012415 0.00383051
+v 0.05613580 0.01198350 0.00119549
+f 1 2 5
+f 1 5 16
+f 1 16 24
+f 1 24 30
+f 1 30 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 14
+f 1 14 22
+f 1 22 29
+f 1 29 31
+f 1 31 25
+f 1 25 17
+f 1 17 6
+f 1 6 2
+f 2 6 18
+f 2 18 23
+f 2 23 15
+f 2 15 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 5 15 16
+f 6 17 18
+f 7 19 20
+f 7 20 8
+f 8 20 23
+f 8 23 18
+f 8 18 26
+f 8 26 32
+f 8 32 28
+f 8 28 21
+f 8 21 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 16 23 24
+f 17 25 18
+f 18 25 26
+f 19 27 20
+f 20 27 23
+f 21 28 22
+f 22 28 29
+f 23 27 30
+f 23 30 24
+f 25 31 26
+f 26 31 32
+f 28 31 29
+f 28 32 31
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_68.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a43d65eb1e4b2c0c50e3bac8610bc3464a97b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_68.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03815784 0.04472955 -0.02603385
+v 0.03815784 0.04927896 -0.02603785
+v 0.04210046 0.04472955 -0.02601371
+v 0.03815784 0.04472942 0.00785282
+v 0.03815784 0.05155365 -0.02575193
+v 0.04210046 0.05158132 -0.02573582
+v 0.04210046 0.04992624 -0.02593718
+v 0.04210046 0.04927896 -0.02601369
+v 0.04210046 0.04472942 0.00867431
+v 0.04209545 0.04472942 0.00872666
+v 0.03815784 0.04964487 0.01474695
+v 0.03815784 0.05158132 -0.02574790
+v 0.04210046 0.05288694 -0.02531299
+v 0.04210046 0.04780445 0.01297107
+v 0.04210046 0.04931292 0.01481944
+v 0.03815784 0.04966884 0.01475098
+v 0.03815784 0.05289155 -0.02532105
+v 0.03815784 0.05348074 -0.02402034
+v 0.04210046 0.05304922 -0.02495057
+v 0.04210046 0.05158117 0.01509731
+v 0.03815784 0.05158117 0.01502079
+v 0.04210046 0.05346507 -0.02402034
+v 0.03815784 0.05391502 -0.02170485
+v 0.04210046 0.05273282 0.01464629
+v 0.04210046 0.05313022 0.01447717
+v 0.03815784 0.05300021 0.01440065
+v 0.04210046 0.05389566 -0.02170485
+v 0.03815784 0.05394819 -0.01708193
+v 0.04210046 0.05414819 0.00834817
+v 0.04210046 0.05366870 0.01336976
+v 0.03815784 0.05300759 0.01438454
+v 0.03815784 0.05392229 0.00834817
+v 0.04210046 0.05414819 0.00899651
+v 0.04210046 0.05383190 0.01297109
+v 0.03815784 0.05359125 0.01297109
+v 0.03815784 0.05391951 0.01065963
+v 0.04210046 0.05414449 0.01065963
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 35
+f 1 35 36
+f 1 36 32
+f 1 32 28
+f 1 28 23
+f 1 23 18
+f 1 18 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 13
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+f 3 19 22
+f 3 22 27
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+f 3 29 33
+f 3 33 37
+f 3 37 34
+f 3 34 30
+f 3 30 25
+f 3 25 24
+f 3 24 20
+f 3 20 15
+f 3 15 14
+f 3 14 9
+f 4 10 11
+f 5 12 6
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+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 18 23 22
+f 20 24 21
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+f 21 25 26
+f 22 23 27
+f 23 28 29
+f 23 29 27
+f 25 30 26
+f 26 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 34 37 36
+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_69.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30968e69283d185099ee2d854104f1d04e2e1b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_69.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01501537 0.05986088 0.01092228
+v -0.01730159 0.05985835 0.01092228
+v -0.00808262 0.05983311 0.01478899
+v -0.00115260 0.05985583 0.01092228
+v -0.01758703 0.05985078 0.01092228
+v -0.01270445 0.05982554 0.01476259
+v -0.00808262 0.05939659 0.01704987
+v -0.00577444 0.05939280 0.01704987
+v 0.00612048 0.05933477 0.01704987
+v -0.00577444 0.05982176 0.01476079
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_7.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40511728bdaed70de36ab5444e41e4b9758c44b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_7.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_70.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c47ecf691852114d782b3d0ea3c9d985b1d13a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_70.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v 0.01878221 0.00498954 0.01364056
+v 0.01992888 -0.00139203 0.01478461
+v 0.02593147 0.00021663 0.01705024
+v 0.02623751 -0.00706782 0.01705021
+v 0.01836964 -0.00706781 0.01300913
+v 0.01877253 -0.00139203 0.01364013
+v 0.01860982 0.00498954 0.01337551
+v 0.01868924 0.00498954 0.01349814
+v 0.01992888 -0.00369468 0.01478541
+v 0.02593147 -0.00139204 0.01705023
+v 0.01992888 -0.00706781 0.01478459
+v 0.01877446 -0.00706781 0.01364011
+v 0.01877253 -0.00599851 0.01364012
+v 0.01877253 -0.00369468 0.01364053
+v 0.01992888 -0.00599851 0.01478540
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 10
+f 1 10 14
+f 1 14 26
+f 1 26 33
+f 1 33 34
+f 1 34 27
+f 1 27 15
+f 1 15 7
+f 1 7 16
+f 1 16 29
+f 1 29 36
+f 1 36 30
+f 1 30 19
+f 1 19 17
+f 1 17 8
+f 1 8 2
+f 2 8 3
+f 3 9 18
+f 3 18 13
+f 3 13 5
+f 3 5 4
+f 3 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 13 25
+f 5 25 31
+f 5 31 26
+f 5 26 14
+f 5 14 10
+f 7 15 16
+f 8 17 9
+f 9 17 19
+f 9 19 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 19 30 37
+f 19 37 38
+f 19 38 31
+f 19 31 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 26 31 32
+f 26 32 33
+f 27 34 32
+f 27 32 28
+f 28 32 35
+f 28 35 29
+f 29 35 41
+f 29 41 36
+f 30 36 37
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 35
+f 32 34 33
+f 35 40 41
+f 36 41 37
+f 37 41 39
+f 37 39 38
+f 39 41 40
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_71.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ec0322b81303ebb9c8d94101d197f2f3cc8ed5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_71.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02426016 0.04696649 -0.02902934
+v -0.02191606 0.04696649 -0.02902483
+v -0.03080759 0.04696649 -0.02902483
+v -0.03080759 0.05388520 -0.02902480
+v -0.02426016 0.05388520 -0.02902480
+v -0.02191606 0.04927932 -0.02902482
+v -0.02191606 0.04696633 0.01402384
+v -0.03080759 0.04696634 0.01090705
+v -0.03080759 0.05618813 -0.02882181
+v -0.02656943 0.05618813 -0.02882181
+v -0.02191606 0.05615472 -0.02882181
+v -0.02191606 0.05388520 -0.02902029
+v -0.02191606 0.04726331 0.01705041
+v -0.03080759 0.05031739 0.01705042
+v -0.03080759 0.05771269 -0.02818131
+v -0.02191606 0.05801463 -0.02805051
+v -0.02191606 0.05618813 -0.02881730
+v -0.02191606 0.05933362 0.01705046
+v -0.03080759 0.05933238 0.01705046
+v -0.03080759 0.05801711 -0.02805051
+v -0.02888044 0.05801711 -0.02805051
+v -0.02888044 0.05901575 -0.02633198
+v -0.02191606 0.05901204 -0.02633198
+v -0.02371352 0.05933610 0.01705046
+v -0.02191606 0.05957867 0.00834511
+v -0.02656943 0.05933610 0.01705046
+v -0.02191606 0.05960714 0.00603571
+v -0.03080759 0.05936470 -0.02170416
+v -0.03080759 0.05901575 -0.02633198
+v -0.02656943 0.05938079 -0.02401807
+v -0.02191606 0.05935109 -0.02401807
+v -0.02888044 0.05937956 -0.02401807
+v -0.03080759 0.05936347 -0.02401807
+v -0.03080759 0.05936470 -0.02209207
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 17
+f 2 17 16
+f 2 16 23
+f 2 23 31
+f 2 31 27
+f 2 27 25
+f 2 25 18
+f 2 18 13
+f 2 13 7
+f 3 8 14
+f 3 14 19
+f 3 19 28
+f 3 28 34
+f 3 34 33
+f 3 33 29
+f 3 29 20
+f 3 20 15
+f 3 15 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 24
+f 13 24 26
+f 13 26 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 18 25 24
+f 19 26 25
+f 19 25 27
+f 19 27 28
+f 20 29 22
+f 20 22 21
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 24 25 26
+f 27 30 32
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 27 31 30
+f 29 33 32
+f 29 32 30
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_72.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc824c5ab1fc9f8d7d4a42b8f40aa79e58cf42e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_72.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03497473 0.01479485 0.01705029
+v 0.03534160 0.01243735 0.01705029
+v 0.03815745 0.01012305 0.01502282
+v 0.03815745 0.01189982 0.01471464
+v 0.03815745 0.01191038 0.01469368
+v 0.03815745 0.01273205 0.01300921
+v 0.03483362 0.01479485 0.01613368
+v 0.02517255 0.01479485 0.01705029
+v 0.03561441 0.01012305 0.01705028
+v 0.03815745 0.00871585 0.01443692
+v 0.03548898 0.00849795 0.01705027
+v 0.03518795 0.00608573 0.01705026
+v 0.03497786 0.00498953 0.01705026
+v 0.03815745 0.00828198 0.01300919
+v 0.03809160 0.01274453 0.01300921
+v 0.03119622 0.01479486 0.01378182
+v 0.03193311 0.01479486 0.01403303
+v 0.03340688 0.01479486 0.01482898
+v 0.03344451 0.01479486 0.01485826
+v 0.01955026 0.01479485 0.01567715
+v 0.00612322 0.01349228 0.01705029
+v 0.03815432 0.00827046 0.01300919
+v 0.03487125 0.00498953 0.01597185
+v 0.02614462 0.00498953 0.01705026
+v 0.03119622 0.01390024 0.01300921
+v 0.02407192 0.01479486 0.01300921
+v 0.01931508 0.01479485 0.01555531
+v 0.00612322 0.01394152 0.01300921
+v 0.00612322 0.00841252 0.01705027
+v 0.03375181 0.00498953 0.01499154
+v 0.03337552 0.00498954 0.01475220
+v 0.03214633 0.00498954 0.01438864
+v 0.02366115 0.00498954 0.01300918
+v 0.01993908 0.00498954 0.01477911
+v 0.01705738 0.01479486 0.01300921
+v 0.01818623 0.01479486 0.01461694
+v 0.00612322 0.00807176 0.01300919
+v 0.01837437 0.00498954 0.01300918
+v 0.01878201 0.00498954 0.01364056
+v 0.01967255 0.00498954 0.01451722
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 26
+f 1 26 35
+f 1 35 36
+f 1 36 27
+f 1 27 20
+f 1 20 8
+f 1 8 21
+f 1 21 29
+f 1 29 24
+f 1 24 13
+f 1 13 12
+f 1 12 11
+f 1 11 9
+f 1 9 2
+f 2 9 3
+f 3 10 14
+f 3 14 6
+f 3 6 5
+f 3 5 4
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 6 14 22
+f 6 22 33
+f 6 33 38
+f 6 38 37
+f 6 37 28
+f 6 28 35
+f 6 35 26
+f 6 26 25
+f 6 25 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 21
+f 10 22 14
+f 10 13 22
+f 13 23 22
+f 13 24 34
+f 13 34 40
+f 13 40 39
+f 13 39 38
+f 13 38 33
+f 13 33 32
+f 13 32 31
+f 13 31 30
+f 13 30 23
+f 15 25 16
+f 16 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 37
+f 21 37 29
+f 22 23 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 24 29 34
+f 27 36 28
+f 28 36 35
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 34
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_73.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c321316aaeea91b0516940414aae8ce7cd62143
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_73.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.03080759 0.00762361 0.01216880
+v -0.03004335 0.00762268 0.01216880
+v -0.03080759 0.00841241 0.01705027
+v -0.03080759 0.01456486 0.01216882
+v -0.02656943 0.00762268 0.01216880
+v -0.02480592 0.00841333 0.01705027
+v -0.03080759 0.01349952 0.01705029
+v -0.02191606 0.01672786 0.01705030
+v -0.02191606 0.01706911 0.01399269
+v -0.02232256 0.01706912 0.01216883
+v -0.02191606 0.00762453 0.01216880
+v -0.02191606 0.00841426 0.01705027
+v -0.02191606 0.01706912 0.01216883
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 8 12 11
+f 8 11 13
+f 8 13 9
+f 9 13 10
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_74.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97654dd5dd26649b02a8a39ef88527a7f1126124
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_74.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00120201 0.01703914 0.01092212
+v -0.00450097 0.01703912 0.01704971
+v 0.00612048 0.01694683 0.01092212
+v -0.02191520 0.01703914 0.01092212
+v 0.00612048 0.01349192 0.01704970
+v -0.02181639 0.01703912 0.01704971
+v 0.00612048 0.00555662 0.01092208
+v -0.02191520 0.00554198 0.01092208
+v -0.02191520 0.01703913 0.01399521
+v 0.00612048 0.00841259 0.01704968
+v -0.02191520 0.01672842 0.01704971
+v -0.00804968 0.00554086 0.01092208
+v -0.02191520 0.00554198 0.01092268
+v -0.01039354 0.00553973 0.01092208
+v -0.00170152 0.00841147 0.01704968
+v -0.01036335 0.00553973 0.01092208
+v -0.02191520 0.00841372 0.01704968
+v -0.01270445 0.00841147 0.01704968
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 17
+f 2 17 18
+f 2 18 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 13
+f 4 13 17
+f 4 17 11
+f 4 11 9
+f 6 9 11
+f 7 10 12
+f 8 14 13
+f 10 15 16
+f 10 16 12
+f 13 14 18
+f 13 18 17
+f 14 16 15
+f 14 15 18
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_75.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd946012ff6a69de63f4c726c0ac88ba27a1822
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_75.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.02429584 0.01706927 -0.02902658
+v -0.02426016 0.04467210 -0.02903069
+v -0.02426016 0.01706927 -0.02902658
+v -0.03080759 0.01706927 -0.02902236
+v -0.03080759 0.02164047 -0.02902656
+v -0.02191606 0.02160828 -0.02902656
+v -0.03080759 0.04696648 -0.02902647
+v -0.02191606 0.04696648 -0.02902647
+v -0.02191606 0.01706927 -0.02902236
+v -0.03080759 0.01706912 0.01090496
+v -0.03080759 0.04696633 0.01090929
+v -0.02191606 0.04696632 0.01402406
+v -0.02191606 0.01706911 0.01399024
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 4 10 11
+f 4 11 7
+f 4 7 5
+f 6 8 12
+f 6 12 13
+f 6 13 9
+f 7 11 12
+f 7 12 8
+f 10 13 12
+f 10 12 11
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_76.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bee9c729e0d7ed58e96fd89f82c1b3f7d21266
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_76.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01834778 0.04606060 0.01298159
+v 0.01876914 0.04606060 0.01364632
+v 0.03307542 0.04606060 0.01298159
+v 0.01834944 0.04104895 0.01298157
+v 0.01946644 0.04606060 0.01433654
+v 0.01835770 0.02451428 0.01298151
+v 0.01877410 0.02451428 0.01363708
+v 0.01905996 0.02451428 0.01392185
+v 0.01992911 0.02451428 0.01478691
+v 0.03324396 0.04606060 0.01301743
+v 0.03327371 0.04560500 0.01298159
+v 0.01992415 0.04606060 0.01478858
+v 0.02349163 0.02451428 0.01298151
+v 0.02623623 0.02451427 0.01705033
+v 0.02622467 0.04236724 0.01705040
+v 0.03484181 0.04606059 0.01608140
+v 0.03416269 0.04236725 0.01298158
+v 0.02622467 0.04412638 0.01705040
+v 0.02624780 0.04606059 0.01705041
+v 0.03164446 0.02451428 0.01416838
+v 0.03121319 0.02634302 0.01298152
+v 0.03497070 0.02451427 0.01705033
+v 0.03489800 0.04606059 0.01644822
+v 0.03519873 0.03545724 0.01298155
+v 0.03495748 0.03772261 0.01298156
+v 0.03465179 0.04006391 0.01298157
+v 0.03498722 0.04606059 0.01705041
+v 0.03240456 0.02490027 0.01409191
+v 0.03281765 0.02451428 0.01443722
+v 0.03206747 0.02670582 0.01298152
+v 0.03493600 0.02451427 0.01682252
+v 0.03515411 0.03234394 0.01298154
+v 0.03522847 0.03315812 0.01298154
+v 0.03497235 0.02624810 0.01705034
+v 0.03493104 0.04606059 0.01666488
+v 0.03315970 0.02451428 0.01459215
+v 0.03323571 0.02793131 0.01298152
+v 0.03483025 0.02451427 0.01613350
+v 0.03478894 0.03088431 0.01298153
+v 0.03456422 0.02451427 0.01584713
+v 0.03343399 0.02821396 0.01298152
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 27
+f 1 27 35
+f 1 35 23
+f 1 23 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
+f 1 11 17
+f 1 17 26
+f 1 26 25
+f 1 25 24
+f 1 24 33
+f 1 33 32
+f 1 32 39
+f 1 39 41
+f 1 41 37
+f 1 37 30
+f 1 30 21
+f 1 21 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 5 9 12
+f 6 13 20
+f 6 20 29
+f 6 29 36
+f 6 36 40
+f 6 40 38
+f 6 38 31
+f 6 31 22
+f 6 22 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 9 14 15
+f 9 15 12
+f 10 16 17
+f 10 17 11
+f 12 15 18
+f 12 18 19
+f 13 21 20
+f 14 22 34
+f 14 34 27
+f 14 27 19
+f 14 19 18
+f 14 18 15
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 20 21 28
+f 20 28 29
+f 21 30 28
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 24 35 27
+f 24 27 33
+f 27 34 33
+f 28 30 29
+f 29 30 36
+f 30 37 36
+f 31 38 32
+f 32 38 39
+f 36 37 41
+f 36 41 40
+f 38 40 39
+f 39 40 41
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_77.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c9987e2215341f0adfbed08ddbb3d4951e0e8f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_77.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.03080759 -0.00559483 -0.02902687
+v -0.03080759 0.00321479 -0.02902684
+v -0.02191606 -0.00559483 -0.02902687
+v -0.03080759 -0.00559498 0.01089437
+v -0.02429584 0.01706927 -0.02902679
+v -0.03080759 0.01706927 -0.02902276
+v -0.02191606 0.00321479 -0.02902684
+v -0.02191606 -0.00559498 0.01089437
+v -0.02847569 -0.00559498 0.01089840
+v -0.03080759 0.00762057 0.01216477
+v -0.02426016 0.01706927 -0.02902679
+v -0.03080759 0.01706912 0.01090655
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+v -0.02191606 0.00762278 0.01216477
+v -0.02385453 -0.00559498 0.01089840
+v -0.02542306 0.00762057 0.01216477
+v -0.03080759 0.01456444 0.01216479
+v -0.02232256 0.01706912 0.01216480
+v -0.02191606 0.01706912 0.01216480
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
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+f 3 19 14
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+f 10 16 14
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+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_78.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39aa8d031675e3076702aa40afd139035125fc15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_78.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03815745 0.01292759 0.01113606
+v 0.02441685 0.02451429 0.01113610
+v 0.03815745 0.00006723 0.01113601
+v 0.03815745 0.02397020 0.00812001
+v 0.03814805 0.02451430 0.00816326
+v 0.03519109 0.02451430 0.00929577
+v 0.03446988 0.02451430 0.00950812
+v 0.03350722 0.02451429 0.00974799
+v 0.01598184 0.02451429 0.01113610
+v 0.03815118 -0.00282635 0.01113600
+v 0.03815745 -0.00286654 0.01068378
+v 0.03815745 0.02451433 -0.00003561
+v 0.00612322 0.01607467 0.01113607
+v 0.00612322 0.02451429 0.01089229
+v 0.02394650 -0.00706780 0.01113598
+v 0.03815745 -0.00706779 0.00781317
+v 0.03815745 0.02451443 -0.02603216
+v 0.00612322 0.00634902 0.01113603
+v 0.00612322 0.02451444 -0.02902859
+v 0.01596929 -0.00706780 0.01113598
+v 0.03815745 -0.00706766 -0.02603228
+v 0.03345078 0.00782378 -0.02815174
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+v 0.03344137 0.02451443 -0.02814774
+v 0.00612322 -0.00706780 0.01089217
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+v 0.00612322 -0.00706765 -0.02902871
+v 0.03344764 -0.00706766 -0.02815180
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+v 0.03119622 -0.00706765 -0.02892254
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+f 1 16 21
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+f 30 34 32
+f 30 32 33
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_79.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a170f2c55874056a9a57f8cd77660c21a6f6eaee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_79.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02543022 -0.04887241 0.01134013
+v 0.02543022 -0.05984831 0.01134009
+v 0.02901157 -0.04893444 0.01134013
+v 0.02543022 -0.00706779 0.00875506
+v 0.02543022 -0.05988437 -0.02401887
+v 0.02888641 -0.05986382 0.01134009
+v 0.02901157 -0.05985865 0.01134009
+v 0.02901157 -0.02442865 0.00982229
+v 0.02901157 -0.00706779 0.00753756
+v 0.02543022 -0.00706765 -0.02902704
+v 0.02543022 -0.05952763 -0.02633134
+v 0.02657632 -0.05952246 -0.02633134
+v 0.02888641 -0.05985852 -0.02401887
+v 0.02888641 -0.05986370 -0.02170641
+v 0.02901157 -0.05986376 -0.00552707
+v 0.02901157 -0.05986381 0.00847026
+v 0.02901157 -0.00706765 -0.02902309
+v 0.02888641 -0.00706765 -0.02902704
+v 0.02657632 -0.05436279 -0.02903907
+v 0.02543022 -0.05436279 -0.02903512
+v 0.02543022 -0.05902097 -0.02718912
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+v 0.02888641 -0.05947076 -0.02633134
+v 0.02901157 -0.05985335 -0.02401887
+v 0.02901157 -0.05985853 -0.02170641
+v 0.02901157 -0.02915905 -0.02902317
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+v 0.02543022 -0.05850397 -0.02805876
+v 0.02543022 -0.05759405 -0.02844615
+v 0.02888641 -0.05666861 -0.02878610
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+v 0.02901157 -0.05666861 -0.02877424
+v 0.02901157 -0.05845227 -0.02800737
+v 0.02901157 -0.05850397 -0.02792436
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+f 27 33 28
+f 28 32 29
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 35
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_8.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3bf5a30984a6b8f7da9ca686da74c78e67ebdc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_8.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00356581 0.04886490 0.01705042
+v -0.00356581 0.04884666 0.02222214
+v -0.00356581 0.05938101 0.01705046
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+v 0.02617073 0.04697110 0.01706291
+v 0.02601741 0.04697110 0.01759711
+v -0.00356581 0.04886365 0.02453388
+v 0.02596375 0.04697109 0.01991040
+v 0.02595991 0.04697108 0.02222213
+v 0.02595991 0.04697107 0.02453387
+v 0.02596375 0.04697106 0.02684560
+v 0.02599058 0.04697105 0.02915733
+v -0.00356581 0.05935303 0.02684565
+v 0.01502432 0.05936518 0.02684565
+v 0.02888450 0.05934455 0.01991045
+v 0.02888450 0.05934214 0.01759872
+v 0.02888450 0.05934092 0.01705046
+v 0.03499050 0.04697110 0.01705041
+v -0.00356581 0.04888430 0.02474630
+v 0.02649653 0.04697104 0.03146906
+v 0.02735513 0.04697104 0.03290140
+v -0.00356581 0.05905783 0.02915738
+v 0.00347161 0.05906148 0.02915738
+v 0.01502432 0.05906634 0.02915738
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+v 0.02943262 0.05933242 0.01705046
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+v 0.03507099 0.04697596 0.01759867
+v 0.03506716 0.04697110 0.01759711
+v -0.00356581 0.04910781 0.02683311
+v 0.02888450 0.04697104 0.03297012
+v -0.00356581 0.05198918 0.03297483
+v -0.00356581 0.05193816 0.03293578
+v -0.00356581 0.05083760 0.03186426
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+v -0.00356581 0.05618736 0.03178462
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+v 0.02657319 0.05802894 0.03083650
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+v 0.03480651 0.05757831 0.01705045
+v 0.03559228 0.05158230 0.01705043
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_80.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8653f66bafb26d3b1f3946085d7bbdc045d995ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_80.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03815745 0.03471478 0.01086362
+v 0.03815745 0.03331843 0.01080604
+v 0.03815745 0.03532436 0.01084717
+v 0.03724183 0.03315813 0.01203567
+v 0.03815745 0.03303579 0.01074024
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+v 0.03815745 0.03770996 0.01028377
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+v 0.02195533 0.04606076 -0.02902736
+v 0.01676263 0.02451444 -0.02902744
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_81.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a377dcb30c13b31827447b33943a5f6f67e88e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_81.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01592228 0.03145181 0.01092218
+v -0.00122591 0.03145181 0.01092218
+v -0.01592228 0.03145181 0.01154603
+v -0.01592228 0.04697357 0.01092223
+v -0.00451229 0.03145179 0.01704977
+v -0.00118552 0.04693255 0.01092223
+v -0.00965537 0.03145179 0.01704977
+v -0.00968278 0.04697355 0.01704982
+v -0.01592228 0.03195472 0.01154663
+v -0.01592228 0.04697357 0.01154008
+v -0.00118552 0.04697357 0.01092223
+v -0.00449642 0.04697355 0.01704982
+v -0.01592228 0.04535393 0.01154308
+v -0.01592228 0.04236840 0.01154727
+v -0.01592228 0.04074116 0.01154906
+v -0.01592228 0.04006505 0.01154966
+v -0.01592228 0.03613599 0.01154964
+v -0.01592228 0.03383417 0.01154843
+v -0.01592228 0.03315653 0.01154783
+f 1 2 5
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+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
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+f 4 8 12
+f 4 12 11
+f 5 6 12
+f 5 12 8
+f 5 8 7
+f 6 11 12
+f 8 10 13
+f 8 13 14
+f 8 14 15
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+f 8 17 18
+f 8 18 19
+f 8 19 9
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_82.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3575418db14d8806bc2f56332d54197122d2c93c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_82.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02901192 -0.04514718 -0.02901622
+v 0.02901192 -0.04067052 -0.02902009
+v 0.03119177 -0.04514718 -0.02891527
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+v 0.03815746 -0.04514732 0.00749640
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+f 30 43 42
+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_83.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde8a70d39cc8323b8e4f97ec21abe40f5ca7ce1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_83.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02388997 -0.00707297 0.01134422
+v 0.02543022 -0.00707296 0.00875496
+v 0.01679536 -0.00707297 0.01134422
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+v 0.02543022 -0.00707282 -0.02902453
+v 0.00612322 -0.00707297 0.01089357
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+v 0.02543022 -0.05984743 0.01134403
+v 0.01964341 -0.00707282 -0.02902848
+v 0.02543022 -0.05436503 -0.02903656
+v 0.00612322 -0.00707282 -0.02902848
+v 0.00612322 -0.05984743 0.01134403
+v 0.02263698 -0.05985260 0.01134403
+v 0.02426416 -0.05988868 -0.02402013
+v 0.02543022 -0.05988350 -0.02402013
+v 0.02543022 -0.05666654 -0.02883891
+v 0.02426416 -0.05666654 -0.02884286
+v 0.02195284 -0.05666654 -0.02884682
+v 0.00612322 -0.05470638 -0.02900889
+v 0.00612322 -0.05436503 -0.02903656
+v 0.00612322 -0.05986805 -0.00749630
+v 0.00646340 -0.05985260 0.01134403
+v 0.01964341 -0.05985777 0.01134403
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+
diff --git a/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_9.obj b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0353b954e3dd45bf11a0cd47b3a1e04600192ec5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mjcf/mesh/jewelry_box_012_collision_9.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.05645774 -0.03132293 0.03609408
+v -0.05645774 0.04696527 0.03609437
+v -0.05592361 -0.01750623 0.03441434
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+v -0.05447989 -0.03362890 0.03326025
+v -0.05592009 -0.04921353 0.03441646
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+v -0.05645421 -0.04921353 0.03609402
+v -0.05583194 -0.04921354 0.03848734
+v -0.05598531 0.04894456 0.03821097
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+v -0.03859712 0.04894458 0.03328897
+v -0.04749041 -0.03711673 0.04071167
+v -0.04996890 -0.03712634 0.04071167
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