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index 6806752b299c80cfd73860900318f095263a9db8..610d871853b55cb1e7a69abed7bf5b8e358e345e 100644
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/jewelry_box_038_collision.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/jewelry_box_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1e44b8cd60d2b1903dd4d3bb433c95e7371b50
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/jewelry_box_038_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/jewelry_box_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..166d4797279faccec485ea705230fa46e6e6a4b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/jewelry_box_038_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e21ff1ca3e71f29047f2adc194bb35ec56a33cffd999e1737ea3ccf89ddc27
+size 12555224
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material.mtl b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbc5a9f6813db357ab17535575eb996296a23631
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+Ns 1.00000000
+map_Kd jewelry_box_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material_0.png b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..166d4797279faccec485ea705230fa46e6e6a4b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e21ff1ca3e71f29047f2adc194bb35ec56a33cffd999e1737ea3ccf89ddc27
+size 12555224
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/jewelry_box_038.xml b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/jewelry_box_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..96f7bd5d516099a1e03cdb4edd46a87de8cc411f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/jewelry_box_038.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488e56c79d2723165de2547b0fae582d7a1c6ca5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038.obj
@@ -0,0 +1,117552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0846b1b06136c88db465eacdfff1448b90eaafe5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision.obj
@@ -0,0 +1,12624 @@
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_0.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f48a86bfb3b3f54469ffccede9c18ae40adfb62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_0.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_1.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18be297160e379acac1bb032aeb9a93ba011e65b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_1.obj
@@ -0,0 +1,415 @@
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_10.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165076d1bd3645ff1ba5c010ddaaeeed1901f0db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05760267 -0.02971268 0.09611089
+v -0.06613810 -0.02971268 0.09611089
+v -0.05748461 -0.05273136 0.09611081
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_11.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470695cafece9794ad16b8ddd2e7a7475572af83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02991022 -0.04602418 -0.02607857
+v 0.02991022 -0.04602418 -0.01951875
+v 0.02991022 -0.04377886 -0.02607857
+v 0.02991022 -0.04377886 -0.01951875
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+v 0.03091022 -0.04602418 -0.01951875
+v 0.03091022 -0.04377886 -0.02607857
+v 0.03091022 -0.04377886 -0.01951875
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_12.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be5f0e475fccced65015a1c9740e1ebb04ab91e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_12.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+v 0.08032165 -0.04416052 -0.02926272
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+v 0.08032165 0.04006887 -0.03669668
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_13.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dea4cdcec3b76cf25ee82e7be0837e802ba9e06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_13.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.03303876 -0.06449888 0.03911410
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_14.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9563a7940491cf68beac50a0eb9a2676fd748c07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_14.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.03393021 -0.04602424 -0.00580339
+v 0.03017989 -0.04602424 -0.00580339
+v 0.03393021 -0.04602421 -0.01473869
+v 0.03393021 -0.03009155 -0.00608663
+v 0.03017989 -0.03009155 -0.00608260
+v 0.03017989 -0.04602420 -0.01693928
+v 0.03040456 -0.04602419 -0.01951850
+v 0.03393021 -0.03009152 -0.01458019
+v 0.03017989 -0.03009151 -0.01693922
+v 0.03018026 -0.04602419 -0.01951850
+v 0.03038253 -0.04595088 -0.01951850
+v 0.03018026 -0.03009151 -0.01755281
+v 0.03018026 -0.04529579 -0.01951850
+v 0.03031132 -0.04572004 -0.01951850
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 8
+f 4 8 12
+f 4 12 9
+f 4 9 5
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+f 6 13 10
+f 7 11 12
+f 7 12 8
+f 7 10 13
+f 7 13 14
+f 7 14 11
+f 9 12 13
+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_15.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bc4f9860f2ae7eba3deb2db4085eb5eb18c933
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_15.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.05722794 -0.03008999 -0.00608395
+v 0.05722794 -0.03008996 -0.01454979
+v 0.05435677 -0.03008999 -0.00608308
+v 0.03686067 -0.04602424 -0.00580048
+v 0.05722794 -0.04602424 -0.00580748
+v 0.05722794 -0.04602421 -0.01472049
+v 0.03393249 -0.03008996 -0.01458129
+v 0.05390979 -0.03008999 -0.00608308
+v 0.03641369 -0.03008999 -0.00608395
+v 0.03393249 -0.04602424 -0.00580135
+v 0.03393249 -0.04602421 -0.01473974
+v 0.03393249 -0.03008999 -0.00608570
+f 1 2 7
+f 1 7 12
+f 1 12 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 10
+f 7 10 12
+f 9 12 10
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_16.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adda3b5b59294a0989a57ddeeadba2b3bd99d0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_16.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.06816366 0.01676072 0.10779576
+v -0.06740813 0.01676071 0.11027040
+v -0.06793136 0.01676073 0.10488385
+v -0.06793361 -0.01511711 0.10488373
+v -0.06816140 -0.02673583 0.10779560
+v -0.06740813 -0.00060231 0.11034193
+v -0.06740813 0.00230066 0.11034001
+v -0.06524979 0.01676071 0.11172733
+v -0.06511672 0.00230065 0.11362534
+v -0.06395975 0.00230065 0.11517901
+v -0.06385826 0.00388221 0.11513450
+v -0.06792009 0.01676074 0.10481033
+v -0.06739008 -0.02092302 0.10196793
+v -0.06738557 -0.05318427 0.10196974
+v -0.06793136 -0.02972095 0.10488368
+v -0.06815464 -0.02972096 0.10771627
+v -0.06813209 -0.05318429 0.10749174
+v -0.06815464 -0.05318430 0.10779550
+v -0.06511672 -0.00060232 0.11362533
+v -0.06740361 -0.05318431 0.11026627
+v -0.06382894 0.01676071 0.11216847
+v -0.06396651 -0.00060232 0.11518480
+v -0.05062631 0.00521046 0.11568014
+v -0.05354469 0.00521046 0.11552922
+v -0.05354469 0.00705904 0.11531253
+v -0.05354469 0.01676070 0.11380920
+v -0.05361686 0.01676070 0.11379953
+v -0.05937018 0.01676070 0.11302173
+v -0.05944460 0.01676070 0.11301012
+v -0.06228630 0.01676071 0.11254769
+v -0.06232690 0.01676071 0.11253995
+v -0.06379285 0.01676071 0.11217814
+v -0.06739008 0.01676075 0.10196807
+v -0.06687362 -0.01802691 0.09954167
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+v -0.06733370 -0.05318427 0.10171435
+v -0.06787047 -0.05318428 0.10457982
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+v -0.06521370 -0.05318431 0.11172320
+v -0.06386728 -0.00223181 0.11514222
+v -0.05062631 -0.00350528 0.11567624
+v -0.04876567 0.00521046 0.11537637
+v -0.04894384 0.00689473 0.11524868
+v -0.05062631 0.00710697 0.11537057
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+v -0.05354469 -0.05318432 0.11378959
+v -0.04874312 -0.00350528 0.11538988
+v -0.04730874 0.00521046 0.11374531
+v -0.04620363 0.00674411 0.11225356
+v -0.04722529 -0.00060232 0.11373562
+v -0.04723431 0.00230065 0.11373175
+v -0.04728393 -0.00350528 0.11374915
+v -0.04944678 0.01676071 0.11105788
+v -0.06608877 0.01676077 0.09591787
+v -0.06609328 0.00521053 0.09591783
+v -0.06609328 -0.02972091 0.09591770
+v -0.05731784 -0.05318425 0.09611496
+v -0.05119240 -0.05318432 0.11314336
+v -0.05092176 -0.05318432 0.11306790
+v -0.04618559 0.00521047 0.11228839
+v -0.04571423 0.00521047 0.11071150
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+v -0.04946257 -0.05318431 0.11101505
+v -0.04880627 0.01676074 0.10291613
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+v -0.04879725 0.01676074 0.10296451
+v -0.04849052 0.01676073 0.10488385
+v -0.04849503 0.01676073 0.10495544
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_17.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00a6b87c690bfec6f0b2d3009a2126b4dce580c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00936854 0.04579926 0.01145695
+v 0.00806825 0.05679154 0.01145699
+v 0.01585522 0.04579926 0.01145695
+v 0.00983148 0.04579923 0.02033279
+v 0.01748842 0.05679154 0.01145699
+v 0.00884843 0.05679151 0.02033283
+v 0.01667597 0.04580572 0.01145695
+v 0.01662617 0.04579926 0.01158748
+v 0.01099159 0.04579922 0.02294716
+v 0.01713430 0.05679151 0.02033283
+v 0.01634675 0.04579923 0.02033279
+v 0.01046779 0.05679149 0.02341301
+v 0.01353038 0.04579921 0.02382246
+v 0.01353038 0.05679149 0.02452888
+v 0.01047425 0.05679149 0.02342196
+v 0.01634490 0.05679149 0.02323769
+v 0.01632646 0.04579923 0.02039933
+v 0.01612266 0.05679149 0.02335798
+v 0.01395090 0.05679149 0.02446106
+v 0.01557303 0.04579922 0.02269763
+v 0.01563205 0.04579922 0.02266436
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 11
+f 1 11 17
+f 1 17 21
+f 1 21 20
+f 1 20 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 15
+f 2 15 14
+f 2 14 19
+f 2 19 18
+f 2 18 16
+f 2 16 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 11
+f 5 11 7
+f 6 9 12
+f 7 11 8
+f 9 13 14
+f 9 14 15
+f 9 15 12
+f 10 16 11
+f 11 16 17
+f 13 16 18
+f 13 18 19
+f 13 19 14
+f 13 20 16
+f 16 20 21
+f 16 21 17
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_18.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e797cbe697b052a7510b2c6c7f30e3b3e637095
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_18.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.04187605 0.06331230 -0.04903718
+v -0.04187605 0.06219363 -0.04903360
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_19.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80764cc3ec6ae2a79a6e04575c2926f7c0d5dec7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_2.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e50e8b474403a28bd748e1ffcd93bb653c2a13c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_2.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_20.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7908a964414513c281c7eb409029cf5d5687f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_21.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d649ac4fa120c55e3edeeafcd8420cadd8d80a41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_21.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_22.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74cf70c81e61bae05a24a2db8e93a77b8c2de8eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_22.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_23.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d497b51e6b2c16973ae2923c8bddce00f683dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_24.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a85406398d82143bf7a120bf30e9c0251ae409
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_24.obj
@@ -0,0 +1,361 @@
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_25.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4998eada2d45b860e8691f0f08844950eff35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_25.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.06816392 0.02264338 0.10779595
+v -0.06793461 0.01676073 0.10488064
+v -0.06816199 0.01676072 0.10779593
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+v -0.06740856 0.03426345 0.11026279
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+v -0.06793461 0.02845343 0.10488068
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+v -0.06740856 0.01676071 0.11027149
+v -0.06525043 0.01683333 0.11172913
+v -0.06740664 0.05385782 0.11025235
+v -0.06815428 0.05168995 0.10779606
+v -0.06792691 0.05168996 0.10488077
+v -0.06739122 0.02845345 0.10196714
+v -0.06738737 0.05385785 0.10196724
+v -0.06686518 0.01676075 0.09950907
+v -0.06687289 0.04587994 0.09954246
+v -0.06525043 0.01676071 0.11172913
+v -0.06382837 0.01676071 0.11216888
+v -0.06378020 0.03426345 0.11217771
+v -0.06523887 0.03426345 0.11172044
+v -0.06520997 0.05385781 0.11171000
+v -0.06815235 0.05385782 0.10779607
+v -0.06792498 0.05385783 0.10488078
+v -0.06725634 0.05385785 0.10135054
+v -0.06613874 0.01683339 0.09613650
+v -0.06609056 0.01676077 0.09591400
+v -0.06609634 0.05146849 0.09591413
+v -0.06679196 0.05385786 0.09916757
+v -0.06609634 0.05385787 0.09591414
+v -0.06379176 0.01676071 0.11217939
+v -0.06379176 0.01683333 0.11217939
+v -0.06378984 0.01973835 0.11217940
+v -0.06228878 0.03426345 0.11257366
+v -0.06375130 0.05385781 0.11217077
+v -0.05756593 0.01676077 0.09591400
+v -0.05748307 0.05385787 0.09591414
+v -0.06228878 0.01676071 0.11255081
+v -0.05937337 0.03426344 0.11304494
+v -0.06228878 0.04878492 0.11255619
+v -0.05937337 0.01676070 0.11302385
+v -0.06228878 0.05385781 0.11253518
+v -0.04880236 0.01676074 0.10291492
+v -0.04879273 0.05385784 0.10289579
+v -0.05354255 0.01676070 0.11381049
+v -0.05354255 0.01683332 0.11381049
+v -0.05354255 0.05385780 0.11379486
+v -0.05937337 0.04878491 0.11302747
+v -0.06011330 0.05385781 0.11288733
+v -0.04848827 0.01676073 0.10488064
+v -0.04871179 0.05385784 0.10339860
+v -0.05090268 0.01676070 0.11308166
+v -0.05090268 0.01683332 0.11308166
+v -0.05091810 0.05168993 0.11307303
+v -0.05092196 0.05385780 0.11307304
+v -0.05937337 0.05385780 0.11300647
+v -0.04878694 0.01676072 0.10779593
+v -0.04848056 0.05385783 0.10488078
+v -0.04948063 0.01676071 0.11110893
+v -0.04944402 0.01683333 0.11105812
+v -0.05090268 0.01973834 0.11307992
+v -0.05090461 0.02554838 0.11307819
+v -0.05091425 0.04878491 0.11307302
+v -0.04945558 0.04587990 0.11102670
+v -0.04945943 0.05168994 0.11101971
+v -0.04946329 0.05385781 0.11101271
+v -0.04879465 0.01676072 0.10784149
+v -0.04855764 0.05385783 0.10562187
+v -0.04878694 0.01683334 0.10779593
+v -0.04944594 0.01676071 0.11105812
+v -0.04910103 0.01676072 0.10960048
+v -0.04910103 0.01683334 0.10960048
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+v -0.04879657 0.05385782 0.10779607
+v -0.04887558 0.05385782 0.10824458
+v -0.04910874 0.05385782 0.10955506
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_26.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab52745d634478846fb66d2335bf3f573f0c73a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02125097 -0.05890270 -0.03699574
+v -0.02639572 -0.06586845 -0.04826188
+v -0.02486725 -0.05890881 -0.03699574
+v -0.01541398 -0.05890576 -0.03699574
+v -0.02639572 -0.06743151 -0.04856086
+v -0.02639572 -0.05891340 -0.03699574
+v 0.01668947 -0.05893937 -0.03699574
+v 0.01935876 -0.05894854 -0.03699574
+v 0.01961904 -0.05895007 -0.03699574
+v 0.02255415 -0.05896840 -0.03699574
+v 0.02549479 -0.05899132 -0.03699574
+v 0.02843544 -0.05901882 -0.03699574
+v 0.03017989 -0.05903563 -0.03699574
+v 0.03017989 -0.06557051 -0.04654888
+v 0.03017989 -0.06723593 -0.04773091
+v 0.03017989 -0.06740553 -0.04783826
+v -0.02639572 -0.07031011 -0.04878712
+v 0.03017989 -0.06856981 -0.04798601
+v 0.03017989 -0.07031011 -0.04817879
+v -0.02639572 -0.07270898 -0.03699579
+v 0.03017989 -0.07272426 -0.03699579
+v -0.02639572 -0.07087850 -0.04872940
+v 0.03017989 -0.07060500 -0.04815340
+v -0.02639572 -0.07332015 -0.03797695
+v -0.02586408 -0.07271051 -0.03699579
+v 0.02227725 -0.07333848 -0.03797695
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+v -0.01562996 -0.07272732 -0.03699579
+v -0.02639572 -0.07237127 -0.04848354
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+v -0.02639572 -0.07405660 -0.03999239
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+v -0.02639572 -0.07447065 -0.04290704
+v -0.02639572 -0.07450885 -0.04380626
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+f 1 13 12
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_27.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06863ba7d55668f6ba8b7cc1fe09a62eabf27555
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_27.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02227443 0.07505301 -0.03793875
+v 0.02519155 0.07216656 -0.02921158
+v 0.02798092 0.07216370 -0.02921158
+v 0.02519155 0.07504728 -0.03793875
+v -0.00979794 0.06330977 -0.03793965
+v -0.01859721 0.07504155 -0.03793875
+v -0.02147707 0.07216943 -0.02921158
+v -0.01562686 0.07216943 -0.02921158
+v 0.02798092 0.04579941 -0.02921168
+v 0.02798092 0.07503582 -0.03793875
+v 0.02793301 0.07503869 -0.03793875
+v -0.02639040 0.04579944 -0.03689484
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+v -0.02639040 0.07501578 -0.03793875
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+v 0.02519155 0.06331836 -0.03793880
+v 0.01935731 0.06331264 -0.03793880
+v -0.02639040 0.07216656 -0.02921158
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+v -0.02639040 0.04579941 -0.02921168
+v -0.01846413 0.04579944 -0.03689313
+v 0.02527140 0.04579944 -0.03685640
+v 0.02235960 0.04579944 -0.03687263
+v 0.01944248 0.04579944 -0.03688118
+v 0.01652536 0.04579944 -0.03688459
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_28.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a99ac1508995bd329ecc7eb16bfa137e1d289e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_28.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.05915035 0.07247362 0.09591596
+v -0.05937232 0.07247362 0.09591596
+v -0.05937232 0.07247362 0.09613653
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+v -0.05645928 0.07246086 0.09591596
+v -0.06206762 0.07215470 0.09591596
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+v -0.06228959 0.07211643 0.09591595
+v -0.06228959 0.07212736 0.09613652
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+v -0.05062686 0.07160612 0.10488220
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_29.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f74ab021c17ee2aa371cac704acfc749c8f936
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_3.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b6d34cd400683ca0e1f39fb67489320b53d336
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_3.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.05722794 -0.05708349 -0.02927512
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_30.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03ae9eed8dc5ed5d2a399ebf9c0389bc01fa9fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_30.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.04338099 -0.05869210 0.02021673
+v -0.04278966 -0.05288953 0.02021676
+v -0.04279769 -0.06171831 0.02021672
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+v -0.02639572 -0.05288954 0.02152232
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+v -0.05195389 -0.05288957 0.03109583
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+v -0.02639572 -0.06850985 0.02795206
+v -0.02639572 -0.06756636 0.02871395
+v -0.03366021 -0.06666481 0.03910852
+v -0.03513987 -0.06822684 0.03910851
+v -0.05372787 -0.05288960 0.03910857
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_31.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c86872584788fb12a9acce7f894729840e8e963
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02639040 0.00974040 0.01159946
+v -0.02639040 0.00981685 0.02074608
+v -0.02639040 0.01988820 0.01159949
+v 0.02798092 0.01085491 0.01159946
+v -0.02639040 0.01000855 0.02324790
+v 0.02798092 0.01106348 0.02033251
+v -0.02639040 0.01988815 0.02450612
+v 0.01692992 0.01988820 0.01159949
+v 0.02798092 0.01760752 0.01159948
+v -0.02639040 0.01126709 0.02585311
+v 0.02798092 0.01147171 0.02324790
+v 0.02798092 0.01214817 0.02492840
+v 0.02798092 0.01217896 0.02500412
+v -0.02639040 0.01675519 0.02597254
+v 0.01352839 0.01988815 0.02374888
+v 0.01682346 0.01988818 0.01741861
+v 0.01698316 0.01988720 0.01159949
+v 0.02798092 0.01760950 0.01450322
+v -0.02639040 0.01158196 0.02594922
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+v 0.01581205 0.01988816 0.02267126
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+v 0.02798092 0.01761346 0.02033253
+v -0.02639040 0.01392919 0.02647493
+v 0.02798092 0.01595458 0.02525898
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_32.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade8751aca415b79642c2c14ddf2adedf41dad3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_32.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05095619 0.06067437 -0.02717927
+v 0.04220867 0.06067437 -0.02717927
+v 0.05722794 0.05883351 -0.02717927
+v 0.05466984 0.06067441 -0.03824282
+v 0.04220867 0.06067441 -0.03847590
+v 0.04220867 0.05079342 -0.02717930
+v 0.05722794 0.05883353 -0.03214868
+v 0.05552842 0.06067443 -0.04380453
+v 0.05540934 0.06067442 -0.04115946
+v 0.05539316 0.06067442 -0.04088789
+v 0.05722794 0.05079342 -0.02717930
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+v 0.04220867 0.06066446 -0.03850583
+v 0.04220867 0.03316096 -0.02928346
+v 0.04310695 -0.04098099 -0.02928373
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+v 0.05547844 0.06067443 -0.04407396
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+v 0.05116936 0.06067445 -0.04901770
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_33.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..222831e2f329e6148edada8c08e020d618e754e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_33.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02798772 0.00389627 -0.03682697
+v 0.03018117 -0.04098096 -0.03681984
+v 0.02798772 0.00389623 -0.02820265
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+v 0.04220665 0.05079342 -0.02718019
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_34.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079691fb668b2bf9b68062212ab99f5fc1fc5f95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.07185362 -0.01221507 0.00945859
+v 0.07431837 -0.00658853 0.00840085
+v 0.07185362 -0.00658853 0.00945601
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+v 0.07448463 -0.00658853 0.00832790
+v 0.07448686 -0.04126042 0.00832777
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+v 0.06893808 -0.04418224 0.00877849
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+v 0.07569190 -0.02673589 0.00575376
+v 0.07561268 -0.00658852 0.00591798
+v 0.07569301 -0.04416751 0.00575370
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+v 0.06719858 -0.04418224 0.00764256
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+v 0.07572314 -0.04418222 0.00285398
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+v 0.07568856 -0.00658852 0.00575384
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+v 0.06542561 -0.00658844 -0.01520339
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+v 0.06895259 -0.04418215 -0.01666773
+v 0.07185362 -0.00658844 -0.01713133
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_35.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9bc3a0dfdd927abaea67436e764e99b67031ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_35.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.04268995 0.03426061 0.02796584
+v 0.04268995 0.04806224 0.02796358
+v 0.04196696 0.04806224 0.02795665
+v 0.04159781 0.03316950 0.02795428
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+v 0.04560641 0.02264525 0.02793577
+v 0.04560641 0.03316950 0.02793350
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+v 0.04103565 0.00647413 0.02794725
+v 0.04560641 0.00647413 0.02793571
+v 0.04734189 0.01683553 0.02776485
+v 0.04734036 0.02554807 0.02776488
+v 0.04733576 0.04806224 0.02776035
+v 0.04560641 0.04806224 0.02792894
+v 0.03932469 0.04806224 0.02788737
+v 0.03977809 0.00647413 0.02793109
+v 0.04734189 0.00647413 0.02776481
+v 0.04866532 0.02264525 0.02616209
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+v 0.04866532 0.01102989 0.02616205
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+v 0.04970845 0.04806225 0.02324532
+v 0.04866226 0.04007032 0.02615985
+v 0.04865920 0.04806224 0.02615988
+v 0.03650319 0.04806224 0.02655018
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+v 0.04983865 0.00647420 0.00885483
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+v 0.03419025 0.01703096 0.02569325
+v 0.03526094 0.04806225 0.02509290
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_36.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8038bf94d2c6c1a2b6054b09d6f9dd5faffe6149
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_36.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 -0.02747630 0.01992493
+v 0.03017989 -0.04471129 0.01960980
+v 0.03017989 -0.02747627 0.01111227
+v -0.02639572 -0.02747631 0.02152880
+v -0.02639572 -0.04416627 0.02149917
+v -0.02639572 -0.04471130 0.02149815
+v 0.03017989 -0.04471126 0.01111221
+v -0.02639572 -0.02747627 0.01111227
+v -0.02639572 -0.04471126 0.01111221
+f 1 2 7
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+f 1 4 5
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+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 3 7 9
+f 3 9 8
+f 4 8 9
+f 4 9 6
+f 4 6 5
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_37.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc38ad5641f532997c07bdfd9b80af2766b38b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_37.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.08031939 0.05459736 -0.01530480
+v 0.08031939 0.05254661 -0.01570736
+v 0.08031939 0.05668074 -0.01563318
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+v 0.07448719 0.05060558 0.00832907
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+f 6 32 31
+f 6 31 30
+f 6 30 27
+f 6 27 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 9 19 10
+f 9 14 20
+f 9 20 21
+f 9 21 19
+f 10 22 23
+f 10 23 11
+f 10 19 22
+f 11 23 24
+f 11 24 12
+f 12 25 15
+f 12 24 25
+f 15 25 24
+f 15 24 26
+f 16 27 17
+f 17 28 44
+f 17 44 59
+f 17 59 65
+f 17 65 64
+f 17 64 61
+f 17 61 45
+f 17 45 29
+f 17 27 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 28
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 22
+f 19 21 35
+f 21 29 35
+f 22 38 39
+f 22 39 23
+f 23 40 24
+f 23 39 41
+f 23 41 40
+f 24 40 26
+f 26 40 43
+f 26 43 42
+f 28 34 44
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 35
+f 34 50 44
+f 35 49 51
+f 35 51 52
+f 35 52 36
+f 36 53 37
+f 36 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 56 39
+f 38 55 56
+f 39 56 55
+f 39 55 54
+f 39 54 53
+f 39 53 66
+f 39 66 59
+f 39 59 44
+f 39 44 60
+f 39 60 69
+f 39 69 68
+f 39 68 67
+f 39 67 58
+f 39 58 43
+f 39 43 40
+f 39 40 41
+f 42 43 58
+f 42 58 57
+f 44 50 60
+f 45 61 46
+f 46 62 63
+f 46 63 47
+f 46 61 64
+f 46 64 65
+f 46 65 59
+f 46 59 62
+f 47 63 48
+f 48 63 51
+f 48 51 49
+f 51 53 52
+f 51 63 59
+f 51 59 66
+f 51 66 53
+f 57 58 67
+f 57 67 68
+f 57 68 69
+f 59 63 62
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_38.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e96f43878423926db0dab505b5c235ac2c6f6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 -0.06159711 0.02801328
+v -0.02639572 -0.06450145 0.02986495
+v 0.03017989 -0.06450144 0.02795863
+v 0.03017989 -0.06008575 0.02789187
+v 0.03017989 -0.05946762 0.02783723
+v -0.02639572 -0.06441090 0.02984673
+v -0.02639572 -0.06756597 0.02871143
+v 0.03017989 -0.06871341 0.02758829
+v 0.03017989 -0.06768261 0.02772792
+v 0.03017989 -0.06726125 0.02778256
+v -0.02639572 -0.05849951 0.02769154
+v -0.02639572 -0.06095984 0.02896645
+v -0.02639572 -0.06158145 0.02917893
+v 0.03017989 -0.05843857 0.02727870
+v -0.02639572 -0.06850969 0.02794648
+v -0.02639572 -0.06884400 0.02761257
+v 0.03017989 -0.06898678 0.02716331
+v 0.03017989 -0.05801545 0.02704800
+v -0.02639572 -0.05781347 0.02731513
+v -0.02639572 -0.06954570 0.02635585
+v 0.02810870 -0.06965192 0.02613122
+v 0.03017989 -0.06965192 0.02612515
+v 0.03017989 -0.05718490 0.02601592
+v -0.02639572 -0.05597476 0.02613127
+v -0.02639572 -0.07018646 0.02413384
+v -0.02437437 -0.06964495 0.02613122
+v -0.02146142 -0.06964669 0.02613122
+v -0.01562996 -0.06965018 0.02613122
+v 0.01644580 -0.06965192 0.02613122
+v 0.02227725 -0.07044067 0.02324747
+v 0.03017989 -0.07043893 0.02324747
+v 0.03017989 -0.06988175 0.02528734
+v 0.03017989 -0.05685058 0.02559095
+v 0.03017989 -0.05288758 0.01967168
+v -0.02639572 -0.05288759 0.02151728
+v -0.02639572 -0.07042848 0.02324747
+v -0.01854292 -0.07043719 0.02324747
+v -0.01562996 -0.07043893 0.02324747
+v 0.00477735 -0.07063563 0.00867084
+v 0.03017989 -0.07065637 -0.03215706
+v 0.03017989 -0.05288739 -0.03215699
+v -0.02639572 -0.05288739 -0.03215699
+v -0.02639572 -0.07066682 -0.03215706
+v -0.01564104 -0.07067378 -0.03215706
+v -0.01562996 -0.07067378 -0.03215706
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 8
+f 1 8 17
+f 1 17 22
+f 1 22 32
+f 1 32 31
+f 1 31 40
+f 1 40 41
+f 1 41 34
+f 1 34 33
+f 1 33 23
+f 1 23 18
+f 1 18 14
+f 1 14 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 13
+f 2 13 12
+f 2 12 11
+f 2 11 19
+f 2 19 24
+f 2 24 35
+f 2 35 42
+f 2 42 43
+f 2 43 36
+f 2 36 25
+f 2 25 20
+f 2 20 16
+f 2 16 15
+f 2 15 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 14 11
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 11 14 18
+f 11 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 28
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 34 41 42
+f 34 42 35
+f 36 39 37
+f 36 43 39
+f 37 39 38
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_39.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1180707c2d02ef63f8dd23a64bbde55f354eb23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_39.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.06542561 -0.00658848 -0.00517046
+v 0.06542561 -0.00658844 -0.01520353
+v 0.05722874 -0.00658848 -0.00599844
+v 0.06542561 -0.04418219 -0.00522560
+v 0.05722874 -0.00658845 -0.01455234
+v 0.06542561 -0.01221498 -0.01520355
+v 0.05722874 -0.04418219 -0.00607029
+v 0.06542561 -0.04418216 -0.01355359
+v 0.05722874 -0.04418216 -0.01455052
+v 0.06542561 -0.04417848 -0.01520171
+v 0.06311781 -0.04418216 -0.01457605
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 7
+f 3 7 4
+f 4 7 9
+f 4 9 11
+f 4 11 8
+f 5 6 9
+f 6 10 9
+f 8 11 10
+f 9 10 11
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_4.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3340885e40d53bb37b0577a8b5001dd010a103f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_4.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04771889 -0.00978126 -0.04089138
+v -0.04704256 -0.00978125 -0.04379821
+v -0.04705508 -0.00978127 -0.03874734
+v -0.04692775 -0.00349749 -0.03833248
+v -0.04692775 0.03135556 -0.03833083
+v -0.04771889 0.03426259 -0.04089121
+v -0.04750806 0.04353692 -0.04380561
+v -0.04689435 -0.00978125 -0.04403374
+v -0.04671692 0.04353693 -0.04566853
+v -0.04692566 -0.00978127 -0.03833251
+v -0.04235627 0.01392900 -0.03074245
+v -0.04235835 0.04297321 -0.03074234
+v -0.04235835 0.04353687 -0.03074234
+v -0.04692566 0.04353690 -0.03833079
+v -0.04756442 0.04353691 -0.04039733
+v -0.04771680 0.04353691 -0.04089118
+v -0.04610947 -0.00978124 -0.04525542
+v -0.04479230 0.04353693 -0.04616694
+v -0.04233330 -0.00978130 -0.03074254
+v -0.04234583 -0.00640455 -0.03074252
+v -0.04234791 -0.00349752 -0.03074251
+v -0.02639781 0.04353687 -0.03074234
+v -0.04587360 -0.00978124 -0.04526454
+v -0.04187616 0.04353693 -0.04626570
+v -0.04465245 -0.00978124 -0.04531013
+v -0.02639781 -0.00978130 -0.03074254
+v -0.02639781 0.04353690 -0.03689637
+v -0.04008513 0.04353693 -0.04589798
+v -0.04032310 -0.00978124 -0.04530557
+v -0.04162358 -0.00978124 -0.04534508
+v -0.04187616 -0.00978124 -0.04535116
+v -0.02639781 -0.00978127 -0.03689657
+v -0.02639781 0.03426258 -0.03690096
+v -0.03962172 0.04353693 -0.04576578
+v -0.02639781 -0.00439517 -0.03689807
+v -0.02639781 0.01392903 -0.03690104
+f 1 2 8
+f 1 8 17
+f 1 17 23
+f 1 23 25
+f 1 25 31
+f 1 31 30
+f 1 30 29
+f 1 29 32
+f 1 32 26
+f 1 26 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
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+f 6 16 7
+f 7 16 15
+f 7 15 14
+f 7 14 13
+f 7 13 22
+f 7 22 27
+f 7 27 34
+f 7 34 28
+f 7 28 24
+f 7 24 18
+f 7 18 9
+f 8 9 17
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 11 20 19
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+f 11 26 22
+f 11 22 13
+f 11 13 12
+f 17 18 23
+f 18 24 25
+f 18 25 23
+f 22 26 32
+f 22 32 35
+f 22 35 36
+f 22 36 33
+f 22 33 27
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 27 33 34
+f 28 34 29
+f 29 34 32
+f 32 34 35
+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_40.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e769fcc2136f2d38f5f5a4777785eb095917196
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_40.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.07518796 -0.04418216 -0.01482335
+v 0.07856747 -0.05288113 -0.01482338
+v 0.08031939 -0.05288112 -0.01531285
+v 0.08031939 -0.05103883 -0.01564008
+v 0.08031939 -0.05083119 -0.01571570
+v 0.08031939 -0.04984451 -0.01735597
+v 0.08031939 -0.04973995 -0.01756907
+v 0.08031939 -0.04714362 -0.02886947
+v 0.07409160 -0.04418215 -0.01661762
+v 0.06402766 -0.04418216 -0.01482335
+v 0.07663470 -0.05569979 -0.01482339
+v 0.08031939 -0.05518141 -0.01570884
+v 0.08031939 -0.05708697 -0.02886951
+v 0.07476976 -0.04714214 -0.02886947
+v 0.07185366 -0.04418215 -0.01715796
+v 0.07408481 -0.04418215 -0.01662862
+v 0.06744786 -0.04418215 -0.01614189
+v 0.05722794 -0.04716570 -0.02886947
+v 0.05722794 -0.04708624 -0.01482336
+v 0.07447815 -0.05819594 -0.01482340
+v 0.08031939 -0.05655833 -0.01756910
+v 0.08031939 -0.05708846 -0.02367921
+v 0.07185366 -0.05922532 -0.01482341
+v 0.05722794 -0.05708697 -0.02886951
+v 0.07174063 -0.04714214 -0.02886947
+v 0.06893756 -0.04714656 -0.02886947
+v 0.06893756 -0.04418215 -0.01666711
+v 0.05722794 -0.05686318 -0.01482340
+v 0.07442163 -0.05822097 -0.01482340
+v 0.08031939 -0.05708847 -0.02048392
+v 0.07165699 -0.05920323 -0.01482341
+v 0.05722794 -0.05708847 -0.02052929
+v 0.05722794 -0.05708847 -0.02048392
+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 16
+f 1 16 15
+f 1 15 27
+f 1 27 17
+f 1 17 10
+f 1 10 19
+f 1 19 28
+f 1 28 31
+f 1 31 23
+f 1 23 29
+f 1 29 20
+f 1 20 11
+f 1 11 2
+f 2 11 12
+f 2 12 3
+f 3 12 21
+f 3 21 30
+f 3 30 22
+f 3 22 13
+f 3 13 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 24
+f 8 24 18
+f 8 18 26
+f 8 26 25
+f 8 25 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 13 22 23
+f 13 23 24
+f 14 25 15
+f 15 25 26
+f 15 26 18
+f 15 18 27
+f 17 27 18
+f 18 24 32
+f 18 32 33
+f 18 33 28
+f 18 28 19
+f 20 29 21
+f 21 29 23
+f 21 23 30
+f 22 30 23
+f 23 31 24
+f 24 31 32
+f 28 33 31
+f 31 33 32
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_41.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3185f5415a11bea6808b9cc6073a5aaa7718391c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_41.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02639572 -0.02747346 0.01111227
+v -0.02639572 -0.02747350 0.02152843
+v -0.02639572 -0.01602671 0.01111231
+v 0.03017989 -0.02747346 0.01111227
+v -0.02639572 -0.02362992 0.02588653
+v 0.03017989 -0.02747349 0.01992456
+v -0.02639572 -0.01656574 0.02033307
+v 0.03017989 -0.01745212 0.02033307
+v 0.03017989 -0.01744091 0.01826516
+v 0.03017989 -0.01743754 0.01741817
+v 0.03017989 -0.01742744 0.01450327
+v 0.03017989 -0.01742183 0.01158687
+v 0.03017989 -0.01743416 0.01111231
+v -0.02639572 -0.02330159 0.02596312
+v 0.03017989 -0.02280516 0.02509061
+v 0.03017989 -0.02092931 0.02553062
+v -0.02639572 -0.01683470 0.02324798
+v 0.03017989 -0.01759780 0.02118006
+v -0.02639572 -0.02092932 0.02645270
+v 0.03017989 -0.01896493 0.02514618
+v -0.02639572 -0.02060659 0.02638962
+v -0.02639572 -0.01819509 0.02591508
+v 0.03017989 -0.01795640 0.02324797
+v 0.03017989 -0.01824887 0.02379911
+f 1 2 5
+f 1 5 14
+f 1 14 19
+f 1 19 21
+f 1 21 22
+f 1 22 17
+f 1 17 7
+f 1 7 3
+f 1 3 13
+f 1 13 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 18
+f 4 18 23
+f 4 23 24
+f 4 24 20
+f 4 20 16
+f 4 16 15
+f 4 15 6
+f 5 6 15
+f 5 15 16
+f 5 16 14
+f 7 17 8
+f 8 17 18
+f 14 16 19
+f 16 20 21
+f 16 21 19
+f 17 22 23
+f 17 23 18
+f 20 24 22
+f 20 22 21
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_42.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f33a3d84eb308b9c729655dda4c41b95f28d630
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 -0.04471553 -0.03215696
+v 0.03017989 -0.07065785 -0.03215706
+v 0.03017989 -0.04471551 -0.03682232
+v -0.02639572 -0.04471553 -0.03215696
+v 0.03017989 -0.07272554 -0.03699579
+v -0.01562996 -0.07067430 -0.03215706
+v 0.03017989 -0.05903315 -0.03699574
+v 0.02573847 -0.04471551 -0.03685074
+v -0.02639572 -0.04471551 -0.03689716
+v -0.02639572 -0.07066608 -0.03215706
+v -0.01713074 -0.07272554 -0.03699579
+v -0.01564104 -0.07067430 -0.03215706
+v 0.02843544 -0.05901669 -0.03699574
+v -0.01799466 -0.04471551 -0.03689716
+v -0.01562996 -0.04471551 -0.03689669
+v 0.00186993 -0.04471551 -0.03689147
+v 0.01644580 -0.04471551 -0.03688532
+v 0.01698852 -0.04471551 -0.03688484
+v 0.01935876 -0.04471551 -0.03688153
+v 0.01990701 -0.04471551 -0.03687963
+v 0.02227725 -0.04471551 -0.03687016
+v 0.02282551 -0.04471551 -0.03686732
+v 0.02519021 -0.04471551 -0.03685406
+v -0.02146142 -0.05890152 -0.03699574
+v -0.02486725 -0.05890700 -0.03699574
+v -0.02639572 -0.05890974 -0.03699574
+v -0.02639572 -0.07270908 -0.03699579
+v 0.02549479 -0.05898927 -0.03699574
+v -0.01249549 -0.05890700 -0.03699574
+v -0.01833248 -0.05890152 -0.03699574
+v 0.02227725 -0.05896459 -0.03699574
+v 0.01935876 -0.05894539 -0.03699574
+v 0.01668947 -0.05893716 -0.03699574
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_43.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1b213930e5b0c379234eae0f4609de17c283d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_43.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.05373494 0.00230259 0.03910877
+v -0.05373226 0.01392201 0.03910881
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+v -0.03108428 0.01392203 0.03396793
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_44.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9144579af16429b022821ad26046ba10534a3fc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_44.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00472459 0.01988838 -0.03688479
+v 0.00472459 0.03426171 -0.03689068
+v 0.01644650 0.01988838 -0.03688479
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+v 0.01652847 0.04579944 -0.03688469
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+v 0.01936103 0.01988838 -0.03687885
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+v 0.02519466 0.01988838 -0.03685507
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+v 0.01099312 0.04579922 0.02294647
+v 0.02527435 0.04579944 -0.03685497
+v 0.02798624 0.03426171 -0.03683718
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+f 34 36 35
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_45.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f1b8be67da0611a7a183b23aa7e76c93f09747
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_45.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02798092 0.06331134 0.02799711
+v -0.02639040 0.06621496 0.02984704
+v 0.02798092 0.06322302 0.02799133
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+v 0.02798092 0.05977886 0.02700855
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+v -0.02639040 0.06966218 0.02856368
+v 0.02798092 0.07134163 0.02622237
+v -0.02639040 0.05783295 0.02648825
+v -0.02639040 0.05747666 0.02618186
+v 0.01352839 0.05798522 0.02575406
+v 0.01352839 0.05679301 0.02452849
+v 0.02798092 0.05859884 0.02555174
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+v -0.01854398 0.07217167 -0.02921158
+v -0.01856527 0.07217167 -0.02921158
+v -0.02147707 0.07217015 -0.02921158
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_46.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d852a3a4c3f2435a3f97f5f90e6eaa75fa671c94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_46.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 0.00388063 0.00905149
+v 0.03017989 -0.01743377 0.01111148
+v 0.03017989 0.00388065 0.00257462
+v -0.02639572 0.00388062 0.00991228
+v 0.03017989 -0.04471295 0.01111138
+v -0.02639572 -0.01603057 0.01111148
+v 0.03017989 -0.00392020 0.00257460
+v -0.02639572 0.00388065 0.00257462
+v 0.03017989 -0.04471293 0.00481252
+v -0.02639572 -0.04471295 0.01111138
+v 0.02456442 -0.04471292 0.00257445
+v -0.02639572 -0.04471292 0.00257445
+f 1 2 5
+f 1 5 9
+f 1 9 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 5
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+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 10
+f 4 10 6
+f 5 10 12
+f 5 12 11
+f 5 11 9
+f 7 9 11
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_47.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a151ccc9ed2d099733b8c1155d513c5da22c85c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02639572 -0.05288739 -0.03215173
+v -0.02639572 -0.05288759 0.02151614
+v -0.02639572 -0.04471279 -0.03215170
+v 0.03017989 -0.05288739 -0.03215173
+v -0.02639572 -0.04471299 0.02149516
+v 0.03017989 -0.05288758 0.01967187
+v 0.03017989 -0.04471279 -0.03215170
+v 0.03017989 -0.04471298 0.01960885
+f 1 2 5
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+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+f 5 6 8
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_48.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9002937bbbe68cb171e396a885654bebe9f4673
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05722794 0.00230913 0.00791630
+v 0.04980667 0.00388062 0.01159624
+v 0.04980932 0.00381218 0.01159624
+v 0.04985168 0.00237080 0.01159624
+v 0.05722794 0.00226435 0.00791630
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+v 0.03017989 0.00230584 -0.01756350
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_49.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca95cf6413f1dd866e9ff4f74986926abe3291ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_49.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 -0.07043882 0.02324741
+v 0.03686019 -0.07043882 0.02324741
+v 0.03017989 -0.06965250 0.02612962
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+v 0.03686019 -0.07042907 -0.02607336
+v 0.03977642 -0.07043643 0.02324741
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+v 0.03394396 -0.06965250 0.02612962
+v 0.03977642 -0.07042907 -0.02607336
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+v 0.04269072 -0.07028108 0.02324741
+v 0.04269072 -0.06956646 0.02589650
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+v 0.04001204 -0.07041712 -0.02607336
+v 0.03686019 -0.06868931 0.02758133
+v 0.03394396 -0.06871082 0.02758663
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+v 0.03017989 -0.06768309 0.02772968
+v 0.03017989 -0.04602417 -0.02466925
+v 0.03018182 -0.04602416 -0.02607327
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+v 0.04540417 -0.06949236 0.02324741
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+v 0.04269072 -0.07026655 -0.02339778
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+v 0.03394396 -0.06726005 0.02778796
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_5.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e1999f6c4c47d313ea7aef079ef980cfc81310
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_5.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.05722794 -0.00658836 -0.03793605
+v 0.08031939 -0.00658837 -0.03669554
+v 0.05722794 -0.00658839 -0.02928137
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_50.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af97d4103988c0d713790c9a3402b9e65960ca8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_50.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03481007 0.07216898 -0.02717922
+v 0.03977623 0.07216667 -0.02048274
+v 0.03977623 0.07216669 -0.02717922
+v 0.02798624 0.07216669 -0.02717922
+v 0.02798624 0.07216666 -0.02035804
+v 0.03102891 0.07216665 -0.01756656
+v 0.03977623 0.07216435 -0.01465258
+v 0.04269010 0.07201321 -0.00483209
+v 0.04269010 0.07201553 -0.01465259
+v 0.04269010 0.07201558 -0.02717923
+v 0.02798624 0.04877850 -0.02717931
+v 0.02798624 0.07215976 -0.00869771
+v 0.03102891 0.07215975 -0.00483208
+v 0.03686237 0.07216205 -0.00882241
+v 0.03686237 0.07215975 -0.00483208
+v 0.03977623 0.07215745 -0.00483208
+v 0.04441323 0.07151179 -0.00483209
+v 0.04542077 0.07121873 -0.00882242
+v 0.04349442 0.07177975 -0.02717923
+v 0.04542077 0.07121874 -0.01173860
+v 0.02798624 0.04877842 -0.00561755
+v 0.03128080 0.04877850 -0.02717931
+v 0.02798624 0.07215745 -0.00483208
+v 0.04541791 0.07121872 -0.00483209
+v 0.04595603 0.07093023 -0.00483209
+v 0.04687771 0.07043569 -0.00882242
+v 0.04539787 0.07121880 -0.02717923
+v 0.04541505 0.07121876 -0.01756657
+v 0.04540074 0.07121880 -0.02631291
+v 0.04687771 0.07043342 -0.01465259
+v 0.05722794 0.04877842 -0.00565912
+v 0.05722794 0.05060781 -0.00483216
+v 0.02798624 0.05050935 -0.00485404
+v 0.05722794 0.05080021 -0.02717930
+v 0.05722794 0.04877845 -0.01481236
+v 0.02798624 0.05059636 -0.00483216
+v 0.04687771 0.07043339 -0.00483209
+v 0.05722794 0.05883431 -0.00483213
+v 0.05722794 0.05884354 -0.02335302
+v 0.05722794 0.05884354 -0.02339677
+v 0.04687198 0.07043114 -0.01756657
+v 0.04686912 0.07042658 -0.02048275
+v 0.04685767 0.07041973 -0.02631291
+v 0.04685767 0.07041745 -0.02717923
+v 0.05722794 0.05884126 -0.02717927
+f 1 2 3
+f 1 3 10
+f 1 10 19
+f 1 19 27
+f 1 27 44
+f 1 44 45
+f 1 45 34
+f 1 34 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 7
+f 4 11 21
+f 4 21 33
+f 4 33 36
+f 4 36 23
+f 4 23 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 17 9
+f 8 16 15
+f 8 15 13
+f 8 13 23
+f 8 23 36
+f 8 36 32
+f 8 32 38
+f 8 38 37
+f 8 37 25
+f 8 25 24
+f 8 24 17
+f 9 17 18
+f 9 18 20
+f 9 20 10
+f 10 20 19
+f 11 22 35
+f 11 35 31
+f 11 31 21
+f 12 23 13
+f 13 15 14
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 20
+f 19 20 28
+f 19 28 29
+f 19 29 27
+f 20 26 30
+f 20 30 28
+f 21 31 32
+f 21 32 33
+f 22 34 35
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 30
+f 27 29 30
+f 27 30 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 28 30 29
+f 30 42 41
+f 30 40 45
+f 30 45 42
+f 31 35 34
+f 31 34 45
+f 31 45 40
+f 31 40 39
+f 31 39 38
+f 31 38 32
+f 32 36 33
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_51.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e15753d415a4adf28fc4bc318c5f0af1f3e55ffd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_51.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04985252 0.00237030 0.01160158
+v 0.04985252 -0.00087784 0.01160157
+v 0.04980709 0.00388016 0.01159838
+v 0.04973744 0.00646176 0.01159839
+v 0.04970413 0.00646720 0.02324603
+v 0.04973744 -0.00475080 0.01284339
+v 0.04973744 -0.00475079 0.01160155
+v 0.04970262 -0.00475084 0.02324759
+v 0.04865786 0.00388016 0.01159838
+v 0.04967990 0.00646725 0.01159839
+v 0.04969959 0.00646724 0.01324562
+v 0.04970110 0.00646723 0.01616034
+v 0.04866391 0.00646719 0.02616234
+v 0.04922566 0.00388011 0.02458720
+v 0.03577701 -0.00475079 0.01160155
+v 0.04866088 -0.00475085 0.02616391
+v 0.03447939 0.00388565 0.01159838
+v 0.03438400 0.00646725 0.01159839
+v 0.04866240 0.00388010 0.02616394
+v 0.04791290 0.00646719 0.02707409
+v 0.03448242 -0.00474420 0.01160155
+v 0.03484278 -0.00475080 0.01324879
+v 0.04734206 0.00230874 0.02776631
+v 0.04734055 -0.00475085 0.02776628
+v 0.03499571 0.00646720 0.02324603
+v 0.04734206 0.00646719 0.02776472
+v 0.04734206 0.00388010 0.02776631
+v 0.03512139 -0.00475084 0.02324759
+v 0.04560685 -0.00475085 0.02793453
+v 0.03526069 -0.00475084 0.02509032
+v 0.03522889 0.00646720 0.02511920
+v 0.04560685 0.00646719 0.02793457
+v 0.04269061 -0.00475085 0.02796658
+v 0.03651289 -0.00475085 0.02654848
+v 0.03651289 0.00646719 0.02657736
+v 0.04394735 0.00646719 0.02795219
+v 0.04269061 0.00646719 0.02796501
+v 0.04135361 0.00388010 0.02795058
+v 0.03977739 -0.00475085 0.02793132
+v 0.03734264 -0.00475085 0.02723589
+v 0.03797101 -0.00475085 0.02775506
+v 0.03797101 0.00388010 0.02775509
+v 0.03797101 0.00646719 0.02775350
+v 0.04103564 0.00646719 0.02794578
+v 0.03977739 0.00388010 0.02793135
+v 0.03894764 0.00388010 0.02785123
+v 0.03900063 -0.00475085 0.02785601
+v 0.03875080 0.00646719 0.02783041
+v 0.03977739 0.00646719 0.02792976
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 9 17
+f 3 17 18
+f 3 18 10
+f 3 10 4
+f 3 7 15
+f 3 15 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 8
+f 5 12 11
+f 5 11 10
+f 5 10 18
+f 5 18 25
+f 5 25 31
+f 5 31 35
+f 5 35 43
+f 5 43 48
+f 5 48 49
+f 5 49 44
+f 5 44 37
+f 5 37 36
+f 5 36 32
+f 5 32 26
+f 5 26 20
+f 5 20 13
+f 6 8 16
+f 6 16 24
+f 6 24 29
+f 6 29 33
+f 6 33 39
+f 6 39 47
+f 6 47 41
+f 6 41 40
+f 6 40 34
+f 6 34 30
+f 6 30 28
+f 6 28 22
+f 6 22 15
+f 6 15 7
+f 8 14 13
+f 8 13 16
+f 9 15 17
+f 13 19 16
+f 13 20 19
+f 15 21 17
+f 15 22 21
+f 16 19 23
+f 16 23 24
+f 17 21 18
+f 18 21 25
+f 19 20 23
+f 20 26 27
+f 20 27 23
+f 21 22 28
+f 21 28 25
+f 23 27 32
+f 23 32 29
+f 23 29 24
+f 25 28 30
+f 25 30 31
+f 26 32 27
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 33 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 37 44 38
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 41 46 42
+f 41 47 46
+f 42 46 48
+f 42 48 43
+f 44 49 45
+f 45 49 46
+f 46 49 48
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_52.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62e512f63aaf40b978f9fc649eb14ce2249edfb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_52.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02639572 0.01988820 0.00972895
+v -0.00884846 0.01988820 0.00972895
+v -0.02639572 0.01988815 0.02450641
+v -0.02639572 0.04579926 0.00972905
+v -0.00871171 0.01989073 0.00972895
+v -0.00871344 0.01988820 0.00973043
+v -0.01563229 0.01988815 0.02356712
+v -0.02639572 0.02217591 0.02457479
+v -0.02639572 0.04579921 0.02486172
+v -0.00911330 0.04579926 0.00972905
+v -0.01033366 0.01988817 0.02033311
+v -0.01271554 0.01988815 0.02328474
+v -0.01563229 0.02554922 0.02372914
+v -0.02639572 0.02502420 0.02464762
+v -0.02639572 0.04506621 0.02491225
+v -0.01563229 0.04579921 0.02373814
+v -0.01123898 0.04579922 0.02182538
+v -0.01088066 0.01988816 0.02207050
+v -0.01563229 0.02845331 0.02373807
+v -0.01271554 0.04579922 0.02308866
+v -0.02639572 0.02788263 0.02468925
+v -0.02639572 0.04218495 0.02488548
+v -0.02639572 0.03932398 0.02484831
+v -0.02639572 0.03646301 0.02480966
+v -0.02639572 0.03074360 0.02473087
+v -0.01128053 0.04579922 0.02186105
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 16
+f 4 16 20
+f 4 20 26
+f 4 26 17
+f 4 17 10
+f 5 11 6
+f 5 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 10 17 11
+f 11 17 18
+f 12 19 13
+f 12 18 20
+f 12 20 16
+f 12 16 19
+f 13 21 14
+f 13 19 15
+f 13 15 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 21
+f 15 19 16
+f 17 26 18
+f 18 26 20
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_53.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6944c85163f743167231889febd5202537aacd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_53.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00902288 0.05679154 0.01105963
+v -0.00902288 0.04580033 0.00960529
+v -0.00902288 0.05679169 -0.02921164
+v -0.00983582 0.05679151 0.02033079
+v -0.00902798 0.04579926 0.00960529
+v -0.00902288 0.04579928 0.00458475
+v -0.00985623 0.05679150 0.02052327
+v -0.01123891 0.04579922 0.02182248
+v -0.00902288 0.04579941 -0.02921168
+v -0.02639572 0.05679169 -0.02921164
+v -0.01027801 0.05679150 0.02277423
+v -0.01127973 0.04579922 0.02185990
+v -0.02639572 0.04579941 -0.02921168
+v -0.02639572 0.05679149 0.02541015
+v -0.01055182 0.05679150 0.02300414
+v -0.01271514 0.04579922 0.02308430
+v -0.02639572 0.04579921 0.02485940
+v -0.01522880 0.05679149 0.02443170
+v -0.01249405 0.05679149 0.02404674
+v -0.01279847 0.04579922 0.02310568
+v -0.01563187 0.04579921 0.02373659
+v -0.01271514 0.05679149 0.02409486
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 13
+f 3 13 10
+f 5 8 12
+f 5 12 16
+f 5 16 20
+f 5 20 21
+f 5 21 17
+f 5 17 13
+f 5 13 9
+f 5 9 6
+f 7 11 8
+f 8 11 12
+f 10 13 17
+f 10 17 14
+f 11 15 16
+f 11 16 12
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_54.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50214c5015814879068d7733d53f45806facc5eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_54.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.06498820 0.05060453 -0.00301587
+v 0.06560211 0.04539333 -0.00492320
+v 0.06498820 0.05060458 -0.01634357
+v 0.05722870 0.05060454 -0.00484490
+v 0.05722952 0.01069620 -0.00607528
+v 0.06560211 0.01069620 -0.00492072
+v 0.06560211 0.04539337 -0.01524643
+v 0.05722870 0.05060458 -0.01557647
+v 0.06560211 0.02845498 -0.01524780
+v 0.06560211 0.01069624 -0.01524786
+v 0.05722952 0.01069623 -0.01455121
+v 0.05722870 0.04539333 -0.00607515
+v 0.05722870 0.04539336 -0.01454717
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 8 13
+f 4 13 12
+f 4 12 5
+f 5 11 10
+f 5 10 6
+f 5 12 13
+f 5 13 11
+f 8 11 13
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_55.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c70bc910c7e81d62a68e73dc79fe1f5c909a449
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_55.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00472155 0.01988821 0.00938662
+v 0.00472155 0.04579927 0.00906722
+v -0.00911444 0.04579926 0.00972905
+v -0.00871234 0.01989073 0.00972895
+v -0.00884942 0.01988820 0.00972895
+v 0.00472155 0.01988838 -0.03688672
+v 0.00472155 0.04579944 -0.03688206
+v -0.02639572 0.04579926 0.00972905
+v -0.02639572 0.01988820 0.00972895
+v -0.00105106 0.01988838 -0.03689129
+v 0.00186418 0.03426171 -0.03689123
+v 0.00472155 0.03722413 -0.03688665
+v 0.00194643 0.04579944 -0.03688662
+v -0.02639572 0.04579944 -0.03689119
+v -0.02639572 0.01988838 -0.03689585
+v -0.01563033 0.01988838 -0.03689585
+v -0.02639572 0.03426171 -0.03690035
+v -0.01554808 0.04579944 -0.03689119
+v -0.02639572 0.04007243 -0.03689577
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 18
+f 2 18 14
+f 2 14 8
+f 2 8 3
+f 3 8 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 7 12 13
+f 8 14 19
+f 8 19 17
+f 8 17 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 11 13 12
+f 11 17 13
+f 13 17 18
+f 14 18 19
+f 15 17 16
+f 17 19 18
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_56.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98a03d065cc23794d685bf2839a1d4fb4893fd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_56.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02639040 0.01593662 -0.03690026
+v -0.01720785 0.00388080 -0.03689308
+v -0.02639040 0.00388080 -0.03689308
+v -0.02639040 0.01988838 -0.03689663
+v -0.01854398 0.01988838 -0.03689663
+v 0.00186522 0.01988838 -0.03688939
+v 0.00186522 0.01973795 -0.03688939
+v 0.01486452 0.00388080 -0.03688221
+v -0.02639040 0.00388066 0.00008830
+v -0.02639040 0.01988824 0.00008836
+v 0.01644551 0.01988838 -0.03688215
+v 0.01644551 0.01392784 -0.03688217
+v 0.01778164 0.00388080 -0.03687859
+v 0.02798092 0.00388066 0.00008830
+v 0.02317405 0.01988824 0.00008836
+v 0.01936263 0.01988838 -0.03687853
+v 0.01936263 0.01683290 -0.03687854
+v 0.01936263 0.00388080 -0.03687496
+v 0.02798092 0.00388080 -0.03682789
+v 0.02798092 0.00522977 0.00008831
+v 0.02328052 0.01987883 0.00008836
+v 0.02798092 0.01988826 -0.00603838
+v 0.02227443 0.01988838 -0.03687129
+v 0.02227443 0.01973795 -0.03687129
+v 0.02069876 0.00388080 -0.03687135
+v 0.02519155 0.00388080 -0.03684962
+v 0.02798092 0.01683290 -0.03683147
+v 0.02798092 0.01988838 -0.03683146
+v 0.02519155 0.01988838 -0.03685318
+v 0.02227443 0.01102435 -0.03686770
+v 0.02519155 0.01683290 -0.03685319
+v 0.02227443 0.00388080 -0.03686411
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 13
+f 2 13 18
+f 2 18 25
+f 2 25 32
+f 2 32 26
+f 2 26 19
+f 2 19 14
+f 2 14 9
+f 2 9 3
+f 4 10 15
+f 4 15 22
+f 4 22 28
+f 4 28 29
+f 4 29 23
+f 4 23 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 9 14 20
+f 9 20 21
+f 9 21 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 12 17 13
+f 13 17 18
+f 14 19 27
+f 14 27 28
+f 14 28 22
+f 14 22 20
+f 15 21 22
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 19 26 31
+f 19 31 27
+f 20 22 21
+f 23 29 31
+f 23 31 24
+f 24 30 25
+f 24 31 26
+f 24 26 30
+f 25 30 32
+f 26 32 30
+f 27 31 29
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_57.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea28272f8be2d0d2a17168a20f3e2338c4e74fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_57.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07185483 -0.05993729 0.00283853
+v 0.07451565 -0.05858157 0.00283853
+v 0.07448031 -0.05853685 0.00575524
+v 0.07185483 -0.05985710 0.00575524
+v 0.06893879 -0.05949464 0.00283853
+v 0.07185483 -0.05993110 -0.00590449
+v 0.07452350 -0.05857381 -0.01173555
+v 0.07663462 -0.05570041 -0.01482102
+v 0.07856905 -0.05288100 -0.01482101
+v 0.07567002 -0.05578685 0.00575526
+v 0.07406672 -0.05807571 0.00790654
+v 0.07185483 -0.05850447 0.00826549
+v 0.06893879 -0.05816053 0.00797548
+v 0.06893879 -0.05928952 0.00575524
+v 0.06617195 -0.05813738 0.00283854
+v 0.06616410 -0.05813427 -0.00299014
+v 0.06893879 -0.05948536 -0.00590449
+v 0.07185483 -0.05992646 -0.00882121
+v 0.07185483 -0.05992182 -0.01173555
+v 0.07445413 -0.05826071 -0.01465225
+v 0.07447900 -0.05819593 -0.01482103
+v 0.07518838 -0.04418216 -0.01482098
+v 0.07529309 -0.04418216 -0.01465220
+v 0.07572107 -0.04418217 -0.01173549
+v 0.07572238 -0.04418222 0.00283859
+v 0.07572238 -0.04418222 0.00285285
+v 0.07569227 -0.04418223 0.00575530
+v 0.07569358 -0.04707259 0.00575529
+v 0.07569227 -0.05288107 0.00575527
+v 0.07448686 -0.05288108 0.00832731
+v 0.07446591 -0.05578686 0.00828927
+v 0.07185483 -0.05578686 0.00938987
+v 0.06893879 -0.05578686 0.00890732
+v 0.06519950 -0.05561566 0.00774491
+v 0.06696378 -0.05761608 0.00752145
+v 0.06643895 -0.05797081 0.00575525
+v 0.06519950 -0.05748497 0.00283854
+v 0.06519950 -0.05749111 -0.00299014
+v 0.06519950 -0.05748956 -0.00590448
+v 0.06616541 -0.05813118 -0.00590448
+v 0.06616803 -0.05812808 -0.00882120
+v 0.06893879 -0.05947918 -0.00882121
+v 0.06893879 -0.05943598 -0.01173555
+v 0.07185483 -0.05930950 -0.01465226
+v 0.07442272 -0.05822060 -0.01482103
+v 0.06519950 -0.04418216 -0.01482098
+v 0.07568704 -0.04418223 0.00576719
+v 0.07448686 -0.04418224 0.00832734
+v 0.07185483 -0.05288108 0.00946119
+v 0.06893879 -0.05288108 0.00907135
+v 0.06519950 -0.05288108 0.00815616
+v 0.06519950 -0.05351190 0.00806582
+v 0.06519950 -0.05599662 0.00724808
+v 0.06519950 -0.05702844 0.00575525
+v 0.06519950 -0.05748801 -0.00688623
+v 0.06519950 -0.05748493 -0.00882120
+v 0.06519950 -0.05741243 -0.01173554
+v 0.06622823 -0.05808797 -0.01173554
+v 0.06519950 -0.05704842 -0.01482103
+v 0.06893879 -0.05878664 -0.01465226
+v 0.07165981 -0.05920308 -0.01482104
+v 0.07185483 -0.05922622 -0.01482104
+v 0.06519950 -0.04418219 -0.00530302
+v 0.07185483 -0.04418224 0.00945409
+v 0.07184043 -0.04418224 0.00945171
+v 0.06893879 -0.04997838 0.00898578
+v 0.06519950 -0.05087603 0.00786377
+v 0.06893879 -0.04418224 0.00877899
+v 0.06892832 -0.04418224 0.00877424
+v 0.06879089 -0.05866789 -0.01482104
+v 0.06893879 -0.05871416 -0.01482104
+v 0.06519950 -0.04913934 0.00575528
+v 0.06690096 -0.04418223 0.00575530
+v 0.06519950 -0.05028994 0.00776632
+v 0.06720199 -0.04418224 0.00765224
+v 0.06719806 -0.04418224 0.00764273
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 10
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+f 13 35 14
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+f 15 38 16
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+f 20 45 21
+f 22 46 63
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+f 22 76 75
+f 22 75 69
+f 22 69 68
+f 22 68 65
+f 22 65 64
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+f 22 48 47
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+f 22 26 25
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+f 28 47 48
+f 28 48 30
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+f 30 49 31
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+f 32 49 50
+f 32 50 33
+f 33 50 51
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+f 33 52 34
+f 34 53 35
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+f 34 55 39
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+f 34 37 54
+f 34 54 53
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 57 58
+f 41 58 43
+f 41 43 42
+f 41 56 57
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+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 68
+f 51 68 69
+f 51 69 67
+f 57 59 58
+f 59 70 60
+f 60 70 71
+f 60 71 61
+f 63 72 73
+f 65 68 66
+f 67 69 74
+f 69 75 74
+f 72 74 76
+f 72 76 73
+f 74 75 76
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_58.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330542ecea5d7b3ce55661b5836f050a4939e77a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_58.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02798624 0.00388359 -0.01518917
+v 0.03204790 0.00388359 -0.01518917
+v 0.02798624 0.00388355 -0.00518984
+v 0.02798624 0.03316897 -0.01526400
+v 0.05722794 0.00388358 -0.01455312
+v 0.03180747 0.03316897 -0.01526400
+v 0.05722794 0.04877845 -0.01481033
+v 0.05722794 0.00388355 -0.00518984
+v 0.02798624 0.00609841 -0.00518983
+v 0.02798624 0.04877846 -0.01526394
+v 0.03241715 0.04877846 -0.01526394
+v 0.05722794 0.04877842 -0.00566006
+v 0.05722794 0.00603688 -0.00518983
+v 0.02798624 0.04877842 -0.00561765
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 13
+f 3 13 9
+f 4 10 11
+f 4 11 6
+f 5 7 12
+f 5 12 13
+f 5 13 8
+f 6 11 7
+f 7 11 10
+f 7 10 14
+f 7 14 12
+f 9 13 14
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_59.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c2eb10e91021ae18cf0c0d6a8eb35ad49fe29c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_59.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05722794 -0.00475321 -0.00537154
+v 0.05435528 -0.03008595 -0.00608289
+v 0.05722794 -0.03008595 -0.00608408
+v 0.05722794 -0.00475318 -0.01455336
+v 0.03017989 -0.00475321 -0.00536916
+v 0.03017989 -0.03008595 -0.00608169
+v 0.05722794 -0.03008592 -0.01454987
+v 0.03017989 -0.00641738 -0.01755947
+v 0.03017989 -0.00475317 -0.01755947
+v 0.03017989 -0.03008591 -0.01755240
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 5 9 8
+f 5 8 10
+f 5 10 6
+f 7 10 8
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_6.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3031546a3fbf4e8056539899a4609c3426911ef8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.04783675 -0.05287737 -0.04380572
+v -0.04783256 -0.04997440 -0.04380571
+v -0.04741490 -0.05868812 -0.04672257
+v -0.04783465 -0.05868813 -0.04380575
+v -0.04771502 -0.04707143 -0.04089068
+v -0.04771712 -0.03835769 -0.04089065
+v -0.04771712 -0.00978126 -0.04089055
+v -0.04778848 -0.04707142 -0.04380570
+v -0.04736873 -0.05578515 -0.04672255
+v -0.04662366 -0.05868811 -0.04848697
+v -0.04662156 -0.05904496 -0.04848697
+v -0.04731626 -0.05904497 -0.04693551
+v -0.04741070 -0.05904497 -0.04672257
+v -0.04778008 -0.05904498 -0.04416185
+v -0.04770243 -0.05868814 -0.04089073
+v -0.04771082 -0.05578517 -0.04089071
+v -0.04771293 -0.05287738 -0.04089070
+v -0.04782835 -0.05904498 -0.04380575
+v -0.04771293 -0.05904499 -0.04124504
+v -0.04692169 -0.04707144 -0.03833175
+v -0.04691959 -0.05578518 -0.03833357
+v -0.04692379 -0.03835770 -0.03833172
+v -0.04692588 -0.02383802 -0.03833346
+v -0.04692588 -0.00978127 -0.03833341
+v -0.04760799 -0.00978126 -0.04136296
+v -0.04657749 -0.05578514 -0.04844222
+v -0.04704132 -0.00978125 -0.04379663
+v -0.04640119 -0.05904496 -0.04853887
+v -0.04479144 -0.05868811 -0.04890929
+v -0.04691119 -0.05868815 -0.03833896
+v -0.04769403 -0.05904499 -0.04089073
+v -0.04691959 -0.05287739 -0.03833177
+v -0.04236526 -0.05287742 -0.03074447
+v -0.04236736 -0.01802728 -0.03074435
+v -0.04236736 -0.01662884 -0.03074434
+v -0.04235476 -0.01372587 -0.03074433
+v -0.04233378 -0.00978130 -0.03074432
+v -0.04639490 -0.05287735 -0.04829368
+v -0.04479144 -0.05578514 -0.04881442
+v -0.04689440 -0.00978125 -0.04403462
+v -0.04610946 -0.00978124 -0.04525503
+v -0.04479144 -0.05904496 -0.04890929
+v -0.04187624 -0.05868811 -0.04902023
+v -0.04187624 -0.05904496 -0.04902381
+v -0.04443674 -0.05904496 -0.04892539
+v -0.04690280 -0.05904500 -0.03834612
+v -0.04232958 -0.05904503 -0.03074450
+v -0.02639782 -0.00978130 -0.03074432
+v -0.04187624 -0.05578514 -0.04891106
+v -0.04587440 -0.00978124 -0.04526398
+v -0.04465292 -0.00978124 -0.04530872
+v -0.03967253 -0.05868811 -0.04859792
+v -0.03963266 -0.05904496 -0.04859971
+v -0.04156773 -0.05904496 -0.04897013
+v -0.03977748 -0.05578514 -0.04853885
+v -0.02639782 -0.05904503 -0.03074450
+v -0.02639782 -0.00978127 -0.03689648
+v -0.04002723 -0.05287735 -0.04838852
+v -0.04419748 -0.00978124 -0.04531587
+v -0.04187624 -0.00978124 -0.04535167
+v -0.04162229 -0.00978124 -0.04534450
+v -0.04032315 -0.00978124 -0.04530693
+v -0.03945636 -0.05904496 -0.04851024
+v -0.02639782 -0.05904500 -0.03704340
+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 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
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+f 4 17 5
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+f 5 20 22
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+f 20 21 32
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+f 20 33 22
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+f 28 29 42
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+f 29 43 44
+f 29 44 45
+f 29 45 42
+f 30 31 46
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+f 33 47 56
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+f 33 48 37
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+f 33 36 35
+f 33 35 34
+f 38 41 39
+f 39 49 43
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+f 43 54 44
+f 43 49 55
+f 43 55 52
+f 48 56 64
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+f 49 58 55
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+f 52 55 53
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+f 55 62 57
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+f 57 64 63
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_60.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9965841af385781a5d20a6984bd374c143f530
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_60.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.05552776 0.06067595 -0.04380509
+v 0.05540886 0.06067594 -0.04115891
+v 0.05547862 0.06067595 -0.04407462
+v 0.05546276 0.06331112 -0.04380508
+v 0.05529789 0.06331111 -0.04088936
+v 0.05539301 0.06067594 -0.04088937
+v 0.05497925 0.06067596 -0.04672081
+v 0.05492059 0.06331113 -0.04672080
+v 0.05516314 0.06621726 -0.04380507
+v 0.05465902 0.06621727 -0.04672079
+v 0.05487620 0.06621725 -0.04088935
+v 0.05095736 0.06067589 -0.02717927
+v 0.05467170 0.06067593 -0.03824319
+v 0.05486194 0.06067596 -0.04689409
+v 0.05363492 0.06331114 -0.04859901
+v 0.05351602 0.06621728 -0.04856691
+v 0.05428330 0.06912035 -0.04380506
+v 0.05368248 0.06938372 -0.04698604
+v 0.05324652 0.06859060 -0.04841716
+v 0.05285971 0.07052701 -0.04813263
+v 0.05368882 0.06931063 -0.04075885
+v 0.05332896 0.06847029 -0.03866671
+v 0.04936731 0.06621720 -0.02717925
+v 0.03933399 0.06067589 -0.02717927
+v 0.05366345 0.06067597 -0.04859688
+v 0.05346054 0.06067597 -0.04863753
+v 0.05143929 0.06331114 -0.04902685
+v 0.05143929 0.06621728 -0.04899475
+v 0.05316884 0.07094869 -0.04619025
+v 0.05326872 0.07108264 -0.04380505
+v 0.05311970 0.07087560 -0.04164232
+v 0.05170879 0.06938373 -0.04866531
+v 0.05069896 0.07202499 -0.04840431
+v 0.05000301 0.07349252 -0.04819253
+v 0.05195768 0.07195952 -0.04698603
+v 0.05279471 0.07040672 -0.03969994
+v 0.04805627 0.06896501 -0.02717924
+v 0.03933399 0.07216801 -0.02717922
+v 0.03933399 0.06067593 -0.03721209
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_61.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74261b3c62c04fbc86839a064204ad9967142c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_61.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02348812 0.01988822 0.00551570
+v 0.02348812 0.01988822 0.00549204
+v 0.02245010 0.01988821 0.00844326
+v 0.02798092 0.01760834 0.01159948
+v 0.02798092 0.01762245 0.00867529
+v 0.02328052 0.01987883 0.00009198
+v 0.02334972 0.01988823 0.00269064
+v 0.02243945 0.01988821 0.00846241
+v 0.02798092 0.01085495 0.01159946
+v 0.01698316 0.01988663 0.01159949
+v 0.02798092 0.01652875 0.00603947
+v 0.02317405 0.01988824 0.00009198
+v 0.02798092 0.00522977 0.00009193
+v 0.01698316 0.01988820 0.01158597
+v 0.02798092 0.00388063 0.00904471
+v -0.02639040 0.00974087 0.01159946
+v -0.02639040 0.00388062 0.00991205
+v 0.01692992 0.01988820 0.01159949
+v -0.02639040 0.01988824 0.00009198
+v 0.02798092 0.00388066 0.00009192
+v -0.02639040 0.01988820 0.01159949
+v -0.02639040 0.00388066 0.00009192
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+f 1 8 3
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+f 1 4 5
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+f 9 17 15
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+f 16 19 22
+f 16 22 17
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_62.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ede4079912065217dd24973058db38746c8d66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_62.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.06475436 -0.00658844 -0.01502097
+v 0.05722794 -0.00658845 -0.01455192
+v 0.06475436 -0.00059396 -0.01502322
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+v 0.05722794 -0.00059397 -0.01455416
+v 0.05722794 -0.00658848 -0.00599777
+v 0.06475436 0.01069624 -0.01501865
+v 0.05722794 -0.00054998 -0.01455416
+v 0.05722794 0.00816342 -0.01455187
+v 0.06475436 -0.00369364 0.00575370
+v 0.05722794 -0.00300841 0.00575370
+v 0.05722794 0.01069623 -0.01454959
+v 0.06475436 0.01069620 -0.00545614
+v 0.06475436 -0.00287814 0.00764581
+v 0.05722794 -0.00233842 0.00748719
+v 0.05722794 0.01069620 -0.00607249
+v 0.06475436 0.00460861 0.00765944
+v 0.06475436 -0.00059405 0.00811035
+v 0.05722794 -0.00059405 0.00789734
+v 0.05722794 0.00407735 0.00750760
+v 0.05722794 0.00405028 0.00751440
+v 0.06475436 0.00378803 0.00784977
+v 0.06475436 0.00230929 0.00812622
+v 0.05722794 0.00226361 0.00791775
+v 0.05722794 0.00230929 0.00791775
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_63.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af57d4bad9348fb4d2677d58a875c1896bd67bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_63.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03933399 0.06067593 -0.03721223
+v 0.03933399 0.06067589 -0.02717927
+v 0.02799290 0.06067593 -0.03698134
+v 0.03933399 0.06632932 -0.04694373
+v 0.03933399 0.07216695 -0.02717922
+v 0.02798735 0.06067589 -0.02717927
+v 0.02798735 0.06067593 -0.03683383
+v 0.02798735 0.06725251 -0.04601162
+v 0.03254378 0.06770040 -0.04816230
+v 0.03448765 0.06758157 -0.04826492
+v 0.03685916 0.06751149 -0.04833546
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+v 0.03933399 0.07610957 -0.04088928
+v 0.03685916 0.07612328 -0.04088928
+v 0.03394336 0.07612785 -0.04088928
+v 0.02798735 0.07216695 -0.02717922
+v 0.02798735 0.06912021 -0.04718744
+v 0.03086539 0.06884905 -0.04792927
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+v 0.03368677 0.06884905 -0.04847015
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_64.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460ad56aad9dd3800bf702db6d3a7a5a5bad0a4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_64.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04984026 -0.00475078 0.00885169
+v 0.04970170 -0.01511968 0.01158857
+v 0.04968245 -0.01511967 0.00867241
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+v 0.04659561 -0.00475085 0.02783777
+v 0.04560643 -0.01511974 0.02793424
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+v 0.03686165 -0.00475077 0.00449698
+v 0.04560643 -0.00475085 0.02793428
+v 0.04269086 -0.00931052 0.02796874
+v 0.04269086 -0.01511974 0.02796642
+v 0.03017989 -0.00475077 0.00453605
+v 0.03686165 -0.01511966 0.00538857
+v 0.03017989 -0.01221454 0.00566665
+v 0.03017989 -0.01137001 0.00548511
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+v 0.03734276 -0.00475085 0.02723569
+v 0.03017989 -0.01015397 0.00886316
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_65.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8f7504783177ab3d6ae8e84d3ef5dd33323bed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_65.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v 0.06519819 -0.05749047 -0.00299297
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+v 0.06519819 -0.05702930 0.00575558
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_66.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52bde678c21726927e74ead30b78687cc06b10cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_66.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.03204005 0.03316897 -0.01518958
+v 0.03241457 0.04877846 -0.01526594
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_67.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221cfa86ed107dc8118027a182a92783419727c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_67.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_68.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db96c4179c0e58603e7f19b2eeca5c1cfce9290
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_68.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.05553468 -0.05717923 -0.04380771
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_69.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1717e5475e9448cbc76a2007fab086816353396
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_69.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03394308 0.00646752 0.00450384
+v 0.02810587 0.00646752 0.00452721
+v 0.02798624 0.00646882 0.00452084
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_7.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e298d9b789057ae0dbf9a927e9ec873a13ff28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.09226210 0.04586872 -0.03671413
+v 0.08032165 0.04586872 -0.03669317
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_70.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83649744133cc278159d978ae2b27062d08ea82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_70.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02798624 0.00388068 -0.00518886
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_71.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1735628598f1855f5c19e80ddbc9599ee6d340
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_71.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07185466 -0.00658844 -0.01713318
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_72.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f91e895751c037e8a292bde725c0d62017308a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_72.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.04977387 -0.04602429 0.00876007
+v 0.04863460 -0.04602428 0.00576646
+v 0.04969140 -0.03009004 0.00867322
+v 0.04970675 -0.03009005 0.01158679
+v 0.04971442 -0.03009010 0.02324790
+v 0.04971633 -0.04126201 0.02324786
+v 0.04971633 -0.04602435 0.02324784
+v 0.04774083 -0.04602428 0.00539598
+v 0.04560805 -0.03009003 0.00491349
+v 0.04836992 -0.03009003 0.00606611
+v 0.04857323 -0.03009003 0.00646404
+v 0.04866529 -0.03009011 0.02616374
+v 0.04866721 -0.03835751 0.02616371
+v 0.04866529 -0.04602436 0.02616368
+v 0.04560805 -0.04602428 0.00462071
+v 0.04269081 -0.04602428 0.00460927
+v 0.04313770 -0.03009003 0.00490892
+v 0.04846390 -0.03009011 0.02640845
+v 0.04733997 -0.03009011 0.02776460
+v 0.04733997 -0.03835751 0.02776457
+v 0.04733805 -0.04416653 0.02776227
+v 0.04781563 -0.04602436 0.02718595
+v 0.03686018 -0.04602428 0.00460470
+v 0.03977741 -0.03009003 0.00490435
+v 0.04707529 -0.03009011 0.02779205
+v 0.04733805 -0.04126202 0.02776456
+v 0.04733613 -0.04602436 0.02776226
+v 0.03017989 -0.04602428 0.00460241
+v 0.03147452 -0.03009003 0.00489977
+v 0.03686018 -0.03009003 0.00490206
+v 0.04560805 -0.03009011 0.02793384
+v 0.04560805 -0.03545456 0.02793382
+v 0.04560805 -0.04416653 0.02793150
+v 0.04623138 -0.04602436 0.02786974
+v 0.03017989 -0.03009003 0.00489977
+v 0.03017989 -0.04602433 0.01960931
+v 0.04269081 -0.03009011 0.02796585
+v 0.04269081 -0.04602436 0.02796351
+v 0.04374378 -0.04602436 0.02795207
+v 0.04560805 -0.04602436 0.02792920
+v 0.03017989 -0.03009008 0.01962081
+v 0.03650344 -0.04602436 0.02655018
+v 0.03017989 -0.03048785 0.01962081
+v 0.03977741 -0.03009011 0.02793155
+v 0.03977741 -0.04602436 0.02793149
+v 0.03650344 -0.03254850 0.02655480
+v 0.03650536 -0.03009011 0.02655481
+v 0.03702896 -0.04602436 0.02698470
+v 0.03796302 -0.03009011 0.02775545
+v 0.03796110 -0.03545456 0.02775772
+v 0.03861704 -0.04602436 0.02781943
+v 0.03796110 -0.04602436 0.02775539
+v 0.03773861 -0.03009011 0.02757250
+f 1 2 3
+f 1 3 4
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+f 1 6 7
+f 1 7 14
+f 1 14 22
+f 1 22 27
+f 1 27 34
+f 1 34 40
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+f 1 38 45
+f 1 45 51
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+f 1 48 42
+f 1 42 36
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+f 1 23 16
+f 1 16 15
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+f 3 10 9
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+f 46 48 52
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+f 46 53 47
+f 49 53 50
+f 50 52 51
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_73.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8630269ded5b1a15623aeccf92b20161772f85de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_73.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.03018103 -0.04377955 -0.02607856
+v 0.03018103 -0.04098258 -0.02613182
+v 0.03018103 -0.05717929 -0.02607861
+v 0.04177385 -0.04924346 -0.02607858
+v 0.04177385 -0.04098257 -0.02928173
+v 0.03018103 -0.04098254 -0.03682090
+v 0.03018103 -0.05717925 -0.03685529
+v 0.04177385 -0.05717929 -0.02607861
+v 0.04177385 -0.04098254 -0.03695230
+v 0.04177385 -0.04898338 -0.03783539
+v 0.04177385 -0.05225126 -0.03810884
+v 0.04177385 -0.05288074 -0.03813488
+v 0.04177385 -0.05717925 -0.03817041
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
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+f 2 9 6
+f 2 4 5
+f 3 7 13
+f 3 13 8
+f 4 8 13
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+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 5
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_74.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda9761960dd34b4e9c810e5622027e71a7f5263
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_74.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03102891 0.07216891 0.00575546
+v 0.03102891 0.07216657 0.00284031
+v 0.02798624 0.07216657 0.00284031
+v 0.02798624 0.07216655 0.00914392
+v 0.03102891 0.07216655 0.00914392
+v 0.03394564 0.07216656 0.00575546
+v 0.03686237 0.07215952 -0.00482990
+v 0.02798624 0.07215715 -0.00482990
+v 0.03102891 0.07215952 -0.00482990
+v 0.02798624 0.05702205 0.00914386
+v 0.03394564 0.07216419 0.00914392
+v 0.03638722 0.07216182 0.00914392
+v 0.03977623 0.07215948 0.00575546
+v 0.03977623 0.07215715 -0.00482990
+v 0.02798624 0.05059667 -0.00482998
+v 0.02798624 0.05258584 0.00754058
+v 0.03496750 0.04806231 0.00914383
+v 0.03977623 0.07215710 0.00914392
+v 0.04222067 0.07203912 0.00914391
+v 0.04269010 0.07201790 0.00575545
+v 0.04269010 0.07201322 -0.00482991
+v 0.04269010 0.04806232 0.00437372
+v 0.03977623 0.04806232 0.00443254
+v 0.03752071 0.04806232 0.00509600
+v 0.03683661 0.04806232 0.00530257
+v 0.03506481 0.04806232 0.00674031
+v 0.03492170 0.04806231 0.00867051
+v 0.02798624 0.05094823 0.00284023
+v 0.05722794 0.05060847 -0.00482998
+v 0.02798624 0.05252213 0.00746808
+v 0.04978585 0.04806231 0.00914383
+v 0.02798624 0.05148151 0.00576358
+v 0.04269010 0.07201552 0.00914391
+v 0.04498284 0.07135245 0.00914391
+v 0.04542650 0.07122269 0.00284030
+v 0.04441323 0.07151296 -0.00482991
+v 0.04518606 0.04806232 0.00442570
+v 0.05722794 0.05883435 -0.00482995
+v 0.05722794 0.05097419 0.00284023
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+v 0.04893859 0.04806232 0.00627656
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+v 0.04541791 0.07122036 -0.00482991
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+v 0.04688343 0.07043927 0.00284030
+v 0.05722794 0.05883432 0.00284026
+v 0.04687771 0.07043458 -0.00482991
+v 0.04688629 0.07043926 0.00575545
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+v 0.05722794 0.05684744 0.00753649
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+v 0.04688629 0.07044161 0.00914391
+v 0.05722794 0.05823966 0.00575540
+v 0.04806558 0.06898804 0.00914390
+v 0.05722794 0.05821843 0.00578275
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_75.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6091134f7b228cbdf07210cd61ef6b407dd6230
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_75.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07185259 0.04539328 0.00945951
+v 0.07404469 0.04539328 0.00851742
+v 0.07448628 0.05060449 0.00832573
+v 0.07185259 0.05060449 0.00945405
+v 0.06893895 0.05060449 0.00893371
+v 0.07185259 0.01069615 0.00945664
+v 0.07448734 0.01683710 0.00832834
+v 0.07448734 0.03716238 0.00832842
+v 0.07448628 0.04297519 0.00832844
+v 0.07524268 0.05060450 0.00671814
+v 0.06643943 0.05060449 0.00780265
+v 0.06893789 0.01069615 0.00878294
+v 0.07418942 0.01069615 0.00845430
+v 0.07569378 0.01974351 0.00575401
+v 0.07569484 0.03135349 0.00575406
+v 0.07569590 0.04539329 0.00575411
+v 0.07549306 0.04539329 0.00618682
+v 0.07448628 0.01069615 0.00832558
+v 0.07569167 0.01069616 0.00575398
+v 0.07569484 0.05060450 0.00575413
+v 0.06535130 0.05060450 0.00575413
+v 0.06720112 0.01069615 0.00765461
+v 0.06873929 0.01069615 0.00865422
+v 0.07572970 0.01069617 0.00283732
+v 0.07572864 0.05060451 0.00284021
+v 0.06500373 0.05060451 0.00284021
+v 0.06560273 0.01069620 -0.00491581
+v 0.06688736 0.01069616 0.00575398
+v 0.06714935 0.01069615 0.00743826
+v 0.07575506 0.01069618 -0.00004649
+v 0.07578147 0.05060457 -0.01348491
+v 0.07576984 0.01069619 -0.00299328
+v 0.06499000 0.05060453 -0.00302051
+v 0.06499000 0.04539333 -0.00537852
+v 0.06560273 0.01069624 -0.01524602
+v 0.07563568 0.05060457 -0.01454204
+v 0.07576668 0.01069620 -0.00535948
+v 0.07574449 0.01069621 -0.00849524
+v 0.07572231 0.01069622 -0.01140642
+v 0.07571808 0.01069622 -0.01173506
+v 0.06499000 0.05060458 -0.01634407
+v 0.06499000 0.04539337 -0.01507609
+v 0.06743776 0.01069624 -0.01613334
+v 0.06608869 0.05060458 -0.01753539
+v 0.07485603 0.05060458 -0.01737654
+v 0.07528389 0.01069623 -0.01464899
+v 0.06760785 0.01069624 -0.01619359
+v 0.06617110 0.05060458 -0.01756551
+v 0.07475145 0.05060458 -0.01756277
+v 0.07421478 0.01069624 -0.01639077
+v 0.06893789 0.01069624 -0.01665368
+v 0.06893895 0.05060459 -0.01845010
+v 0.07185259 0.05060459 -0.01851856
+v 0.07407850 0.01069624 -0.01661260
+v 0.06926750 0.01069624 -0.01670846
+v 0.07185259 0.01069624 -0.01713295
+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 9 3
+f 3 10 20
+f 3 20 25
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+f 3 31 36
+f 3 36 45
+f 3 45 49
+f 3 49 53
+f 3 53 52
+f 3 52 48
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+f 3 41 33
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+f 3 21 11
+f 3 11 5
+f 3 5 4
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+f 5 12 6
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+f 16 20 17
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+f 49 50 54
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+f 52 56 55
+f 53 54 56
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_76.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7bddea0271a1018bfcdf215d411ce1c80e3cd4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_76.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.02798851 0.05702260 0.00914523
+v 0.03496528 0.04806231 0.00914520
+v 0.03512203 0.04806225 0.02324762
+v 0.02798851 0.05824998 0.02324765
+v 0.02798851 0.07216728 0.00914529
+v 0.04978665 0.04806231 0.00914520
+v 0.03526061 0.04806225 0.02509454
+v 0.02798851 0.05859933 0.02555122
+v 0.02798851 0.07217667 0.02324771
+v 0.03055567 0.07216728 0.00914529
+v 0.04978665 0.04806231 0.00940402
+v 0.05113611 0.05402719 0.00914522
+v 0.03619206 0.04806224 0.02618901
+v 0.02798851 0.05977954 0.02700990
+v 0.02798851 0.05972761 0.02694705
+v 0.03977473 0.07217431 0.02324771
+v 0.02798851 0.07137647 0.02615951
+v 0.03394523 0.07137647 0.02615951
+v 0.03394523 0.07216493 0.00914529
+v 0.04970941 0.04806225 0.02324762
+v 0.05119291 0.05459842 0.00914522
+v 0.03650330 0.04806224 0.02655322
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+v 0.04865983 0.04806224 0.02616313
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+v 0.04806688 0.06899010 0.01158749
+v 0.04806688 0.06899244 0.01741851
+v 0.04720813 0.06522039 0.02769767
+v 0.04730582 0.06330843 0.02774942
+v 0.04733081 0.06040506 0.02776051
+v 0.03977473 0.06330843 0.02800640
+v 0.02798851 0.06621415 0.02795834
+v 0.04487951 0.04806224 0.02794164
+v 0.04787377 0.06922615 0.00914527
+v 0.04688780 0.07044179 0.00914528
+v 0.04562694 0.06619762 0.02779195
+v 0.04560650 0.06330843 0.02791211
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+v 0.04806461 0.06899011 0.00914527
+v 0.04560650 0.06040506 0.02792505
+v 0.04560650 0.05750170 0.02793058
+v 0.04560650 0.04806224 0.02793240
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+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_77.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d8170b3e7b220232b78af1ab3f036ee3640b08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_77.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.02470817 -0.00636526 -0.00497859
+v 0.02462813 -0.04471289 -0.00498317
+v 0.02469316 -0.00640656 -0.00498303
+v 0.02467315 -0.00636526 -0.00498303
+v 0.02454809 -0.00636529 0.00257459
+v 0.02456310 -0.04471292 0.00257445
+v -0.02639572 -0.04471289 -0.00498317
+v -0.02639572 -0.00636526 -0.00498303
+v -0.02639572 -0.00636529 0.00257459
+v -0.02639572 -0.04471292 0.00257445
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_78.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d351ccb4880ebcf5047fdd00132e7fbb03f91964
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_78.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02798624 0.05679155 0.00903662
+v 0.01748708 0.05679154 0.01145699
+v 0.01667647 0.04580572 0.01145695
+v 0.02798624 0.05258444 0.00753979
+v 0.02798624 0.05679169 -0.02920766
+v 0.00806948 0.05679154 0.01145699
+v 0.01585676 0.04579926 0.01145695
+v 0.02197045 0.04579927 0.00814089
+v 0.02798624 0.05252096 0.00746814
+v 0.02798624 0.04579941 -0.02920770
+v 0.00472459 0.05679169 -0.02920766
+v 0.00478379 0.05679154 0.00987658
+v 0.00472459 0.05678831 0.00987261
+v 0.00936964 0.04579926 0.01145695
+v 0.02316587 0.04579928 0.00582003
+v 0.02798624 0.05148049 0.00576432
+v 0.00472459 0.04579941 -0.02920770
+v 0.02798624 0.04579932 -0.00603104
+v 0.00472459 0.05679155 0.00853105
+v 0.00472459 0.04579927 0.00906843
+v 0.02320002 0.04579928 0.00575236
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 18
+f 1 18 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 6 12 13
+f 6 13 14
+f 7 14 20
+f 7 20 17
+f 7 17 10
+f 7 10 18
+f 7 18 21
+f 7 21 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 11 17 20
+f 11 20 13
+f 11 13 19
+f 12 19 13
+f 13 20 14
+f 15 21 16
+f 16 21 18
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_79.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100650eda4e04d92b9abc0f81e8486cb5d272832
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_79.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05503421 -0.05717926 -0.03920327
+v 0.05502691 -0.05717926 -0.03805731
+v 0.05492960 -0.05869247 -0.03920328
+v 0.04273113 -0.05717926 -0.03920327
+v 0.05460359 -0.06159702 -0.03920329
+v 0.05280083 -0.05717930 -0.02607861
+v 0.03017989 -0.06328253 -0.03920329
+v 0.03017989 -0.05717926 -0.03685481
+v 0.05418027 -0.06441379 -0.03920330
+v 0.04937776 -0.06450160 -0.02607864
+v 0.05332876 -0.06676246 -0.03868943
+v 0.05341878 -0.06697051 -0.03920331
+v 0.05369126 -0.06623421 -0.03920330
+v 0.03017989 -0.05717930 -0.02607861
+v 0.03017989 -0.07378245 -0.03920333
+v 0.04927072 -0.06472428 -0.02607864
+v 0.05305871 -0.06775556 -0.03920331
+v 0.03017989 -0.07042609 -0.02607866
+v 0.03102897 -0.07378245 -0.03920333
+v 0.03686059 -0.07042934 -0.02607866
+v 0.04805914 -0.06723548 -0.02607865
+v 0.05265729 -0.06841221 -0.03920331
+v 0.03686059 -0.07377432 -0.03920333
+v 0.03977761 -0.07042934 -0.02607866
+v 0.04683054 -0.06868856 -0.02607865
+v 0.05221450 -0.06895671 -0.03920331
+v 0.03977761 -0.07376132 -0.03920333
+v 0.04268977 -0.07365892 -0.03920333
+v 0.04001360 -0.07041634 -0.02607866
+v 0.04537081 -0.06948012 -0.02607866
+v 0.04893741 -0.07192464 -0.03920332
+v 0.04955780 -0.07153943 -0.03920332
+v 0.05008087 -0.07110220 -0.03920332
+v 0.04560923 -0.07314530 -0.03920333
+v 0.04268977 -0.07026518 -0.02607866
+v 0.04290873 -0.07020179 -0.02607866
+v 0.04733171 -0.07261543 -0.03920333
+v 0.04811023 -0.07231311 -0.03920333
+f 1 2 3
+f 1 3 5
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+f 1 13 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 33
+f 1 33 32
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+f 1 7 4
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+f 7 15 18
+f 7 18 14
+f 7 14 8
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 15 19 24
+f 15 24 20
+f 15 20 18
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 28 34 35
+f 28 35 29
+f 30 36 34
+f 30 34 37
+f 30 37 38
+f 30 38 31
+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_8.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec89939274893a82b0346b796a1f8324958447b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_8.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03017989 0.00388065 0.00257462
+v 0.03017989 -0.00391929 0.00257460
+v 0.03017989 0.00388068 -0.00498300
+v -0.02639572 0.00388065 0.00257462
+v 0.03017989 -0.00416489 -0.00498303
+v 0.02454781 -0.00636154 0.00257459
+v -0.02639572 0.00388068 -0.00498300
+v -0.02639572 -0.00636154 0.00257459
+v 0.02470287 -0.00636151 -0.00497859
+v 0.02466964 -0.00636151 -0.00498303
+v -0.02639572 -0.00636151 -0.00498303
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 6 9
+f 5 9 10
+f 6 8 11
+f 6 11 10
+f 6 10 9
+
diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_80.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8869876c5f20c5032d7bf320d83866480fcee898
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_80.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04991056 -0.05996146 -0.02607862
+v 0.04991056 -0.04924414 -0.02607858
+v 0.05722722 -0.05708668 -0.02607861
+v 0.05722722 -0.05708806 -0.02052564
+v 0.04991056 -0.05996147 -0.02329140
+v 0.05722722 -0.04924960 -0.02607858
+v 0.04991056 -0.04602421 -0.01471859
+v 0.05722722 -0.04602421 -0.01471859
+v 0.05722722 -0.05708813 -0.00299369
+v 0.04991056 -0.05996019 0.00002966
+v 0.04991056 -0.04602424 -0.00580950
+v 0.05722722 -0.04602424 -0.00580950
+v 0.05722722 -0.05708133 0.00283836
+v 0.04991056 -0.05995748 0.00283835
+v 0.04991056 -0.04710626 0.00864541
+v 0.05722722 -0.04978046 0.00575442
+v 0.05722722 -0.05649738 0.00570787
+v 0.04991056 -0.05992338 0.00575438
+v 0.04991056 -0.04997832 0.00988695
+v 0.05722722 -0.05087335 0.00753622
+v 0.05722722 -0.04979683 0.00578304
+v 0.05722722 -0.05648783 0.00575439
+v 0.04991056 -0.05883869 0.00883499
+v 0.04991056 -0.05288312 0.01047372
+v 0.05722722 -0.05288311 0.00786182
+v 0.05722722 -0.05513572 0.00751117
+v 0.05722722 -0.05511526 0.00753621
+v 0.04991056 -0.05877320 0.00888508
+v 0.04991056 -0.05349573 0.01039499
+v 0.04991056 -0.05578655 0.01007656
+v 0.04991056 -0.05584113 0.01006224
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 18
+f 1 18 23
+f 1 23 28
+f 1 28 31
+f 1 31 30
+f 1 30 29
+f 1 29 24
+f 1 24 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
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+f 2 8 6
+f 3 6 8
+f 3 8 12
+f 3 12 16
+f 3 16 21
+f 3 21 20
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+f 3 26 22
+f 3 22 17
+f 3 17 13
+f 3 13 9
+f 3 9 4
+f 5 9 10
+f 7 11 12
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+f 9 13 14
+f 9 14 10
+f 11 15 12
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_81.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554aab6273dce0696208fbd468d807eff105890f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_81.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_9.obj b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165eb42194fc25cacd9aacd3ec06f67b7fda7611
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..166d4797279faccec485ea705230fa46e6e6a4b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/mjcf/mesh/jewelry_box_038_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/textures/material_0.png b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..166d4797279faccec485ea705230fa46e6e6a4b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/video.mp4 b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/video.mp4
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/video.mp4
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