diff --git a/.gitattributes b/.gitattributes
index 39ecfdbb2dd197a1ed1f0e7685a75fb2cd089d66..e12c3368cd40316e74790fc2d8a7ddfec23273d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2857,3 +2857,5 @@ dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd
dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/mesh/pill_organizer_023.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/pill_organizer_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.urdf b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89d0937951db9ad025e8e322972d7e941f9c26f2
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.usd b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/jewelry_box_037.usd
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.glb b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.glb
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.mtl b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5040bed379a4331d8f07c51568180e587c5a4db1
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+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.mtl
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772e5df1fb3421c37e737e873240f6985c88ce24
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_collision.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a9f524dea29f4b55d9b8c9ca78a989f98f64f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_collision.obj
@@ -0,0 +1,10883 @@
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93e9140808cd0ab46337f6bd45e158c39067f41d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/jewelry_box_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f3f1784544e6c3750b44f1408e079300814e7f13838f386b5143db196c4bc
+size 13207185
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material.mtl b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..956904c70f028e6cdb28a93b9cb0610f4d4a1a04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_037_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material_0.png b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93e9140808cd0ab46337f6bd45e158c39067f41d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f3f1784544e6c3750b44f1408e079300814e7f13838f386b5143db196c4bc
+size 13207185
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/jewelry_box_037.xml b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/jewelry_box_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ca949b290280afd57a37605fad85e02c7f34479
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/jewelry_box_037.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a613475f9b7818d77eaf1eef7743ce2b6036f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037.obj
@@ -0,0 +1,114838 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefa46ff15febb4395755deaebec8e9530ca2579
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision.obj
@@ -0,0 +1,10883 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_0.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002f0362bbc093ffa78c37f2ee73907e153d4d77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_1.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9975026b94ac875a0ec905af14be20b3aeead4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_1.obj
@@ -0,0 +1,397 @@
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_10.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a770831fe873c3192d482b7a4707aba701bb08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.06174435 -0.01475575 -0.04076091
+v 0.08156938 -0.01164311 -0.04062587
+v 0.08156938 -0.01475575 -0.04062465
+v 0.06174435 -0.01475579 -0.03048706
+v 0.06174435 0.00450368 -0.04076207
+v 0.08156938 -0.01058063 -0.04062587
+v 0.08156938 -0.01475578 -0.03155386
+v 0.06208787 -0.01475579 -0.03050548
+v 0.08156938 0.05440304 -0.02822188
+v 0.06325622 0.05376705 -0.02822188
+v 0.06174435 0.05372964 -0.02822188
+v 0.06174435 0.04432444 -0.04076193
+v 0.08156938 0.04972666 -0.04062319
+v 0.08156938 0.06111466 -0.02822186
+v 0.06174435 0.06131668 -0.02822185
+v 0.06174435 0.05035517 -0.04076068
+v 0.08156938 0.05575739 -0.04062194
+v 0.08156938 0.06150377 -0.03429851
+v 0.06174435 0.06147382 -0.03070285
+v 0.06174435 0.05337053 -0.04075944
+v 0.06174435 0.05575739 -0.04075821
+v 0.06174435 0.05636345 -0.04072015
+v 0.08156938 0.05877275 -0.04029784
+v 0.08156938 0.06144391 -0.03536775
+v 0.06174435 0.06168334 -0.03429851
+v 0.06174435 0.06165340 -0.03373749
+v 0.06174435 0.05877275 -0.04045374
+v 0.06174435 0.05917680 -0.04029293
+v 0.06174435 0.06080045 -0.03955636
+v 0.08156938 0.06003726 -0.03972332
+v 0.08156938 0.06133169 -0.03733193
+v 0.06174435 0.06151126 -0.03733193
+v 0.06174435 0.06100994 -0.03902235
+v 0.08156938 0.06072562 -0.03941028
+f 1 2 3
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+f 29 34 30
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+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_11.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c904b33f0f937e013a375b511d352352fed145f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.06174435 -0.06168940 -0.03429833
+v 0.06174435 -0.06166183 -0.03485956
+v 0.08156938 -0.06150104 -0.03429833
+v 0.08156938 -0.06143673 -0.03322868
+v 0.06174435 -0.06144134 -0.03018437
+v 0.06174435 -0.06153779 -0.03733229
+v 0.08156938 -0.06140456 -0.03626161
+v 0.08156938 -0.06124379 -0.03019368
+v 0.08156356 -0.06124379 -0.03018436
+v 0.06174435 -0.05201418 -0.03018433
+v 0.08156938 -0.06134942 -0.03733229
+v 0.06174435 -0.06084406 -0.03954510
+v 0.08156938 -0.06076597 -0.03939703
+v 0.08156938 -0.06097270 -0.03866908
+v 0.08156938 -0.06120703 -0.03018436
+v 0.06225283 -0.05203715 -0.03018433
+v 0.06174435 -0.03772184 -0.03018842
+v 0.06174435 -0.05882724 -0.04044286
+v 0.08156938 -0.05882724 -0.04028340
+v 0.08156938 -0.05951176 -0.03997068
+v 0.08156938 -0.05311677 -0.03018434
+v 0.06520281 -0.05218416 -0.03018433
+v 0.06174435 -0.03470809 -0.03020705
+v 0.07975864 -0.05299732 -0.03018433
+v 0.06174435 -0.05581349 -0.04076074
+v 0.08156938 -0.05581349 -0.04062199
+v 0.08156938 -0.05687473 -0.04050291
+v 0.08156938 -0.01475578 -0.03155413
+v 0.06230329 -0.01475579 -0.03051761
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+v 0.06174435 -0.03169435 -0.03024328
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+v 0.08156938 -0.01475575 -0.04062494
+v 0.06174435 -0.01475575 -0.04076162
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+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_12.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8517725aba172055b4f350931c4c3c8fc644029
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_12.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.06174241 -0.05291570 -0.02108526
+v 0.06072296 -0.05291570 -0.02108423
+v 0.05771039 -0.04858123 -0.01978720
+v 0.05927055 -0.04858123 -0.01978823
+v 0.06174241 -0.04858123 -0.01978926
+v 0.06174241 -0.05291574 -0.01054810
+v 0.05927055 -0.05291570 -0.02108216
+v 0.05801192 -0.05291570 -0.02107804
+v 0.05771039 -0.05291570 -0.02107701
+v 0.05771039 -0.04858126 -0.01217221
+v 0.06174241 -0.04858126 -0.01217427
+v 0.05927055 -0.05291574 -0.01054500
+v 0.05771039 -0.05291574 -0.01054397
+v 0.06047984 -0.04858126 -0.01217324
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+f 3 11 5
+f 3 5 4
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+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_13.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3298b825c8ca5fa5e030c7e8b4c00f20f18d56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.09022686 -0.05154795 -0.03072089
+v 0.08157027 -0.05154795 -0.03083431
+v 0.09022686 -0.05154791 -0.04077741
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+v 0.09061837 0.02258781 -0.03101809
+v 0.09061837 0.05100735 -0.03091252
+v 0.08156939 0.03163267 -0.03082007
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+v 0.09061837 -0.01480629 -0.04088372
+v 0.09061837 0.05100739 -0.04087055
+v 0.08156939 0.05100735 -0.03091949
+v 0.08156939 -0.01480629 -0.04062405
+v 0.08156939 -0.01163406 -0.04062504
+v 0.09061837 -0.01359161 -0.04088472
+v 0.08156939 0.05100739 -0.04062182
+v 0.09061837 0.04857803 -0.04087453
+v 0.08156939 -0.00862245 -0.04062503
+v 0.08156939 0.04972244 -0.04062283
+v 0.09061837 0.02141332 -0.04088259
+v 0.09061837 0.04555639 -0.04087753
+v 0.09061837 0.03951309 -0.04087954
+f 1 2 10
+f 1 10 3
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+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 12 9
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+f 17 21 18
+f 18 21 22
+f 18 22 23
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+f 22 24 25
+f 22 25 23
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_14.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b043baf7a4fc8b1f74521c330508da87ac2ee835
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_14.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 -0.00982647 -0.02341026
+v 0.04358430 -0.00982647 -0.02341026
+v 0.03959541 -0.00982653 -0.00819086
+v 0.03959541 0.07512351 -0.02340994
+v 0.06174025 -0.00982649 -0.01979128
+v 0.06174025 0.05449731 -0.02341002
+v 0.04433655 -0.00982653 -0.00819086
+v 0.03959541 0.07512345 -0.00819054
+v 0.04410676 0.07513183 -0.02340994
+v 0.06174025 -0.00982652 -0.01217636
+v 0.06174025 0.06125905 -0.02340999
+v 0.06174025 0.05453884 -0.00819062
+v 0.04530776 0.07513177 -0.00819054
+v 0.04410676 0.07513182 -0.02215991
+v 0.05017247 0.07514015 -0.02340994
+v 0.06174025 0.06157506 -0.01609157
+v 0.05586747 0.07354328 -0.02340995
+v 0.06174025 0.06138374 -0.00819059
+v 0.05017247 0.07513177 -0.00819054
+v 0.05320316 0.07494054 -0.02340994
+v 0.05137130 0.07505692 -0.00819054
+v 0.05320316 0.07494048 -0.00819054
+v 0.06174025 0.06167486 -0.01305812
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+v 0.06174025 0.06164991 -0.01249792
+v 0.05587181 0.07355154 -0.00819055
+v 0.05425891 0.07439156 -0.00819055
+f 1 2 5
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+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 24
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+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 18
+f 3 18 27
+f 3 27 28
+f 3 28 22
+f 3 22 21
+f 3 21 19
+f 3 19 13
+f 3 13 8
+f 4 8 14
+f 4 14 9
+f 5 6 11
+f 5 11 16
+f 5 16 23
+f 5 23 26
+f 5 26 18
+f 5 18 12
+f 5 12 10
+f 7 10 12
+f 8 13 14
+f 9 14 15
+f 11 17 16
+f 13 19 15
+f 13 15 14
+f 15 19 21
+f 15 21 22
+f 15 22 20
+f 16 17 23
+f 17 24 25
+f 17 25 23
+f 18 26 27
+f 20 22 28
+f 20 28 27
+f 20 27 24
+f 23 25 27
+f 23 27 26
+f 24 27 25
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_15.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57fb35e39f15eb31a07fad6865eaa8d4ff55efb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.07532423 -0.01305924
+v 0.03289468 -0.07526403 -0.01002502
+v 0.03289468 -0.07510953 -0.02369135
+v 0.05017045 -0.07510953 -0.02369135
+v 0.05017045 -0.07510954 -0.02216039
+v 0.05017045 -0.07510697 -0.00797399
+v 0.03289468 -0.07524048 -0.00910490
+v 0.03289468 -0.04858121 -0.02369125
+v 0.05167407 -0.07501530 -0.02369135
+v 0.05320440 -0.07492373 -0.00797399
+v 0.05222062 -0.07498394 -0.00797399
+v 0.03289468 -0.07518813 -0.00797399
+v 0.03289468 -0.04858127 -0.00797389
+v 0.04352200 -0.04858121 -0.02369125
+v 0.05320440 -0.07491844 -0.02369135
+v 0.05499708 -0.07401013 -0.00797398
+v 0.04430174 -0.04858127 -0.00797389
+v 0.05771039 -0.04858123 -0.01978615
+v 0.05771039 -0.05455755 -0.02369127
+v 0.05451855 -0.07424829 -0.02369134
+v 0.05585698 -0.07356506 -0.02369134
+v 0.05585698 -0.07357036 -0.00797398
+v 0.05771039 -0.04858126 -0.01217288
+v 0.05771039 -0.05460473 -0.00797391
+v 0.05771039 -0.06313593 -0.02369130
+v 0.05714926 -0.07089233 -0.02369133
+v 0.05714926 -0.07089237 -0.01305922
+v 0.05627479 -0.07270387 -0.00797398
+v 0.05771039 -0.06316740 -0.00797394
+v 0.05771039 -0.06327471 -0.01305919
+v 0.05714683 -0.07089239 -0.00797397
+f 1 2 7
+f 1 7 12
+f 1 12 13
+f 1 13 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 14
+f 3 14 19
+f 3 19 25
+f 3 25 26
+f 3 26 21
+f 3 21 20
+f 3 20 15
+f 3 15 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 16
+f 6 16 22
+f 6 22 28
+f 6 28 31
+f 6 31 29
+f 6 29 24
+f 6 24 17
+f 6 17 13
+f 6 13 12
+f 6 12 7
+f 8 13 17
+f 8 17 23
+f 8 23 18
+f 8 18 14
+f 9 15 10
+f 10 15 16
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 24 23
+f 18 23 24
+f 18 24 29
+f 18 29 30
+f 18 30 25
+f 18 25 19
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 25 30 26
+f 26 30 27
+f 27 31 28
+f 27 30 31
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_16.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779e0e0d74502e75405c28628df4e6c3fc35d9d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.09022771 -0.06161886 -0.03429801
+v 0.09022771 -0.06159817 -0.03366716
+v 0.08156939 -0.06150356 -0.03429801
+v 0.08156939 -0.06140600 -0.03626183
+v 0.08156939 -0.06135277 -0.03733072
+v 0.09022771 -0.06149469 -0.03669986
+v 0.09022771 -0.06128483 -0.02519570
+v 0.09022771 -0.06125920 -0.02456485
+v 0.08156939 -0.06112420 -0.02519569
+v 0.09022771 -0.06145231 -0.03733072
+v 0.08156939 -0.06076643 -0.03939722
+v 0.09022771 -0.06114392 -0.02216298
+v 0.08156939 -0.06099019 -0.02216298
+v 0.09022771 -0.06098225 -0.03896338
+v 0.08156939 -0.05883100 -0.04028377
+v 0.09022771 -0.05883100 -0.04037389
+v 0.09022771 -0.06080881 -0.03942657
+v 0.09022771 -0.06066993 -0.02023689
+v 0.08156939 -0.06059602 -0.02031863
+v 0.08156939 -0.05581652 -0.04062119
+v 0.09022771 -0.05582145 -0.04077209
+v 0.09022771 -0.06022944 -0.02001053
+v 0.08156939 -0.05883108 -0.01949915
+v 0.08156939 -0.05155151 -0.04062117
+v 0.09022771 -0.05155151 -0.04077836
+v 0.09022771 -0.05883108 -0.01936711
+v 0.08156939 -0.05790969 -0.01960812
+v 0.08156939 -0.05155155 -0.03083142
+v 0.09022771 -0.05155155 -0.03071825
+v 0.09022771 -0.05607972 -0.01970663
+v 0.08156939 -0.05620979 -0.01982609
+v 0.08156939 -0.05489914 -0.02216296
+v 0.09022771 -0.05440149 -0.02242494
+v 0.09022771 -0.05560472 -0.02046532
+v 0.08156939 -0.05574761 -0.02064556
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 17
+f 1 17 16
+f 1 16 21
+f 1 21 25
+f 1 25 29
+f 1 29 33
+f 1 33 34
+f 1 34 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 13
+f 3 13 19
+f 3 19 23
+f 3 23 27
+f 3 27 31
+f 3 31 35
+f 3 35 32
+f 3 32 28
+f 3 28 24
+f 3 24 20
+f 3 20 15
+f 3 15 11
+f 3 11 5
+f 3 5 4
+f 5 10 6
+f 5 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 11 15 16
+f 11 16 17
+f 11 17 14
+f 12 18 19
+f 12 19 13
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 33
+f 31 33 35
+f 32 35 33
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_17.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6fecbdefdece0cc6169ee576d5013eccd67b80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.08156938 -0.05883063 -0.01949670
+v 0.08156938 -0.06059664 -0.02031532
+v 0.08156938 -0.05790864 -0.01960714
+v 0.07717158 -0.04979024 -0.00092157
+v 0.07717158 -0.05280125 -0.00092158
+v 0.07716964 -0.05581597 -0.00092160
+v 0.07715994 -0.05883070 -0.00092161
+v 0.08156938 -0.06099018 -0.02216049
+v 0.07634675 -0.06091229 0.00126140
+v 0.07655053 -0.06120683 -0.00092161
+v 0.08156938 -0.05620945 -0.01982154
+v 0.07717741 -0.04979023 -0.00395569
+v 0.07656024 -0.04979025 0.00162203
+v 0.08156938 -0.05574783 -0.02064341
+v 0.08156938 -0.05489885 -0.02216047
+v 0.08156938 -0.05312043 -0.03018434
+v 0.07655830 -0.05581598 0.00162200
+v 0.07655248 -0.05883071 0.00160575
+v 0.08156938 -0.06112383 -0.02519462
+v 0.07443315 -0.06241842 -0.00092162
+v 0.07443315 -0.05883071 0.00296038
+v 0.07443315 -0.06137392 0.00176492
+v 0.07717935 -0.04979021 -0.00698982
+v 0.07443315 -0.04979025 0.00299941
+v 0.08156938 -0.06121044 -0.03018436
+v 0.07975864 -0.05300162 -0.03018433
+v 0.07504643 -0.04979017 -0.02040624
+v 0.07656606 -0.04979017 -0.01888918
+v 0.07718129 -0.04979018 -0.01608895
+v 0.08156356 -0.06124509 -0.03018436
+v 0.06174435 -0.06071180 0.00102751
+v 0.06174435 -0.06087640 0.00058571
+v 0.06174435 -0.06120683 -0.00092161
+v 0.06174435 -0.06132811 -0.00395574
+v 0.06174435 -0.06166221 -0.01305812
+v 0.07443315 -0.06242707 -0.00395574
+v 0.06174435 -0.05883813 0.00192735
+v 0.07161126 -0.04979025 0.00197287
+v 0.06174435 -0.05622562 0.00153104
+v 0.06174435 -0.05667857 0.00165124
+v 0.06814115 -0.05235190 -0.03018433
+v 0.07353069 -0.04979016 -0.02072785
+v 0.06174435 -0.06144186 -0.03018437
+v 0.07443315 -0.06242952 -0.00698987
+v 0.07443315 -0.06243198 -0.01305812
+v 0.07443315 -0.06240598 -0.01608900
+v 0.06174435 -0.05514397 -0.00039857
+v 0.06174435 -0.04979020 -0.01217447
+v 0.06520281 -0.05218978 -0.03018433
+v 0.07268257 -0.04979016 -0.02072460
+v 0.06230329 -0.05204251 -0.03018433
+v 0.06225283 -0.05204003 -0.03018433
+v 0.06174435 -0.05201775 -0.03018433
+v 0.06174435 -0.04979017 -0.01978902
+f 1 2 8
+f 1 8 19
+f 1 19 25
+f 1 25 16
+f 1 16 15
+f 1 15 14
+f 1 14 11
+f 1 11 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 10
+f 2 10 8
+f 3 11 4
+f 4 12 23
+f 4 23 29
+f 4 29 28
+f 4 28 27
+f 4 27 42
+f 4 42 50
+f 4 50 54
+f 4 54 48
+f 4 48 38
+f 4 38 24
+f 4 24 13
+f 4 13 5
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 12
+f 5 13 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 9
+f 8 10 20
+f 8 20 19
+f 9 20 10
+f 9 18 21
+f 9 21 22
+f 9 22 20
+f 12 16 23
+f 13 24 17
+f 16 25 30
+f 16 30 43
+f 16 43 53
+f 16 53 52
+f 16 52 51
+f 16 51 49
+f 16 49 41
+f 16 41 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 23
+f 17 24 21
+f 17 21 18
+f 19 30 25
+f 19 20 30
+f 20 22 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 30
+f 21 24 37
+f 21 37 22
+f 22 37 31
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 26 41 42
+f 26 42 27
+f 30 36 44
+f 30 44 45
+f 30 45 46
+f 30 46 43
+f 31 37 40
+f 31 40 39
+f 31 39 47
+f 31 47 48
+f 31 48 54
+f 31 54 53
+f 31 53 43
+f 31 43 35
+f 31 35 34
+f 31 34 33
+f 31 33 32
+f 35 46 45
+f 35 45 44
+f 35 44 36
+f 35 43 46
+f 38 47 39
+f 38 48 47
+f 41 49 42
+f 42 49 51
+f 42 51 52
+f 42 52 53
+f 42 53 50
+f 50 53 54
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_18.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a6da261f0d2716715a8bfef7d7ad0ea06b9d6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_18.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00352632 -0.05971483 -0.04657874
+v 0.01680886 -0.05279510 -0.04658505
+v 0.03289008 -0.05971483 -0.04657874
+v -0.01414278 -0.05971483 -0.04657242
+v -0.01414278 -0.05279510 -0.04657871
+v -0.01414278 -0.04613420 -0.04657869
+v 0.01604922 -0.00982639 -0.04657856
+v 0.03289008 -0.00982639 -0.04657856
+v 0.03289008 -0.05971506 0.01733818
+v -0.01414278 -0.05971507 0.01811727
+v -0.01414278 -0.00982639 -0.04657224
+v 0.03289008 -0.00982662 0.01662261
+v 0.03289008 -0.02948217 0.01811738
+v 0.01235234 -0.05971507 0.01811727
+v -0.01414278 -0.02017936 0.01811742
+v -0.01414278 -0.00982663 0.01806678
+v 0.01205769 -0.00982663 0.01811745
+v 0.03289008 -0.02178110 0.01811741
+v 0.00352677 -0.00982663 0.01811745
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 18
+f 3 18 13
+f 3 13 9
+f 4 10 15
+f 4 15 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 16
+f 7 16 19
+f 7 19 17
+f 7 17 12
+f 7 12 8
+f 9 13 14
+f 10 14 13
+f 10 13 18
+f 10 18 17
+f 10 17 19
+f 10 19 15
+f 12 17 18
+f 15 19 16
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_19.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc5d3d39df4648bcd4b70be7f4e52237c14f3ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_19.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.09061837 0.05100739 -0.04087121
+v 0.08156939 0.05100739 -0.04062168
+v 0.08156939 0.05576390 -0.04062167
+v 0.09061837 0.05466722 -0.04086274
+v 0.09061837 0.05100735 -0.03091122
+v 0.08156939 0.05100735 -0.03091756
+v 0.08156939 0.05877929 -0.04029599
+v 0.09061837 0.05577331 -0.04085851
+v 0.09061837 0.05458463 -0.02206564
+v 0.08156939 0.05488126 -0.02216080
+v 0.08156939 0.06004101 -0.03972292
+v 0.09061837 0.05877929 -0.04045460
+v 0.09061837 0.05784553 -0.04063224
+v 0.09061837 0.05596750 -0.01962744
+v 0.08156939 0.05617744 -0.01982622
+v 0.08156939 0.06072930 -0.03940996
+v 0.09061837 0.06007861 -0.03986249
+v 0.09061837 0.05704226 -0.01948153
+v 0.08156939 0.05877921 -0.01947941
+v 0.09061837 0.06080764 -0.03946917
+v 0.08156939 0.06112203 -0.03806504
+v 0.09061837 0.06150325 -0.03733125
+v 0.09061837 0.05877921 -0.01926794
+v 0.08156939 0.05940798 -0.01976277
+v 0.08156939 0.06133510 -0.03733125
+v 0.09061837 0.06167767 -0.03429673
+v 0.09061837 0.06065821 -0.02017513
+v 0.08156939 0.06056421 -0.02029777
+v 0.08156939 0.06144476 -0.03536674
+v 0.08156939 0.06150429 -0.03429673
+v 0.09061837 0.06135489 -0.02519529
+v 0.09061837 0.06090785 -0.02094274
+v 0.09061837 0.06119299 -0.02216078
+v 0.08156939 0.06071149 -0.02094909
+v 0.08156939 0.06111884 -0.02519530
+v 0.08156939 0.06103006 -0.02323291
+v 0.08156939 0.06098096 -0.02216078
+v 0.09061837 0.06124940 -0.02318215
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 17
+f 1 17 20
+f 1 20 22
+f 1 22 26
+f 1 26 31
+f 1 31 38
+f 1 38 33
+f 1 33 32
+f 1 32 27
+f 1 27 23
+f 1 23 18
+f 1 18 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 24
+f 2 24 28
+f 2 28 34
+f 2 34 37
+f 2 37 36
+f 2 36 35
+f 2 35 30
+f 2 30 29
+f 2 29 25
+f 2 25 21
+f 2 21 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 16 21 22
+f 16 22 20
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 33 38 37
+f 33 37 34
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_2.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c436bf7f4851bff75df5f25e67df1d9c86e3bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_2.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.05771039 -0.05291562 -0.04312632
+v 0.05771039 -0.05279979 -0.04312632
+v 0.06174241 -0.05291563 -0.04076111
+v 0.05771039 -0.05291567 -0.02908761
+v 0.05771039 -0.05135002 -0.04312495
+v 0.06174241 -0.04858115 -0.04075973
+v 0.06174241 -0.05217526 -0.04076111
+v 0.06174241 -0.05291567 -0.02925941
+v 0.05927055 -0.05291567 -0.02913847
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+v 0.05927055 -0.04858119 -0.03041933
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_20.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c2ceb120b9929aae42fda264be3a048633457e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.08156938 0.05877828 -0.01947599
+v 0.08156938 0.05617763 -0.01982425
+v 0.08156938 0.05940726 -0.01976008
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_21.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baed253f6e94cecc0c41dcefb475b9643ddbe2cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_21.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_22.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4df79828d27a9fb632b5b71e6fd8299d2ad3828
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00753191 -0.06715877 0.03555266
+v -0.00947072 -0.06672644 0.03652501
+v -0.00753191 -0.06538958 0.03555267
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_23.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdcaed3003ecc213a6a8796287606f60c0df61e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_24.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274eaf652a0b409aa1013f1c1012263973b9127a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_24.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_25.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461155296219b7473f407f428850f59169d8db11
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_25.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+f 25 35 36
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+f 45 56 57
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_26.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5913f065a23a4318a15c02c9fb2fbc9c016ce9fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_26.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04847094 0.05659388 0.06185597
+v -0.04577596 0.05630631 0.04209672
+v -0.04577596 0.05659396 0.04209672
+v -0.04847094 0.05659400 0.02862160
+v -0.04847094 0.02421647 0.06184080
+v -0.04577596 -0.00462528 0.04208897
+v -0.04577596 0.05659402 0.02342873
+v -0.04577596 0.04375811 0.02341362
+v -0.04847094 0.05079926 0.02862158
+v -0.04847094 -0.00462536 0.06177672
+v -0.04577596 -0.00462523 0.02631844
+v -0.04577596 -0.00461923 0.02345107
+v -0.04847094 -0.00462524 0.02862513
+v -0.04635216 -0.00462523 0.02631468
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 13
+f 6 13 14
+f 6 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_27.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d55a7e5f64549e028a03b3afa3e06fca7e8c4010
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_27.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07443399 -0.03772152 0.00300041
+v 0.07161006 -0.04375012 0.00197368
+v 0.07443399 -0.04978558 0.00300037
+v 0.07656048 -0.03470379 0.00162295
+v 0.07574207 -0.01475934 0.00215265
+v 0.07443399 -0.01475934 0.00299818
+v 0.07030782 -0.04073581 -0.00092063
+v 0.07030782 -0.04978557 -0.00092066
+v 0.07161103 -0.04978558 0.00197366
+v 0.07334929 -0.01475934 0.00260329
+v 0.07161298 -0.01962886 0.00197144
+v 0.07656048 -0.04978558 0.00162290
+v 0.07717404 -0.04375011 -0.00092064
+v 0.07655950 -0.01475934 0.00162303
+v 0.07111355 -0.01475933 0.00085880
+v 0.07031368 -0.01475933 -0.00092053
+v 0.06721661 -0.01476272 -0.01185670
+v 0.06721661 -0.04978210 -0.01185683
+v 0.06722246 -0.04978553 -0.01185450
+v 0.07161396 -0.01475934 0.00196914
+v 0.07161298 -0.01661456 0.00196913
+v 0.07717209 -0.04978557 -0.00092066
+v 0.07717794 -0.04676783 -0.00395667
+v 0.07717794 -0.04375010 -0.00395666
+v 0.07717014 -0.01475933 -0.00092053
+v 0.07693603 -0.01475933 0.00005740
+v 0.06722246 -0.01475929 -0.01185670
+v 0.06721661 -0.01475927 -0.01498330
+v 0.06721661 -0.04978551 -0.01689750
+v 0.07717697 -0.04978556 -0.00395668
+v 0.07718087 -0.04978554 -0.00699037
+v 0.07718087 -0.04676781 -0.00699036
+v 0.07717892 -0.01475930 -0.00885785
+v 0.07717599 -0.01475931 -0.00582415
+v 0.07717404 -0.01475932 -0.00395655
+v 0.06721661 -0.01475926 -0.01979168
+v 0.06721661 -0.04978550 -0.01979181
+v 0.07718184 -0.04978551 -0.01609145
+v 0.07717892 -0.01475927 -0.01609132
+v 0.07267623 -0.01475925 -0.02072317
+v 0.07268305 -0.04978549 -0.02072562
+v 0.07656731 -0.04978550 -0.01889053
+v 0.07656438 -0.01475926 -0.01889040
+v 0.07354633 -0.01475925 -0.02072317
+v 0.07353072 -0.04978549 -0.02072794
+v 0.07504658 -0.04978550 -0.02040738
+v 0.07505536 -0.04676777 -0.02040737
+v 0.07506023 -0.04375004 -0.02040736
+v 0.07506121 -0.04073574 -0.02040735
+v 0.07506218 -0.01475926 -0.02040725
+v 0.07564063 -0.01475926 -0.01982420
+v 0.07412868 -0.01475925 -0.02060237
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 3 9 8
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+f 3 19 29
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+f 4 12 13
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+f 4 14 5
+f 5 14 26
+f 5 26 25
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+f 5 39 43
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+f 5 51 50
+f 5 50 52
+f 5 52 44
+f 5 44 40
+f 5 40 36
+f 5 36 28
+f 5 28 27
+f 5 27 16
+f 5 16 15
+f 5 15 20
+f 5 20 10
+f 5 10 6
+f 7 11 15
+f 7 15 16
+f 7 16 17
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+f 7 18 8
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+f 10 20 11
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+f 12 22 13
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+f 13 23 24
+f 13 24 35
+f 13 35 25
+f 13 25 26
+f 13 26 14
+f 15 21 20
+f 16 27 17
+f 17 27 28
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+f 17 36 37
+f 17 37 29
+f 17 29 18
+f 18 29 19
+f 23 30 31
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+f 36 40 41
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+f 40 44 45
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+f 44 52 45
+f 45 52 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_28.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1c05cf5c92fd6e4820df54996010015054ae19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.05447990 -0.00797237
+v 0.03289468 -0.05447992 -0.00190402
+v 0.03289468 -0.04858127 -0.00797235
+v 0.04792368 -0.05447990 -0.00797237
+v 0.03289468 -0.04858129 -0.00190400
+v 0.04907866 -0.05447992 -0.00190402
+v 0.04430030 -0.04858127 -0.00797235
+v 0.04460925 -0.04858129 -0.00190400
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 8
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_29.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f07891e3c66101c3f28aa28f3691c1b0ae1fe5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_29.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.07511649 -0.04036696
+v 0.04713893 -0.07512169 -0.04036696
+v 0.03289468 -0.07511134 -0.03005747
+v 0.03289468 -0.07488267 -0.04340012
+v 0.03924678 -0.07511134 -0.03005747
+v 0.04713893 -0.07488267 -0.04340012
+v 0.05017045 -0.07511909 -0.04036696
+v 0.05017045 -0.07510874 -0.03005747
+v 0.03289468 -0.04858379 -0.03005737
+v 0.03289468 -0.07352394 -0.04573766
+v 0.03804195 -0.07352394 -0.04573766
+v 0.04713893 -0.07352134 -0.04573766
+v 0.05017045 -0.07487228 -0.04340012
+v 0.05320440 -0.07492165 -0.04036696
+v 0.05320440 -0.07491909 -0.03005747
+v 0.05137772 -0.07503340 -0.03005747
+v 0.04508877 -0.04858379 -0.03005737
+v 0.03289468 -0.04858373 -0.04658200
+v 0.03289468 -0.07089223 -0.04656914
+v 0.03804195 -0.07089223 -0.04656914
+v 0.05017045 -0.07351355 -0.04573281
+v 0.04713893 -0.07089223 -0.04656752
+v 0.05017045 -0.07089223 -0.04656429
+v 0.05320440 -0.07338365 -0.04566001
+v 0.05320440 -0.07464625 -0.04340011
+v 0.05569666 -0.07341483 -0.04340011
+v 0.05584484 -0.07356553 -0.04036695
+v 0.05584969 -0.07356554 -0.03733380
+v 0.05585455 -0.07356555 -0.03429902
+v 0.05585455 -0.07356557 -0.03005746
+v 0.05425863 -0.07438132 -0.03005746
+v 0.05771039 -0.04858379 -0.03039061
+v 0.05771039 -0.05198449 -0.03005738
+v 0.03804195 -0.04858373 -0.04658200
+v 0.03501043 -0.05280018 -0.04658363
+v 0.03289468 -0.05883260 -0.04658204
+v 0.03289468 -0.06879050 -0.04657722
+v 0.03804195 -0.06787602 -0.04658046
+v 0.05017045 -0.06787602 -0.04657884
+v 0.05320440 -0.07089223 -0.04647693
+v 0.05320440 -0.06787602 -0.04655457
+v 0.05527643 -0.07297577 -0.04536559
+v 0.05686992 -0.07089224 -0.04340010
+v 0.05713469 -0.07089225 -0.04036694
+v 0.05714198 -0.07089226 -0.03733379
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+v 0.05714926 -0.07089229 -0.03126424
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+v 0.05771039 -0.04858374 -0.04311692
+v 0.05771039 -0.06319719 -0.03005742
+v 0.05017045 -0.04858373 -0.04657877
+v 0.05017045 -0.05280018 -0.04658040
+v 0.05017045 -0.05581639 -0.04658042
+v 0.03289468 -0.06787602 -0.04658046
+v 0.05320440 -0.06486241 -0.04655942
+v 0.05320440 -0.05280018 -0.04656260
+v 0.05320440 -0.05883260 -0.04656101
+v 0.05578168 -0.06787602 -0.04572470
+v 0.05566265 -0.07089223 -0.04565515
+v 0.05579140 -0.06486241 -0.04572955
+v 0.05707396 -0.06787603 -0.04340009
+v 0.05771039 -0.06155265 -0.04249902
+v 0.05771039 -0.06322314 -0.03733376
+v 0.05771039 -0.06322574 -0.03726743
+v 0.05771039 -0.06263600 -0.04014853
+v 0.05771039 -0.06330369 -0.03429898
+v 0.05771039 -0.06322837 -0.03126421
+v 0.05730715 -0.04858374 -0.04390797
+v 0.05771039 -0.05135054 -0.04312502
+v 0.05199471 -0.04858373 -0.04656906
+v 0.05320440 -0.04978658 -0.04656259
+v 0.05579140 -0.04978658 -0.04573110
+v 0.05730715 -0.05581640 -0.04391286
+v 0.05730715 -0.05883261 -0.04375919
+v 0.05730715 -0.05280019 -0.04391445
+v 0.05771039 -0.05883261 -0.04283225
+v 0.05670231 -0.04858374 -0.04463593
+v 0.05730715 -0.04978659 -0.04391121
+v 0.05771039 -0.05280019 -0.04312664
+v 0.05320440 -0.04858373 -0.04656097
+v 0.05475903 -0.04858373 -0.04606273
+v 0.05579140 -0.04858373 -0.04573110
+v 0.05771039 -0.05581640 -0.04312504
+f 1 2 3
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+f 1 18 36
+f 1 36 54
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+f 1 19 10
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+f 1 4 2
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+f 9 49 68
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+f 9 34 18
+f 10 19 20
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+f 13 21 24
+f 13 24 25
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+f 14 30 31
+f 14 31 15
+f 17 33 32
+f 18 34 35
+f 18 35 36
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+f 20 39 22
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+f 23 39 41
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+f 25 42 26
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+f 56 71 82
+f 56 82 72
+f 56 72 60
+f 56 60 57
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+f 58 60 73
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+f 58 74 61
+f 60 72 75
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+f 68 78 77
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+f 75 82 78
+f 75 78 79
+f 77 78 82
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_3.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739f79a3bb4034b4e871ceebcf76d0a6ded0d044
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.06738979 -0.03215528 0.13259001
+v -0.06689427 -0.03215528 0.13443257
+v -0.06737799 -0.03215527 0.12955521
+v -0.06737996 -0.05883145 0.12955511
+v -0.06737996 -0.06049299 0.12955511
+v -0.06738586 -0.06049300 0.13258991
+v -0.06535263 -0.03215529 0.13512886
+v -0.06716366 -0.06049300 0.13341594
+v -0.06689033 -0.06049300 0.13442754
+v -0.06689033 -0.05581350 0.13442919
+v -0.06607232 -0.06049301 0.13479868
+v -0.06507143 -0.06049301 0.13525193
+v -0.06731704 -0.03215526 0.12908883
+v -0.06697685 -0.03215525 0.12652205
+v -0.06697685 -0.04676793 0.12652200
+v -0.06715776 -0.06049298 0.12788499
+v -0.06507143 -0.03215529 0.13525532
+v -0.06507143 -0.04676797 0.13525362
+v -0.06203928 -0.06049301 0.13595151
+v -0.06203928 -0.04676797 0.13595484
+v -0.06668190 -0.03215525 0.12431985
+v -0.06668190 -0.03470720 0.12431656
+v -0.06668190 -0.05279829 0.12431814
+v -0.06681365 -0.06049297 0.12530508
+v -0.06203928 -0.03215529 0.13595489
+v -0.05900713 -0.04676797 0.13635226
+v -0.05217200 -0.06049301 0.13724064
+v -0.05218576 -0.05279833 0.13724231
+v -0.05219363 -0.04676797 0.13724398
+v -0.05947316 -0.03215529 0.13629155
+v -0.06647739 -0.03215524 0.12280245
+v -0.06647739 -0.03470719 0.12279916
+v -0.06647739 -0.05279828 0.12280074
+v -0.06647739 -0.06049296 0.12280235
+v -0.05108263 -0.06049301 0.13724064
+v -0.05107083 -0.04676797 0.13724398
+v -0.05219363 -0.03215529 0.13724238
+v -0.06615688 -0.03215523 0.12046887
+v -0.06615884 -0.06049295 0.12046877
+v -0.06630239 -0.06049296 0.12151979
+v -0.05107476 -0.05279833 0.13724231
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+v -0.04730718 -0.03215527 0.12955521
+v -0.04763753 -0.03215528 0.13259001
+f 1 2 7
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+f 1 17 25
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+f 1 37 47
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+f 1 68 73
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_30.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f818d2aa6faf0054be2a8cf22e484c4b07dd6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_30.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.04979091 0.00482740
+v 0.03959541 0.07512396 0.00482750
+v 0.05708185 0.04979091 0.00482740
+v 0.03959541 0.04979087 0.01681505
+v 0.05017062 0.07513140 0.00482750
+v 0.03959541 0.07513135 0.02031936
+v 0.05710657 0.05005634 0.00482740
+v 0.05721252 0.04979091 0.00509208
+v 0.04340771 0.04979082 0.02942304
+v 0.03959541 0.06255160 0.03174728
+v 0.05049199 0.07511156 0.00482750
+v 0.05017062 0.07513132 0.02638763
+v 0.03959541 0.07513132 0.02638763
+v 0.05752859 0.05604726 0.00482743
+v 0.05723547 0.04979091 0.00514998
+v 0.04342890 0.04979082 0.02946991
+v 0.04456606 0.04979081 0.03192644
+v 0.03959541 0.06480905 0.03275913
+v 0.05320421 0.07493543 0.00515008
+v 0.05320421 0.07493543 0.00482750
+v 0.03959541 0.07507427 0.02786541
+v 0.04410696 0.07501224 0.02942314
+v 0.04714055 0.07500976 0.02942314
+v 0.05017062 0.07500479 0.02942314
+v 0.05320421 0.07493039 0.02638763
+v 0.05763454 0.05875621 0.00482744
+v 0.05728668 0.04979090 0.00812483
+v 0.04714055 0.04979081 0.03295482
+v 0.03959541 0.06635453 0.03287217
+v 0.05348497 0.07478906 0.00482749
+v 0.03959541 0.07501224 0.02942314
+v 0.03959541 0.07433500 0.03066105
+v 0.04107513 0.07362055 0.03196237
+v 0.04714055 0.07361807 0.03195686
+v 0.05017062 0.07361310 0.03195135
+v 0.05320421 0.07348163 0.03187139
+v 0.05320421 0.07477161 0.02942313
+v 0.05576105 0.07344443 0.02942313
+v 0.05585287 0.07353870 0.02638762
+v 0.05586700 0.07354374 0.00482749
+v 0.05729021 0.04979088 0.01419310
+v 0.05728138 0.06782570 0.00482747
+v 0.05728138 0.06782570 0.00515005
+v 0.05727608 0.06782565 0.02031933
+v 0.05726902 0.06782562 0.02638760
+v 0.05728668 0.05878093 0.02638757
+v 0.05729198 0.05576438 0.02638755
+v 0.05729198 0.04979083 0.02638753
+v 0.05729198 0.04979084 0.02329412
+v 0.05017062 0.04979081 0.03298791
+v 0.03959541 0.06782560 0.03297971
+v 0.03959541 0.07362055 0.03196237
+v 0.03959541 0.07226608 0.03246416
+v 0.04410696 0.07083966 0.03299074
+v 0.04714055 0.07083966 0.03298523
+v 0.05017062 0.07083966 0.03297696
+v 0.05320421 0.07083966 0.03288046
+v 0.05535139 0.07301525 0.03151022
+v 0.05697414 0.07083967 0.02942312
+v 0.05712599 0.07083968 0.02638761
+v 0.05713836 0.07083973 0.01425383
+v 0.05700945 0.07112753 0.00482748
+v 0.05726725 0.06814323 0.00482747
+v 0.05714365 0.07083976 0.00515006
+v 0.05715601 0.06782561 0.02942311
+v 0.05718603 0.05878092 0.02942308
+v 0.05718956 0.05576437 0.02942306
+v 0.05719133 0.05275030 0.02942305
+v 0.05719133 0.04979082 0.02942304
+v 0.05023065 0.04979081 0.03298791
+v 0.05017062 0.06782560 0.03299349
+v 0.03959541 0.07083966 0.03299074
+v 0.03959541 0.06937108 0.03298798
+v 0.05320421 0.06782560 0.03296041
+v 0.05588289 0.06782560 0.03193478
+v 0.05577341 0.07083966 0.03186587
+v 0.05714365 0.07083976 0.00482748
+v 0.05588995 0.06480905 0.03194029
+v 0.05590231 0.05878091 0.03194854
+v 0.05590585 0.05275029 0.03194851
+v 0.05590585 0.04979081 0.03194850
+v 0.05320421 0.04979081 0.03297136
+v 0.05320421 0.05275029 0.03297137
+v 0.05320421 0.05878091 0.03296865
+v 0.05589525 0.06179498 0.03194579
+v 0.05325719 0.04979081 0.03295207
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+f 1 5 11
+f 1 11 20
+f 1 20 30
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+f 1 40 62
+f 1 62 77
+f 1 77 63
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+f 1 42 26
+f 1 26 14
+f 1 14 7
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+f 1 41 49
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+f 47 69 48
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+f 74 78 75
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+f 79 84 83
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+f 82 86 83
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_31.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5775071de062dca23567984e7d42eb2e1a58689
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_31.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.02975142 -0.05882252 -0.04657431
+v -0.02975142 -0.03177190 -0.04657421
+v -0.01958192 -0.04978182 -0.04658071
+v -0.01414738 -0.05882252 -0.04657431
+v -0.02975142 -0.05882276 0.01926011
+v -0.01414738 -0.03177190 -0.04657421
+v -0.02975142 -0.03177214 0.01909907
+v -0.01414738 -0.05882276 0.01791944
+v -0.01414738 -0.03232031 0.01793888
+v -0.01414738 -0.03177214 0.01793888
+v -0.02974684 -0.03177214 0.01916353
+v -0.02975142 -0.03203960 0.01916353
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 10
+f 2 10 6
+f 3 6 4
+f 4 6 10
+f 4 10 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 7 12 11
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_32.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc89f16d5563c8645edb9ac812d4a40d44a3133
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_32.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.02975011 -0.02147873 -0.04656648
+v -0.03065499 -0.00462162 -0.04657304
+v -0.01958313 -0.00756589 -0.04657305
+v -0.01414738 -0.02147873 -0.04656648
+v -0.02975011 -0.02147898 0.02068992
+v -0.03065499 0.01961223 -0.04657295
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+v -0.03065499 -0.00462187 0.02097432
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+v -0.01414738 -0.02147897 0.01838214
+v -0.01958313 0.01961223 -0.04657956
+v -0.03065499 0.01961198 0.02088184
+v -0.03065499 0.00449649 0.02096114
+v -0.01414738 0.01961223 -0.04657295
+v -0.03065499 0.00750913 0.02095454
+v -0.01414738 0.01961199 0.01800537
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 8
+f 1 8 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 2 8 13
+f 2 13 15
+f 2 15 12
+f 2 12 6
+f 3 7 9
+f 3 9 4
+f 4 9 14
+f 4 14 16
+f 4 16 10
+f 5 10 8
+f 6 12 16
+f 6 16 14
+f 6 14 11
+f 7 11 14
+f 7 14 9
+f 8 10 13
+f 10 12 15
+f 10 15 13
+f 10 16 12
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_33.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76d7ed255103cc4f5ebf0bd2779ab773499c7a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_33.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04080999 -0.07532414 0.04156078
+v -0.04687558 -0.07532091 0.04156078
+v -0.04722309 -0.07531927 0.03596318
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+v -0.04080999 -0.07532090 0.03852861
+v -0.03777927 -0.07502855 0.03596318
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+v -0.03777927 -0.07491227 0.03852861
+v -0.04080999 -0.07518528 0.05369588
+v -0.04080999 -0.07526926 0.05066371
+v -0.04080999 -0.07530962 0.04763155
+v -0.04384347 -0.07531455 0.06884705
+v -0.04384347 -0.07531938 0.06583420
+v -0.04384347 -0.07532260 0.06279881
+v -0.04722309 -0.07532099 0.06279881
+v -0.03501161 -0.05882548 0.03596324
+v -0.04722309 -0.05882552 0.04604471
+v -0.03572048 -0.07309526 0.04459617
+v -0.03804787 -0.07372681 0.05369589
+v -0.03777927 -0.07426785 0.04763156
+v -0.03777927 -0.07455857 0.04459617
+v -0.03777927 -0.07476853 0.04156079
+v -0.03309128 -0.07089379 0.03596320
+v -0.03307881 -0.06757639 0.06289219
+v -0.04080999 -0.07504478 0.05673126
+v -0.04344335 -0.07510620 0.06884705
+v -0.04687558 -0.07531778 0.06884705
+v -0.04080999 -0.07483805 0.05976344
+v -0.04080999 -0.07454734 0.06279882
+v -0.04080999 -0.07416779 0.06583421
+v -0.04722309 -0.07531778 0.06884705
+v -0.04722309 -0.07531938 0.06583420
+v -0.03465717 -0.05883194 0.03596324
+v -0.03531067 -0.05882549 0.03852223
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+v -0.04722309 -0.06013545 0.06163687
+v -0.03596277 -0.07281908 0.04763156
+v -0.04059539 -0.07361542 0.06884706
+v -0.03307881 -0.06442201 0.05809610
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+v -0.03307881 -0.06427989 0.05976347
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+v -0.03307881 -0.06563501 0.06511644
+v -0.03591432 -0.06662671 0.06759496
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+v -0.03307881 -0.06473698 0.06289220
+v -0.03815585 -0.06785099 0.06884708
+v -0.03307881 -0.06523607 0.06431172
+v -0.03956668 -0.06392297 0.06884710
+v -0.03809909 -0.06537821 0.06884709
+v -0.03591432 -0.06600166 0.06759496
+v -0.03809632 -0.06549774 0.06884709
+v -0.03811986 -0.06771371 0.06884708
+v -0.03809632 -0.06544443 0.06884709
+f 1 2 3
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+f 1 6 7
+f 1 7 19
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+f 1 8 2
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+f 3 9 20
+f 3 20 37
+f 3 37 27
+f 3 27 11
+f 3 11 6
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+f 3 35 52
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+f 3 40 21
+f 3 21 9
+f 4 10 5
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+f 6 11 12
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+f 9 21 39
+f 9 39 55
+f 9 55 38
+f 9 38 20
+f 11 22 23
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+f 11 28 22
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+f 23 33 24
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+f 28 45 44
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+f 28 53 60
+f 28 60 62
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+f 28 57 50
+f 28 50 42
+f 28 42 51
+f 28 51 41
+f 30 34 42
+f 37 38 53
+f 37 53 54
+f 37 54 43
+f 38 55 53
+f 39 40 55
+f 40 52 55
+f 41 51 42
+f 42 50 56
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+f 53 55 59
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+f 57 62 59
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+f 59 62 60
+f 64 68 65
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_34.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d3ab4fc0eaaf439506e9e9009493f4e3180af9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04559735 -0.03516006 0.00062280
+v 0.04559484 -0.03516006 0.00062925
+v 0.04559484 -0.03515759 0.00061634
+v 0.05320441 -0.03516007 0.00152946
+v 0.04559484 -0.03516018 0.03234305
+v 0.04559484 -0.00982904 0.00059062
+v 0.05320441 -0.03470379 0.00152946
+v 0.05361794 -0.03516007 0.00168756
+v 0.04713963 -0.03516018 0.03296255
+v 0.04713963 -0.00982916 0.03304008
+v 0.04559484 -0.00982916 0.03238186
+v 0.05320441 -0.00982905 0.00153278
+v 0.05595210 -0.00982905 0.00258141
+v 0.05595335 -0.01359833 0.00258140
+v 0.05595335 -0.03168837 0.00258133
+v 0.05595210 -0.03516007 0.00258132
+v 0.05017265 -0.03516018 0.03299482
+v 0.05320441 -0.00982916 0.03355310
+v 0.05017265 -0.00982916 0.03338209
+v 0.04789883 -0.00982916 0.03314010
+v 0.05723293 -0.00982906 0.00514974
+v 0.05723544 -0.01661376 0.00514972
+v 0.05723544 -0.02867296 0.00514967
+v 0.05614566 -0.03516007 0.00296850
+v 0.05320441 -0.03516018 0.03297546
+v 0.05396235 -0.00982916 0.03339177
+v 0.05843457 -0.00982914 0.02638692
+v 0.05723293 -0.03516008 0.00514965
+v 0.05639454 -0.00982916 0.03246898
+v 0.05549959 -0.03516018 0.03210429
+v 0.05841823 -0.00982915 0.02891332
+v 0.05728823 -0.03516016 0.02638683
+v 0.05728823 -0.03516012 0.01728472
+v 0.05728698 -0.03516011 0.01425176
+v 0.05728195 -0.03516009 0.00818261
+v 0.05724047 -0.03516008 0.00560782
+v 0.05590685 -0.03516018 0.03194941
+v 0.05809016 -0.00983908 0.03143971
+v 0.05809016 -0.00982916 0.03143971
+v 0.05840440 -0.00982915 0.02941989
+v 0.05719145 -0.03516017 0.02941980
+v 0.05809394 -0.00982916 0.03143003
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 24
+f 1 24 28
+f 1 28 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 41
+f 1 41 37
+f 1 37 30
+f 1 30 25
+f 1 25 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 2 6 3
+f 3 6 4
+f 4 7 8
+f 4 6 7
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 6 11 10
+f 6 10 20
+f 6 20 19
+f 6 19 18
+f 6 18 26
+f 6 26 29
+f 6 29 39
+f 6 39 42
+f 6 42 40
+f 6 40 31
+f 6 31 27
+f 6 27 21
+f 6 21 13
+f 6 13 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 17 25 18
+f 18 25 26
+f 21 27 22
+f 22 27 23
+f 23 28 24
+f 23 27 28
+f 25 29 26
+f 25 30 29
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 29 30 37
+f 29 37 38
+f 29 38 39
+f 31 40 32
+f 32 40 41
+f 37 41 38
+f 38 42 39
+f 38 41 42
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_35.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd0a2d07deaf77a0bc6c0e1f3eb57995eef25e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_35.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04577596 0.05659585 0.02342890
+v -0.04847094 0.05659583 0.02862214
+v -0.04847094 0.05984450 0.02861771
+v -0.04577596 0.06481199 0.02342449
+v -0.04577596 0.05659579 0.04209879
+v -0.04847094 0.05659571 0.06185356
+v -0.04847094 0.06481197 0.02861773
+v -0.04577596 0.06782586 0.02344228
+v -0.04847094 0.06782584 0.02862218
+v -0.04577596 0.06152831 0.06884756
+v -0.04847094 0.05942245 0.06884755
+v -0.04577596 0.07084157 0.02428264
+v -0.04847094 0.06889344 0.02864442
+v -0.04847094 0.07084155 0.02869778
+v -0.04577596 0.07531910 0.06884761
+v -0.04847094 0.07531910 0.06884761
+v -0.04577596 0.07271078 0.02683925
+v -0.04847094 0.07200821 0.02911573
+v -0.04847094 0.07362061 0.02970709
+v -0.04685474 0.07532093 0.06884761
+v -0.04577596 0.07532093 0.06776717
+v -0.04687691 0.07532093 0.06884761
+v -0.04577596 0.07533387 0.04156086
+v -0.04847094 0.07533021 0.04156086
+v -0.04577596 0.07363897 0.02839100
+v -0.04847094 0.07443507 0.03106765
+v -0.04577596 0.07532647 0.05866121
+v -0.04577596 0.07533205 0.03742583
+v -0.04687691 0.07533205 0.03852850
+v -0.04847094 0.07533022 0.03852850
+v -0.04847094 0.07516698 0.03245934
+v -0.04577596 0.07487348 0.03135667
+v -0.04577596 0.07533023 0.03549615
+v -0.04687691 0.07533023 0.03549615
+v -0.04847094 0.07532839 0.03549615
+v -0.04577596 0.07511562 0.03245934
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 25
+f 1 25 32
+f 1 32 36
+f 1 36 33
+f 1 33 28
+f 1 28 23
+f 1 23 27
+f 1 27 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 24
+f 2 24 30
+f 2 30 35
+f 2 35 31
+f 2 31 26
+f 2 26 19
+f 2 19 18
+f 2 18 14
+f 2 14 13
+f 2 13 9
+f 2 9 7
+f 2 7 3
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 6
+f 6 10 11
+f 8 9 13
+f 8 13 14
+f 8 14 12
+f 10 15 20
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+f 10 22 16
+f 10 16 11
+f 12 14 18
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+f 15 21 20
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+f 20 21 27
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+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 26 31
+f 25 31 32
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 29 35 30
+f 31 36 32
+f 31 35 34
+f 31 34 33
+f 31 33 36
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_36.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b85da6b850608ddf36b46a7a97318b3ec2f4640
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06174241 -0.00982893 -0.03051456
+v 0.06174241 -0.00982889 -0.04076057
+v 0.06002838 -0.00982893 -0.03042201
+v 0.06174241 -0.03168825 -0.03024348
+v 0.06174241 -0.02202200 -0.04076224
+v 0.05578989 -0.00982887 -0.04572931
+v 0.05926878 -0.00982893 -0.03038141
+v 0.06174241 -0.03470367 -0.03020776
+v 0.06174241 -0.03515991 -0.04076229
+v 0.05578989 -0.03168819 -0.04572939
+v 0.05359298 -0.03515989 -0.04643575
+v 0.05320330 -0.00982887 -0.04656069
+v 0.05623604 -0.00982893 -0.03025314
+v 0.06128213 -0.03515995 -0.03018665
+v 0.06174241 -0.03515995 -0.03020614
+v 0.05926878 -0.03168825 -0.03013793
+v 0.05926878 -0.03470367 -0.03010872
+v 0.05578706 -0.03515989 -0.04572940
+v 0.05320330 -0.03515989 -0.04656078
+v 0.05062802 -0.03515989 -0.04657701
+v 0.05017056 -0.00982887 -0.04657855
+v 0.05623604 -0.03168825 -0.03004538
+v 0.04525436 -0.00982893 -0.02999334
+v 0.05926878 -0.03515995 -0.03010709
+v 0.05623604 -0.03470367 -0.03002428
+v 0.05017056 -0.03515989 -0.04657864
+v 0.04153262 -0.03515989 -0.04658027
+v 0.04107517 -0.03470361 -0.04658027
+v 0.03804243 -0.03168819 -0.04658026
+v 0.03289468 -0.00982887 -0.04657855
+v 0.03289468 -0.00982893 -0.02999334
+v 0.04525719 -0.01058279 -0.02999334
+v 0.05320330 -0.03470367 -0.03001129
+v 0.05623604 -0.03515995 -0.03002428
+v 0.03289468 -0.03515989 -0.04658027
+v 0.03500969 -0.03168819 -0.04658026
+v 0.03289468 -0.03470361 -0.04658027
+v 0.03289468 -0.03515995 -0.02999343
+v 0.04527413 -0.01661363 -0.02999336
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+v 0.04528260 -0.01967369 -0.02999337
+v 0.04530519 -0.02867283 -0.02999341
+v 0.04530802 -0.03168825 -0.02999342
+v 0.04531084 -0.03470863 -0.02999343
+v 0.04530802 -0.03515995 -0.02999343
+v 0.04531084 -0.03472351 -0.02999343
+f 1 2 6
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+f 1 12 21
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+f 1 30 31
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+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
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+f 9 18 10
+f 10 18 11
+f 11 19 12
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+f 12 20 21
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+f 20 26 21
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+f 21 27 28
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+f 21 29 36
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+f 22 23 25
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+f 23 38 45
+f 23 45 46
+f 23 46 44
+f 23 44 43
+f 23 43 42
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+f 23 41 39
+f 23 39 32
+f 23 32 33
+f 23 33 25
+f 24 25 34
+f 25 33 40
+f 25 40 34
+f 27 35 37
+f 27 37 36
+f 27 36 29
+f 27 29 28
+f 30 36 37
+f 30 37 35
+f 30 35 38
+f 30 38 31
+f 32 39 33
+f 33 39 41
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 46
+f 33 46 40
+f 40 46 45
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_37.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b47dce6f854e85700d9c49190c093b0ce768ee65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_37.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.06784285 0.05091081 -0.01065327
+v 0.06784285 -0.01475472 -0.01122078
+v 0.06784285 0.05091084 -0.02001552
+v 0.06174301 0.05091081 -0.01197384
+v 0.06174301 -0.04978553 -0.01217308
+v 0.06721584 -0.04977567 -0.01185783
+v 0.06721584 -0.04978551 -0.01689911
+v 0.06784285 -0.01475469 -0.01979307
+v 0.06174301 0.05091084 -0.02000910
+v 0.06721584 -0.04978550 -0.01979136
+v 0.06174301 -0.04978550 -0.01978953
+v 0.06533484 -0.04978553 -0.01217308
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 10
+f 2 10 8
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 4 9 11
+f 4 11 5
+f 5 11 10
+f 5 10 7
+f 5 7 12
+f 5 12 6
+f 6 12 7
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_38.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5283342d31a6f572296b7f684a56c54028edfddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_38.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05017247 0.07513888 -0.02341369
+v 0.05017247 0.07514116 -0.02519629
+v 0.04713961 0.07513659 -0.02341369
+v 0.05320316 0.07494253 -0.02341369
+v 0.05017247 0.07514345 -0.02823077
+v 0.04713961 0.07513888 -0.02519629
+v 0.03959541 0.07512746 -0.02341369
+v 0.05586747 0.07354528 -0.02341370
+v 0.05320316 0.07494486 -0.03733194
+v 0.04713961 0.07514117 -0.02823077
+v 0.05320316 0.07494487 -0.04036642
+v 0.05017247 0.07514122 -0.04036642
+v 0.04713961 0.07514120 -0.03429973
+v 0.04107390 0.07513432 -0.02823077
+v 0.03959541 0.07512974 -0.02519629
+v 0.03959541 0.05182169 -0.02341378
+v 0.06174025 0.06168467 -0.03429978
+v 0.05586747 0.07354528 -0.02519630
+v 0.05586314 0.07354758 -0.03126526
+v 0.06174025 0.06126683 -0.02341374
+v 0.04107390 0.07513663 -0.03429973
+v 0.03959541 0.07513433 -0.03126525
+v 0.05586314 0.07354762 -0.04036643
+v 0.05571789 0.07339695 -0.04339864
+v 0.05320316 0.07466634 -0.04339864
+v 0.05017247 0.07489009 -0.04339863
+v 0.03959541 0.07513437 -0.04036642
+v 0.04713961 0.07489465 -0.04339863
+v 0.04107390 0.07489465 -0.04339863
+v 0.03959541 0.07501108 -0.04191995
+v 0.03959541 0.05182177 -0.04657836
+v 0.04431270 0.05182169 -0.02341378
+v 0.06174025 0.06151573 -0.03733199
+v 0.06174025 0.05450204 -0.02341377
+v 0.05714435 0.07083988 -0.04036644
+v 0.05688204 0.07083989 -0.04339865
+v 0.05528865 0.07294719 -0.04536947
+v 0.05320316 0.07336728 -0.04566203
+v 0.05017247 0.07349513 -0.04573007
+v 0.04713961 0.07349969 -0.04573234
+v 0.04107390 0.07350198 -0.04573234
+v 0.03959541 0.07418004 -0.04459610
+v 0.03959541 0.07489237 -0.04339863
+v 0.05017247 0.05182177 -0.04657836
+v 0.03959541 0.05274870 -0.04658062
+v 0.06174025 0.05182171 -0.03021075
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+v 0.05567020 0.07083990 -0.04565523
+v 0.05320316 0.07083990 -0.04647623
+v 0.05017247 0.07083990 -0.04656014
+v 0.04410676 0.07083990 -0.04656241
+v 0.03959541 0.07349969 -0.04573234
+v 0.03959541 0.07083990 -0.04656241
+v 0.05320316 0.05182177 -0.04655794
+v 0.05017247 0.06481026 -0.04657831
+v 0.03959541 0.06481026 -0.04657831
+v 0.06174025 0.05182175 -0.04075886
+v 0.06174025 0.05878060 -0.04045266
+v 0.05577642 0.06782622 -0.04572102
+v 0.06174025 0.05636509 -0.04072029
+v 0.06174025 0.05576464 -0.04075658
+v 0.05320316 0.06782622 -0.04655108
+v 0.05017247 0.06782622 -0.04657603
+v 0.03959541 0.06782622 -0.04657603
+v 0.05400094 0.05182177 -0.04630393
+v 0.05320316 0.06481026 -0.04655789
+v 0.05578943 0.05182177 -0.04572788
+v 0.06174025 0.05337424 -0.04075885
+v 0.05578510 0.06481026 -0.04572783
+v 0.05578943 0.05576466 -0.04572787
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 32
+f 1 32 34
+f 1 34 20
+f 1 20 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 10
+f 2 10 6
+f 3 6 15
+f 3 15 7
+f 4 8 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 21
+f 5 21 10
+f 6 10 14
+f 6 14 15
+f 7 15 22
+f 7 22 27
+f 7 27 30
+f 7 30 43
+f 7 43 42
+f 7 42 54
+f 7 54 55
+f 7 55 66
+f 7 66 58
+f 7 58 45
+f 7 45 31
+f 7 31 16
+f 8 17 18
+f 8 18 23
+f 8 23 19
+f 8 19 9
+f 8 20 17
+f 9 19 23
+f 9 23 11
+f 10 21 22
+f 10 22 14
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 27 13
+f 12 26 28
+f 12 28 29
+f 12 29 30
+f 12 30 27
+f 13 27 21
+f 14 22 15
+f 16 31 44
+f 16 44 56
+f 16 56 67
+f 16 67 69
+f 16 69 59
+f 16 59 46
+f 16 46 32
+f 17 23 18
+f 17 20 34
+f 17 34 46
+f 17 46 59
+f 17 59 70
+f 17 70 63
+f 17 63 62
+f 17 62 60
+f 17 60 49
+f 17 49 48
+f 17 48 47
+f 17 47 33
+f 17 33 23
+f 21 27 22
+f 23 33 35
+f 23 35 24
+f 24 35 33
+f 24 33 36
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 31 45 44
+f 32 46 34
+f 33 47 36
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 40 52 53
+f 40 53 41
+f 41 54 42
+f 41 53 55
+f 41 55 54
+f 44 45 57
+f 44 57 68
+f 44 68 56
+f 45 58 57
+f 49 60 50
+f 50 61 51
+f 50 60 62
+f 50 62 63
+f 50 63 61
+f 51 61 64
+f 51 64 52
+f 52 64 65
+f 52 65 53
+f 53 65 66
+f 53 66 55
+f 56 68 67
+f 57 58 66
+f 57 66 65
+f 57 65 68
+f 59 69 72
+f 59 72 70
+f 61 71 64
+f 61 63 71
+f 63 70 71
+f 64 71 68
+f 64 68 65
+f 67 72 69
+f 67 68 71
+f 67 71 72
+f 70 72 71
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_39.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73fdfb6e958602c4105d66c9c83257f78439899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_39.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.06068927 0.01792091
+v 0.01439690 0.06068927 0.01797779
+v 0.01229790 0.03473303 0.01797770
+v 0.03959541 0.03473304 0.01673908
+v 0.03959541 0.06068951 -0.04657549
+v -0.01414738 0.06068927 0.01797779
+v 0.00312333 0.03473303 0.01797770
+v 0.03959541 0.03473327 -0.04657558
+v 0.03500286 0.05274715 -0.04658185
+v -0.01414738 0.06068951 -0.04657549
+v -0.01414738 0.05902254 0.01797779
+v -0.01414738 0.03473303 0.01794610
+v -0.01414738 0.03473327 -0.04657558
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 10 13
+f 6 13 12
+f 6 12 11
+f 7 11 12
+f 8 13 9
+f 9 13 10
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_4.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9fd435078562da9acb94dc061c39e8d108e347
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_4.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.05923275 -0.05875034 0.06884711
+v -0.05895691 -0.05875034 0.06884711
+v -0.05923620 -0.05875034 0.06887238
+v -0.05922413 -0.03215504 0.06884721
+v -0.04864718 -0.05581353 0.06884712
+v -0.04854891 -0.05875034 0.06885217
+v -0.06615648 -0.05875053 0.12046208
+v -0.06615820 -0.05581372 0.12046715
+v -0.06615820 -0.05579550 0.12046716
+v -0.06615475 -0.03215523 0.12045208
+v -0.04864718 -0.03215504 0.06884721
+v -0.04861269 -0.05279861 0.06884714
+v -0.04854546 -0.05875034 0.06892796
+v -0.04861269 -0.05277779 0.06884714
+v -0.06595132 -0.05875053 0.12046714
+v -0.06615648 -0.03215523 0.12046724
+v -0.04864718 -0.03215504 0.06886743
+v -0.04870580 -0.03215504 0.06933734
+v -0.04902991 -0.03215505 0.07190420
+v -0.04887992 -0.05875035 0.07148471
+v -0.05597432 -0.05875053 0.12046714
+v -0.05602088 -0.03215523 0.12046724
+v -0.04890406 -0.05875035 0.07166156
+v -0.05412961 -0.05875049 0.10839080
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 23
+f 1 23 24
+f 1 24 21
+f 1 21 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 14
+f 1 14 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 16
+f 4 16 22
+f 4 22 19
+f 4 19 18
+f 4 18 17
+f 4 17 11
+f 5 12 6
+f 6 11 13
+f 6 12 14
+f 6 14 11
+f 7 15 8
+f 8 15 21
+f 8 21 22
+f 8 22 16
+f 8 16 9
+f 9 16 10
+f 11 17 13
+f 13 18 19
+f 13 19 20
+f 13 17 18
+f 19 23 20
+f 19 22 24
+f 19 24 23
+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_40.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9399d904fde4cbe4f439f4d9f70268ac187ed4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_40.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.07511010 -0.03005685
+v 0.03501043 -0.07511269 -0.03005685
+v 0.03289468 -0.07511012 -0.02369136
+v 0.03289468 -0.04858379 -0.03005675
+v 0.05017045 -0.07511010 -0.03005685
+v 0.05017045 -0.07511012 -0.02369136
+v 0.03289468 -0.04858381 -0.02369126
+v 0.04508877 -0.04858379 -0.03005675
+v 0.05137772 -0.07503478 -0.03005685
+v 0.05167407 -0.07501662 -0.02369136
+v 0.04352200 -0.04858381 -0.02369126
+v 0.05771039 -0.05198333 -0.03005676
+v 0.05320440 -0.07492051 -0.03005685
+v 0.05320440 -0.07492053 -0.02369136
+v 0.05771039 -0.05455703 -0.02369128
+v 0.05771039 -0.06319741 -0.03005680
+v 0.05585455 -0.07356485 -0.03005684
+v 0.05585698 -0.07356487 -0.02369135
+v 0.05771039 -0.06313510 -0.02369131
+v 0.05714926 -0.07089248 -0.03005683
+v 0.05714926 -0.07089250 -0.02369134
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 14
+f 3 14 18
+f 3 18 21
+f 3 21 19
+f 3 19 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 10
+f 5 10 6
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 19
+f 12 19 16
+f 13 17 18
+f 13 18 14
+f 16 19 21
+f 16 21 20
+f 17 20 18
+f 18 20 21
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_41.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecef58197eff99ddb8709d3ace003f7119ab6c72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01958313 0.05876779 -0.04657856
+v -0.01957020 0.05876779 -0.04657856
+v -0.03065499 0.05876779 -0.04657071
+v -0.01958313 0.05878078 -0.04657856
+v -0.01414738 0.05876779 -0.04657071
+v -0.01414738 0.06543924 -0.04657069
+v -0.03065499 0.06782608 -0.04657068
+v -0.03065499 0.05876754 0.02077500
+v -0.01655016 0.06782608 -0.04657068
+v -0.01414738 0.05876755 0.01791425
+v -0.01414738 0.06845326 -0.04656281
+v -0.03065499 0.06978885 -0.04656280
+v -0.03065499 0.06085213 0.02942015
+v -0.01414738 0.07084172 -0.04655494
+v -0.01414738 0.06185301 0.02942016
+v -0.03065499 0.07084172 -0.04655494
+v -0.01414738 0.06261666 0.03174649
+v -0.03065499 0.06087650 0.02948303
+v -0.03065499 0.07257377 -0.04602051
+v -0.01414738 0.07349991 -0.04572972
+v -0.03065499 0.06200411 0.03197441
+v -0.01414738 0.06481177 0.03278392
+v -0.01958313 0.06481177 0.03301184
+v -0.03065499 0.06276939 0.03240667
+v -0.03065499 0.07349991 -0.04572972
+v -0.03065499 0.07440817 -0.04421289
+v -0.01958313 0.07489073 -0.04339551
+v -0.01655016 0.07488910 -0.04339551
+v -0.01414738 0.07488748 -0.04339551
+v -0.01414738 0.06782579 0.03305900
+v -0.01655016 0.06782579 0.03323191
+v -0.01958313 0.06782579 0.03341267
+v -0.03065499 0.06764706 0.03366417
+v -0.03065499 0.06481177 0.03319260
+v -0.03065499 0.07489398 -0.04339551
+v -0.03065499 0.07505158 -0.04142285
+v -0.03065499 0.07513607 -0.04036185
+v -0.01958313 0.07513119 -0.04036185
+v -0.01414738 0.07493785 -0.04276678
+v -0.01414738 0.07021263 0.03306687
+v -0.01655016 0.07084143 0.03320834
+v -0.01958313 0.07084143 0.03337338
+v -0.03065499 0.07084143 0.03371133
+v -0.03065499 0.07513767 -0.03535553
+v -0.01504903 0.07536505 -0.01159709
+v -0.01492784 0.07536505 -0.01159709
+v -0.01414738 0.07512632 -0.04036185
+v -0.01414738 0.07084143 0.03305901
+v -0.01414738 0.07304792 0.03221809
+v -0.01414738 0.07362798 0.03197445
+v -0.01958313 0.07361985 0.03216307
+v -0.03065499 0.07353049 0.03250888
+v -0.03065499 0.07513765 -0.03126087
+v -0.01504903 0.07536505 -0.01151850
+v -0.01492784 0.07536505 -0.01151850
+v -0.01414738 0.07534556 -0.01242231
+v -0.01414738 0.07472636 0.02997035
+v -0.03065499 0.07398706 0.03159721
+v -0.01414738 0.07501395 0.02942021
+v -0.03065499 0.07512769 0.02638655
+v -0.01414738 0.07534556 -0.01238301
+v -0.02564583 0.07512769 0.02638655
+v -0.01414738 0.07512282 0.02638655
+v -0.01655016 0.07501232 0.02942021
+v -0.01958313 0.07500745 0.02942021
+v -0.02261448 0.07500257 0.02942021
+v -0.02564583 0.07499607 0.02942021
+v -0.03065499 0.07497983 0.02942021
+v -0.03065499 0.07503183 0.02835922
+f 1 2 5
+f 1 5 10
+f 1 10 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 8 13
+f 3 13 18
+f 3 18 21
+f 3 21 24
+f 3 24 34
+f 3 34 33
+f 3 33 43
+f 3 43 52
+f 3 52 58
+f 3 58 68
+f 3 68 69
+f 3 69 60
+f 3 60 53
+f 3 53 44
+f 3 44 37
+f 3 37 36
+f 3 36 35
+f 3 35 26
+f 3 26 25
+f 3 25 19
+f 3 19 16
+f 3 16 12
+f 3 12 7
+f 4 7 9
+f 4 9 6
+f 5 6 11
+f 5 11 14
+f 5 14 20
+f 5 20 29
+f 5 29 39
+f 5 39 47
+f 5 47 56
+f 5 56 61
+f 5 61 63
+f 5 63 59
+f 5 59 57
+f 5 57 50
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+f 5 48 40
+f 5 40 30
+f 5 30 22
+f 5 22 17
+f 5 17 15
+f 5 15 10
+f 6 9 11
+f 7 12 9
+f 8 10 13
+f 9 12 14
+f 9 14 11
+f 10 15 13
+f 12 16 14
+f 13 15 17
+f 13 17 18
+f 14 16 19
+f 14 19 20
+f 17 21 18
+f 17 22 23
+f 17 23 24
+f 17 24 21
+f 19 25 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 25 26
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 29
+f 30 40 31
+f 31 41 32
+f 31 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 38 47 39
+f 38 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 46
+f 46 55 61
+f 46 61 56
+f 46 56 47
+f 50 57 51
+f 51 57 52
+f 52 57 59
+f 52 59 58
+f 53 60 54
+f 54 60 62
+f 54 62 55
+f 55 62 63
+f 55 63 61
+f 58 59 64
+f 58 64 65
+f 58 65 66
+f 58 66 67
+f 58 67 68
+f 59 60 64
+f 59 63 62
+f 59 62 60
+f 60 69 67
+f 60 67 66
+f 60 66 65
+f 60 65 64
+f 67 69 68
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_42.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86330054b284551446c0e3d80b6e7d4f1816615d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_42.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05320585 0.00068924 0.03417554
+v 0.05120817 0.00060170 0.03417554
+v 0.05320585 -0.00070550 0.03417554
+v 0.05488230 0.00030408 0.03404262
+v 0.05320585 0.04979080 0.03296968
+v 0.05023156 0.04979080 0.03298913
+v 0.05017276 0.04979080 0.03298913
+v 0.04713967 0.00751701 0.03310245
+v 0.04713967 0.00449996 0.03310568
+v 0.05120817 -0.00060629 0.03417554
+v 0.04713967 0.04979080 0.03295347
+v 0.05488230 -0.00034952 0.03404262
+v 0.05320585 -0.00982668 0.03355303
+v 0.05603100 0.00137786 0.03328723
+v 0.05623607 0.00751701 0.03300519
+v 0.05590480 0.04979080 0.03194843
+v 0.05325748 0.04979080 0.03295023
+v 0.04708948 0.00751701 0.03307976
+v 0.04708948 0.04978497 0.03293401
+v 0.04708948 0.00449996 0.03308299
+v 0.04708948 0.00444160 0.03308299
+v 0.04713967 0.00148290 0.03310243
+v 0.04713967 -0.00756243 0.03308618
+v 0.04713967 -0.00982668 0.03304078
+v 0.04789831 -0.00982668 0.03314129
+v 0.05017276 -0.00982668 0.03338444
+v 0.04708948 0.04979080 0.03290808
+v 0.05396448 -0.00982668 0.03339092
+v 0.05623607 -0.00756243 0.03299540
+v 0.05603100 -0.00142911 0.03328721
+v 0.05827821 0.00148290 0.03169862
+v 0.05826243 0.00751701 0.03170189
+v 0.05593061 0.04979080 0.03189980
+v 0.04708948 0.00142454 0.03307974
+v 0.04708948 -0.00762079 0.03306349
+v 0.04708948 -0.00982668 0.03301809
+v 0.04708948 0.04979092 0.00106465
+v 0.05639382 -0.00982668 0.03246694
+v 0.05809034 -0.00982668 0.03143921
+v 0.05825957 -0.00756243 0.03169210
+v 0.05827821 -0.00152832 0.03169860
+v 0.05913723 0.00148291 0.02942270
+v 0.05914440 -0.00152831 0.02942268
+v 0.05896657 0.00751702 0.02942272
+v 0.05719117 0.04979081 0.02942287
+v 0.04708948 -0.00982656 0.00106767
+v 0.05320585 0.04979091 0.00151854
+v 0.04708948 0.00148302 0.00105800
+v 0.05809465 -0.00982668 0.03142948
+v 0.05895653 -0.00756242 0.02942266
+v 0.06174009 0.00148297 0.01425315
+v 0.06170280 -0.00152825 0.01425313
+v 0.05719404 0.04979081 0.02936127
+v 0.04708948 -0.00756231 0.00106444
+v 0.05320585 -0.00982657 0.00153453
+v 0.05595356 0.04979091 0.00256896
+v 0.05320585 -0.00756232 0.00153129
+v 0.04708948 -0.00454526 0.00106121
+v 0.05840441 -0.00982667 0.02942265
+v 0.06147191 -0.00152824 0.01121857
+v 0.06150346 0.00148298 0.01121859
+v 0.05723706 0.04979090 0.00514963
+v 0.05728725 0.04979089 0.00818419
+v 0.05728869 0.04979088 0.01116040
+v 0.05729156 0.04979086 0.01722952
+v 0.05729156 0.04979082 0.02638831
+v 0.06116502 -0.00371080 0.01425313
+v 0.06102448 -0.00347736 0.01121857
+v 0.05526520 -0.00982657 0.00231910
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+v 0.06100010 0.00148299 0.00940628
+v 0.05595212 -0.00982657 0.00258171
+v 0.05841732 -0.00982667 0.02891365
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+v 0.06098433 -0.00152823 0.00942571
+v 0.05843452 -0.00982666 0.02638809
+v 0.05723276 -0.00982658 0.00514941
+v 0.05691296 -0.00982658 0.00450749
+f 1 2 10
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
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+f 2 11 8
+f 3 10 13
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+f 5 33 45
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+f 29 40 30
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+f 32 44 45
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+f 47 57 48
+f 48 57 58
+f 49 59 50
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+f 51 61 62
+f 51 62 63
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+f 51 64 65
+f 51 65 66
+f 51 66 53
+f 52 59 67
+f 52 67 68
+f 52 68 60
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+f 56 70 71
+f 56 71 72
+f 56 72 57
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+f 61 71 62
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+f 72 74 78
+f 74 77 78
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_43.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb9fceb745f2354247fd308c8bf37e163229bee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_43.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.03959270 0.02560752 0.02448924
+v 0.03959270 0.02711211 0.02391610
+v 0.03442271 0.02724121 0.02497534
+v 0.01187291 0.02560751 0.02753639
+v 0.03361126 0.02408512 0.02488102
+v 0.03959270 0.02317257 0.02325587
+v 0.03959270 0.02816711 0.02339373
+v 0.01187291 0.02860928 0.02649893
+v 0.01187291 0.02304050 0.02660047
+v 0.01187291 0.02265768 0.02641183
+v 0.03959270 0.01957582 0.01698018
+v 0.03959270 0.03473304 0.01674082
+v 0.01187291 0.03473303 0.01824263
+v 0.01187291 0.01957581 0.01825708
+v 0.03959270 0.01957605 -0.04657458
+v 0.03959270 0.03473327 -0.04657452
+v 0.01187291 0.03473327 -0.04657452
+v 0.01187291 0.01957605 -0.04657458
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 13
+f 4 13 17
+f 4 17 18
+f 4 18 14
+f 4 14 10
+f 4 10 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 10 14 11
+f 11 14 18
+f 11 18 15
+f 12 16 17
+f 12 17 13
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_44.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b31d560fe086fa143355cdeacbb4dea66d9eacc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_44.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04708948 0.00444160 0.03308444
+v 0.04456236 -0.00756243 0.03192888
+v 0.04456236 -0.00982668 0.03192887
+v 0.04708948 0.00142454 0.03308039
+v 0.04708948 0.00751701 0.03307637
+v 0.04456456 0.04979080 0.03192505
+v 0.04456309 0.02861889 0.03192902
+v 0.03959541 0.02560187 0.02449089
+v 0.04369309 -0.00982667 0.03005015
+v 0.04520643 -0.00982668 0.03221573
+v 0.04708948 -0.00460373 0.03306824
+v 0.04708948 0.04978497 0.03293511
+v 0.04461444 0.04979080 0.03194525
+v 0.04342827 0.04979081 0.02946857
+v 0.04340627 0.04979081 0.02942009
+v 0.03959541 0.04979086 0.01681045
+v 0.03959541 -0.00076379 0.01944856
+v 0.04340406 -0.00982667 0.02941987
+v 0.04708948 -0.00982668 0.03301974
+v 0.04708948 -0.00762079 0.03306015
+v 0.04708948 0.04979080 0.03290683
+v 0.03959541 0.04979095 -0.00819064
+v 0.03959541 -0.00982662 0.01671731
+v 0.04708948 -0.00982656 0.00106536
+v 0.04708948 0.04979092 0.00106558
+v 0.04435403 0.04979095 -0.00819064
+v 0.03959541 -0.00982653 -0.00819086
+v 0.04433495 -0.00982653 -0.00819086
+v 0.04708948 -0.00454526 0.00106134
+v 0.04708948 0.00459928 0.00106138
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 19
+f 1 19 24
+f 1 24 29
+f 1 29 30
+f 1 30 25
+f 1 25 21
+f 1 21 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
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+f 3 18 23
+f 3 23 27
+f 3 27 28
+f 3 28 24
+f 3 24 19
+f 3 19 10
+f 3 10 11
+f 3 11 4
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+f 5 13 6
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+f 6 21 25
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+f 6 26 22
+f 6 22 16
+f 6 16 15
+f 6 15 14
+f 6 14 8
+f 6 8 7
+f 8 14 15
+f 8 15 16
+f 8 16 22
+f 8 22 27
+f 8 27 23
+f 8 23 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 12 21 13
+f 17 23 18
+f 22 26 28
+f 22 28 27
+f 24 28 26
+f 24 26 29
+f 25 30 26
+f 26 30 29
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_45.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fa7bed1bc3a9377ff89d297a2afa3da78802b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_45.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.04080996 0.05878119 -0.04656926
+v -0.03065647 0.05878119 -0.04656926
+v -0.04384269 0.05878119 -0.04578965
+v -0.04080996 0.06782630 -0.04656923
+v -0.03065647 0.06782630 -0.04656923
+v -0.03065647 0.05878094 0.02077134
+v -0.04384269 0.06782630 -0.04578962
+v -0.04539975 0.05878119 -0.04496484
+v -0.04080996 0.07084080 -0.04652404
+v -0.03777872 0.07084080 -0.04655793
+v -0.03065647 0.07084080 -0.04655793
+v -0.03065647 0.06085327 0.02941488
+v -0.03122483 0.05878091 0.02941488
+v -0.04539975 0.06782630 -0.04496481
+v -0.04538347 0.06953868 -0.04494221
+v -0.04405434 0.07066243 -0.04556364
+v -0.04560105 0.05878118 -0.04339431
+v -0.04318256 0.07303965 -0.04542803
+v -0.04080996 0.07343855 -0.04569922
+v -0.03777872 0.07349693 -0.04572181
+v -0.03474599 0.07350179 -0.04573311
+v -0.03065647 0.07350017 -0.04573311
+v -0.03065647 0.06087597 0.02948268
+v -0.03065647 0.06200457 0.03197971
+v -0.03975613 0.06500273 0.06884757
+v -0.03928694 0.06329523 0.06437326
+v -0.04124215 0.06276172 0.06884756
+v -0.04125399 0.06275037 0.06884756
+v -0.03230382 0.05878090 0.03196840
+v -0.04560105 0.06481179 -0.04339429
+v -0.04559957 0.06782629 -0.04339428
+v -0.04547968 0.07066242 -0.04329258
+v -0.04540419 0.07242182 -0.04220789
+v -0.04520438 0.07154941 -0.04423038
+v -0.04575646 0.05878117 -0.04036625
+v -0.04405434 0.07333963 -0.04329257
+v -0.04080996 0.07480066 -0.04339426
+v -0.03777872 0.07489147 -0.04339425
+v -0.03474599 0.07489471 -0.04339425
+v -0.03171326 0.07489471 -0.04339425
+v -0.03065647 0.07489308 -0.04339425
+v -0.03065647 0.06276833 0.03240907
+v -0.03927362 0.06615728 0.06750302
+v -0.03962588 0.06612323 0.06884757
+v -0.03982717 0.06488436 0.06884757
+v -0.04577570 0.06152771 0.06884756
+v -0.03594191 0.05878087 0.04048767
+v -0.04575646 0.06481178 -0.04036623
+v -0.04575498 0.06782628 -0.04036622
+v -0.04562177 0.07084078 -0.04036621
+v -0.04542492 0.07245748 -0.04036620
+v -0.04577570 0.07533062 0.03548238
+v -0.04384269 0.07378717 -0.04036620
+v -0.04577570 0.05878093 0.02342654
+v -0.04577570 0.06481154 0.02341526
+v -0.04080996 0.07507145 -0.04036619
+v -0.03777872 0.07513793 -0.04036619
+v -0.03171326 0.07513632 -0.04036619
+v -0.03065647 0.07505199 -0.04141697
+v -0.03065647 0.06481151 0.03318869
+v -0.03942903 0.06782588 0.06884758
+v -0.04577570 0.07531915 0.06884761
+v -0.04577570 0.05878087 0.04210339
+v -0.04080996 0.05878087 0.04175313
+v -0.03777872 0.05878087 0.04143676
+v -0.04577570 0.06488127 0.02341526
+v -0.04577570 0.06782604 0.02343787
+v -0.04577570 0.07084054 0.02427399
+v -0.04577570 0.07271020 0.02682752
+v -0.04577570 0.07363773 0.02838675
+v -0.04577570 0.07487335 0.03134703
+v -0.04577570 0.07511496 0.03245431
+v -0.04577570 0.07533384 0.04154981
+v -0.04080996 0.07534520 0.04154981
+v -0.04080996 0.07534196 0.03852174
+v -0.04080996 0.07533548 0.03548238
+v -0.03065647 0.07513469 -0.04036619
+v -0.03065647 0.06764763 0.03366325
+v -0.03941127 0.07084038 0.06884759
+v -0.04577570 0.07532077 0.06776293
+v -0.04384269 0.07531753 0.06884761
+v -0.04384269 0.07532241 0.06583084
+v -0.04577570 0.07532730 0.05672404
+v -0.04577570 0.07532567 0.05976341
+v -0.04080996 0.07533870 0.04458918
+v -0.03065647 0.07512795 0.02638688
+v -0.03065647 0.07513789 -0.03125939
+v -0.03065647 0.07513791 -0.03428745
+v -0.03065647 0.07513631 -0.03838891
+v -0.03065647 0.07084051 0.03370845
+v -0.03941719 0.07116145 0.06884759
+v -0.04382048 0.07530942 0.06884761
+v -0.03065647 0.07497876 0.02941494
+v -0.03065647 0.07503066 0.02836416
+v -0.03065647 0.07353069 0.03251079
+v -0.03926622 0.07241654 0.06754825
+v -0.04059535 0.07358732 0.06884760
+v -0.04073151 0.07366029 0.06884760
+v -0.03065647 0.07398635 0.03159560
+f 1 2 6
+f 1 6 13
+f 1 13 29
+f 1 29 47
+f 1 47 65
+f 1 65 64
+f 1 64 63
+f 1 63 54
+f 1 54 35
+f 1 35 17
+f 1 17 8
+f 1 8 3
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+f 14 30 31
+f 14 31 15
+f 15 31 32
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+f 15 33 34
+f 15 34 18
+f 15 18 16
+f 17 35 48
+f 17 48 30
+f 18 34 36
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 38 21
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+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 24 42 25
+f 25 43 44
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+f 25 92 81
+f 25 81 62
+f 25 62 46
+f 25 46 28
+f 25 28 27
+f 25 27 45
+f 25 45 26
+f 25 42 43
+f 26 45 27
+f 28 46 47
+f 28 47 29
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 36 34
+f 33 50 51
+f 33 51 52
+f 33 52 53
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+f 35 54 55
+f 35 55 66
+f 35 66 48
+f 36 53 37
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+f 37 56 38
+f 38 56 57
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+f 39 57 40
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+f 40 58 59
+f 40 59 41
+f 42 60 61
+f 42 61 43
+f 43 61 44
+f 46 62 80
+f 46 80 84
+f 46 84 83
+f 46 83 73
+f 46 73 52
+f 46 52 72
+f 46 72 71
+f 46 71 70
+f 46 70 69
+f 46 69 68
+f 46 68 67
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+f 46 55 54
+f 46 54 63
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+f 46 64 65
+f 46 65 47
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+f 48 69 49
+f 49 69 70
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+f 52 56 53
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+f 62 81 82
+f 62 82 80
+f 73 83 74
+f 74 83 84
+f 74 84 80
+f 74 80 82
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+f 74 81 85
+f 74 85 86
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+f 74 87 88
+f 74 88 89
+f 74 89 77
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+f 75 77 76
+f 78 90 79
+f 79 90 91
+f 81 92 93
+f 81 93 94
+f 81 94 86
+f 81 86 85
+f 90 95 91
+f 91 96 97
+f 91 95 96
+f 92 98 93
+f 93 98 97
+f 93 97 96
+f 93 96 99
+f 95 99 96
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_46.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1316e847e33a6a53bd887aa1b8ed746e9187ac19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_46.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.03065499 0.03579527 -0.04657261
+v -0.03065499 0.05876778 -0.04657252
+v -0.01958313 0.05576325 -0.04657914
+v -0.01414738 0.03579527 -0.04657261
+v -0.03065499 0.03579502 0.02079269
+v -0.01414738 0.05876778 -0.04657252
+v -0.03065499 0.05876753 0.02077299
+v -0.01414738 0.03579503 0.01794264
+v -0.03065499 0.03755816 0.02080589
+v -0.01414738 0.05876754 0.01791634
+v -0.03065499 0.04370216 0.02081251
+v -0.03065499 0.04056719 0.02081250
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 6 3
+f 2 7 10
+f 2 10 6
+f 3 6 4
+f 4 6 10
+f 4 10 8
+f 5 8 9
+f 7 11 10
+f 8 10 11
+f 8 11 12
+f 8 12 9
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_47.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..047a51838256ba02edc8958cc5426cf2565b17f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.07443460 0.01957511 0.00300459
+v 0.07656201 0.04068409 0.00162745
+v 0.07443460 0.04068409 0.00299994
+v 0.07161417 0.04972804 0.00196765
+v 0.07161551 0.02258976 0.00197228
+v 0.07161551 0.01053116 0.00197224
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+v 0.07443460 0.00148721 0.00300217
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_48.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676fcbeae31fc11ba0007d221c69d05077011526
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_48.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_49.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8131f21fc55a785e9ec50eed56bf18a01238f5cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_49.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_5.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c201fb8b8f0a53362dd7cfab4e3360e80a95cf08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_5.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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+f 113 126 114
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_50.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e940d8f8a0aff938a0c63ea43e0e76f145581c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_50.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00164881 0.02560750 0.02876987
+v -0.00744916 0.02560750 0.02901461
+v 0.00164881 0.02375422 0.02825815
+v 0.00164881 0.02764628 0.02841390
+v -0.01351498 0.02560750 0.02916293
+v -0.01414738 0.02560750 0.02917777
+v -0.00138642 0.02373790 0.02830265
+v -0.00441856 0.02371267 0.02833973
+v -0.00744916 0.02368893 0.02837681
+v 0.00164881 0.02300638 0.02638183
+v -0.01048284 0.02774421 0.02858448
+v -0.00138642 0.02766705 0.02845840
+v 0.00164881 0.03473304 0.01755655
+v -0.00737030 0.03473303 0.01780128
+v -0.01414738 0.02731686 0.02874763
+v -0.01414738 0.02364293 0.02845839
+v -0.01048284 0.02366816 0.02841389
+v 0.00164881 0.01957582 0.01761582
+v -0.01351498 0.02776646 0.02862156
+v -0.01040244 0.03473303 0.01787545
+v 0.00164881 0.03473324 -0.03769450
+v -0.01414738 0.02777091 0.02862897
+v -0.01414738 0.01957581 0.01799405
+v -0.01351498 0.01957581 0.01798663
+v -0.01048284 0.01957581 0.01792730
+v -0.00744916 0.01957581 0.01785314
+v 0.00164881 0.01957605 -0.04657180
+v -0.01343612 0.03473303 0.01793477
+v 0.00164881 0.03473179 -0.04657174
+v 0.00164726 0.03473327 -0.04657174
+v -0.01413038 0.03473303 0.01794219
+v -0.01414738 0.03473303 0.01794219
+v -0.01414738 0.01957605 -0.04657180
+v -0.00138642 0.01957605 -0.04657922
+v -0.01414738 0.03473327 -0.04657174
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 27
+f 1 27 29
+f 1 29 21
+f 1 21 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 4 6 5
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+f 4 14 11
+f 6 12 11
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+f 6 15 22
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+f 6 23 16
+f 6 16 17
+f 6 17 9
+f 6 9 8
+f 6 8 7
+f 9 17 16
+f 9 16 10
+f 10 16 18
+f 11 19 15
+f 11 14 20
+f 11 20 19
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+f 13 30 35
+f 13 35 32
+f 13 32 31
+f 13 31 28
+f 13 28 20
+f 13 20 14
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+f 16 26 18
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+f 18 25 24
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+f 18 34 27
+f 19 20 22
+f 20 28 22
+f 21 29 30
+f 22 28 31
+f 22 31 32
+f 27 34 29
+f 29 34 30
+f 30 34 35
+f 33 35 34
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_51.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae1a3f603b9ea8923e32e0a8abeefd60d0ca347
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_51.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.01957434 0.01697661
+v 0.01382552 0.01957434 0.01719518
+v 0.01382552 0.00695088 0.01720763
+v 0.03959541 0.00695088 0.01682046
+v 0.03959541 0.01957457 -0.04657572
+v 0.01382552 0.01957457 -0.04657572
+v 0.01382552 0.00695111 -0.04657576
+v 0.03959541 0.00695111 -0.04657576
+v 0.01681216 0.01655928 -0.04658197
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 9
+f 5 9 6
+f 6 9 7
+f 7 9 8
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_52.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a15a4327f77324a9ee1999f19c6eb85ea2888b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_52.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05017247 0.07513793 -0.00819054
+v 0.05320316 0.07494928 -0.00698762
+v 0.05320316 0.07494726 -0.00819054
+v 0.04834061 0.07513590 -0.00819054
+v 0.04107390 0.07512776 -0.00092078
+v 0.03959541 0.07512572 0.00211328
+v 0.05017247 0.07513384 0.00211328
+v 0.05320316 0.07494724 -0.00395356
+v 0.05587181 0.07355368 -0.00395357
+v 0.05587181 0.07355370 -0.00698763
+v 0.05425891 0.07439551 -0.00819055
+v 0.03959541 0.07512576 -0.00819054
+v 0.04107390 0.07512777 -0.00395356
+v 0.03959541 0.07512368 0.00482750
+v 0.04713961 0.07512977 0.00482750
+v 0.05017247 0.07513180 0.00482750
+v 0.05348498 0.07478899 0.00482749
+v 0.05049331 0.07511151 0.00482750
+v 0.05320316 0.07493910 0.00211328
+v 0.05586747 0.07354758 0.00211327
+v 0.06174025 0.06139102 -0.00819059
+v 0.05587181 0.07355167 -0.00819055
+v 0.03959541 0.05441513 -0.00819062
+v 0.03959541 0.05441508 0.00482742
+v 0.05586531 0.07354351 0.00482749
+v 0.05320316 0.07493504 0.00482750
+v 0.06174025 0.06131797 -0.00395361
+v 0.06174025 0.05454698 -0.00819062
+v 0.04767725 0.05441513 -0.00819062
+v 0.05736331 0.05441508 0.00482742
+v 0.05714435 0.07084159 0.00482748
+v 0.06174025 0.06129972 -0.00339293
+v 0.06174025 0.05469706 -0.00395364
+v 0.05720288 0.05441509 0.00289306
+v 0.05614713 0.05441510 -0.00059209
+v 0.06174025 0.05490598 -0.00092086
+v 0.06174025 0.05620216 0.00153469
+v 0.06174025 0.05877629 0.00195139
+v 0.05752807 0.05604799 0.00482743
+v 0.05728093 0.06782526 0.00482747
+v 0.06174025 0.06027736 0.00127475
+v 0.06174025 0.06068306 0.00104920
+v 0.06174025 0.06119829 -0.00092084
+v 0.05763429 0.05875599 0.00482744
+f 1 2 3
+f 1 3 11
+f 1 11 22
+f 1 22 21
+f 1 21 28
+f 1 28 29
+f 1 29 23
+f 1 23 12
+f 1 12 4
+f 1 4 5
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+f 1 6 7
+f 1 7 2
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+f 2 11 3
+f 2 7 8
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+f 31 43 32
+f 38 44 39
+f 38 40 44
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_53.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c7df21492986c64fabdea060f4b5ccdfde374e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_53.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00771268 -0.05971237 0.02924533
+v 0.00661910 -0.05971237 0.02897205
+v 0.00899657 -0.05971237 0.02905915
+v 0.00980232 -0.03171342 0.02840708
+v 0.00978623 -0.03171342 0.02840926
+v 0.00771268 -0.03171343 0.02859653
+v 0.00547534 -0.05971237 0.02862147
+v 0.00770037 -0.03171343 0.02859326
+v 0.00599988 -0.03171342 0.02809460
+v 0.01016590 -0.05971237 0.02880765
+v 0.01087223 -0.03171342 0.02638851
+v 0.00470652 -0.05971236 0.02638841
+v 0.00531816 -0.03171342 0.02638851
+v 0.01080122 -0.05971236 0.02751202
+v 0.01138825 -0.03171341 0.02337808
+v 0.01117143 -0.05971236 0.02638841
+v 0.00268031 -0.05971233 0.01812360
+v 0.00356086 -0.03171339 0.01812370
+v 0.01139204 -0.03171341 0.02335521
+v 0.01144885 -0.05971235 0.02465945
+v 0.01235306 -0.05971233 0.01812360
+v 0.01210878 -0.03171339 0.01812370
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 21
+f 1 21 20
+f 1 20 16
+f 1 16 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 15
+f 4 15 19
+f 4 19 22
+f 4 22 18
+f 4 18 13
+f 4 13 9
+f 4 9 8
+f 4 8 6
+f 4 6 5
+f 4 10 11
+f 7 9 13
+f 7 13 12
+f 10 14 11
+f 11 14 16
+f 11 16 15
+f 12 13 17
+f 13 18 17
+f 15 16 19
+f 16 20 19
+f 17 18 22
+f 17 22 21
+f 19 20 21
+f 19 21 22
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_54.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8ceb223b0ab451e7bd1dfb2b994ba46df20140
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_54.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.00089993 0.01944259
+v 0.01382552 0.00151408 0.02362062
+v 0.02493210 0.00016424 0.02193704
+v 0.03959541 -0.00076685 0.01944259
+v 0.03959541 0.00694965 0.01681762
+v 0.01382552 0.00159947 0.02357939
+v 0.01382552 0.00145004 0.02362062
+v 0.02493210 -0.00017240 0.02193704
+v 0.01382552 -0.00126609 0.02352441
+v 0.03959541 -0.00982662 0.01671447
+v 0.01382552 0.00694965 0.01720931
+v 0.01382552 0.00176697 0.02339385
+v 0.03959541 0.00694988 -0.04657422
+v 0.01382552 -0.00982662 0.01700308
+v 0.03959541 -0.00982639 -0.04657429
+v 0.01382552 0.00694988 -0.04657422
+v 0.03500698 0.00148150 -0.04658111
+v 0.01382552 -0.00982639 -0.04657429
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 13
+f 1 13 5
+f 1 5 2
+f 2 6 12
+f 2 12 11
+f 2 11 16
+f 2 16 18
+f 2 18 14
+f 2 14 9
+f 2 9 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 5 13 16
+f 5 16 11
+f 7 9 8
+f 9 14 10
+f 10 14 18
+f 10 18 15
+f 13 15 17
+f 13 17 16
+f 15 18 17
+f 16 17 18
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_55.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e175dcbe1b1264ec64faadcc2bc2812d2c52070e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_55.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01414738 -0.02565935 0.02917459
+v -0.02975142 -0.02565935 0.02993099
+v -0.02975142 -0.02722106 0.02949661
+v -0.01414738 -0.02769762 0.02851554
+v -0.01414738 -0.02400797 0.02869528
+v -0.02975142 -0.02297623 0.02910720
+v -0.02975142 -0.02832433 0.02908471
+v -0.01414738 -0.03177214 0.01793340
+v -0.01414738 -0.02357068 0.02856048
+v -0.02975142 -0.02250872 0.02795387
+v -0.02975142 -0.02927948 0.02638113
+v -0.01414738 -0.03177190 -0.04657034
+v -0.02974684 -0.03177214 0.01916910
+v -0.01414738 -0.02290570 0.02684548
+v -0.01414738 -0.02273038 0.02638116
+v -0.02975142 -0.02200897 0.02638116
+v -0.02975142 -0.03177214 0.01909421
+v -0.01958192 -0.03177190 -0.04657783
+v -0.01414738 -0.02147974 -0.04657030
+v -0.01414738 -0.02147998 0.01838279
+v -0.02975142 -0.02147999 0.02069692
+v -0.02975142 -0.03177190 -0.04657034
+v -0.02975142 -0.02147974 -0.04657030
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 20
+f 1 20 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 16
+f 2 16 21
+f 2 21 23
+f 2 23 22
+f 2 22 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 13
+f 8 13 17
+f 8 17 22
+f 8 22 18
+f 8 18 12
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 13
+f 12 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 23
+f 18 23 19
+f 19 23 21
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_56.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ad2bcba0b3b84df73343d3d02effaf64dce170
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_56.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05760104 -0.06056614 0.00403876
+v 0.05729632 -0.06787811 0.00514958
+v 0.05729632 -0.06787810 0.00403873
+v 0.03289468 -0.06056614 0.00403876
+v 0.05728181 -0.06056623 0.02638611
+v 0.05728181 -0.06787819 0.02638608
+v 0.05728423 -0.06787818 0.02335392
+v 0.05728665 -0.06787816 0.02031892
+v 0.05713913 -0.07089403 0.00514957
+v 0.05719717 -0.06979046 0.00403872
+v 0.03289468 -0.06056620 0.01779970
+v 0.03289468 -0.07510462 0.00403870
+v 0.05722619 -0.06056623 0.02813173
+v 0.05711253 -0.07089411 0.02638607
+v 0.05711978 -0.07089410 0.02335391
+v 0.05712703 -0.07089408 0.02031891
+v 0.05718508 -0.06056624 0.02942111
+v 0.05718266 -0.06486371 0.02942109
+v 0.05717540 -0.06787820 0.02942108
+v 0.05712945 -0.07089407 0.01728674
+v 0.05713429 -0.07089405 0.01121957
+v 0.05632413 -0.07258851 0.00403871
+v 0.05713913 -0.07089402 0.00403872
+v 0.03289468 -0.06174384 0.02942110
+v 0.04426599 -0.06056625 0.03196586
+v 0.03390074 -0.07510605 0.00403870
+v 0.03289468 -0.07510895 0.02031889
+v 0.05583319 -0.07355261 0.02638606
+v 0.05695533 -0.07089412 0.02942107
+v 0.05573162 -0.07344725 0.02942106
+v 0.05583803 -0.07355688 0.02335390
+v 0.05584287 -0.07355970 0.02031890
+v 0.05584528 -0.07356112 0.01728673
+v 0.05644746 -0.06056624 0.03087202
+v 0.05590091 -0.06184780 0.03194602
+v 0.05590091 -0.06486372 0.03194317
+v 0.05589365 -0.06787821 0.03193750
+v 0.05576064 -0.07089413 0.03184681
+v 0.05584770 -0.07356111 0.01425173
+v 0.05585254 -0.07356534 0.00403871
+v 0.03289468 -0.06233336 0.03107888
+v 0.03289468 -0.06259110 0.03179866
+v 0.04529381 -0.06056625 0.03238527
+v 0.03996608 -0.07510747 0.00403870
+v 0.04107371 -0.07511038 0.02031889
+v 0.03289468 -0.07510897 0.02335389
+v 0.05320439 -0.07490679 0.02638605
+v 0.05533017 -0.07303147 0.03148690
+v 0.05320439 -0.07472880 0.02942106
+v 0.05320439 -0.07491105 0.02335389
+v 0.05320439 -0.07491671 0.01728672
+v 0.05590091 -0.06056625 0.03194603
+v 0.05435071 -0.06056625 0.03253263
+v 0.05320439 -0.06486372 0.03296618
+v 0.05320439 -0.06787821 0.03296050
+v 0.05320439 -0.07089413 0.03285564
+v 0.05320439 -0.07491951 0.00403870
+v 0.03289468 -0.06486372 0.03282165
+v 0.04713905 -0.06056625 0.03289819
+v 0.05017172 -0.07510747 0.00403870
+v 0.05017172 -0.07510892 0.01121955
+v 0.04410880 -0.07511040 0.02335389
+v 0.04107371 -0.07511041 0.02638605
+v 0.03500836 -0.07510756 0.02638605
+v 0.03289468 -0.07510614 0.02638605
+v 0.05017172 -0.07510898 0.02638605
+v 0.05017172 -0.07497087 0.02942105
+v 0.05320439 -0.07347859 0.03184963
+v 0.05320439 -0.06056625 0.03296620
+v 0.05017172 -0.06787821 0.03298600
+v 0.05017172 -0.07089413 0.03296332
+v 0.05017172 -0.07361814 0.03194031
+v 0.03289468 -0.06787821 0.03298884
+v 0.05017172 -0.06056625 0.03298320
+v 0.04842806 -0.06056625 0.03293502
+v 0.04713905 -0.07511041 0.02638605
+v 0.03289468 -0.07498511 0.02942105
+v 0.04713905 -0.07498226 0.02942105
+v 0.04410880 -0.07498511 0.02942105
+v 0.04713905 -0.07362668 0.03194598
+v 0.05146073 -0.06056625 0.03297753
+v 0.05017172 -0.06486372 0.03298601
+v 0.03289468 -0.06997853 0.03298316
+v 0.03289468 -0.07089413 0.03298033
+v 0.04410880 -0.07089413 0.03297466
+v 0.04713905 -0.07089413 0.03297182
+v 0.03289468 -0.07363380 0.03195165
+v 0.04410880 -0.07362953 0.03194881
+v 0.04107371 -0.07363095 0.03195165
+v 0.03804104 -0.07363237 0.03195165
+f 1 2 3
+f 1 3 10
+f 1 10 23
+f 1 23 22
+f 1 22 40
+f 1 40 57
+f 1 57 60
+f 1 60 44
+f 1 44 26
+f 1 26 12
+f 1 12 4
+f 1 4 11
+f 1 11 25
+f 1 25 43
+f 1 43 59
+f 1 59 75
+f 1 75 74
+f 1 74 81
+f 1 81 69
+f 1 69 53
+f 1 53 52
+f 1 52 34
+f 1 34 17
+f 1 17 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 4 12 27
+f 4 27 46
+f 4 46 65
+f 4 65 77
+f 4 77 87
+f 4 87 84
+f 4 84 83
+f 4 83 73
+f 4 73 58
+f 4 58 42
+f 4 42 41
+f 4 41 24
+f 4 24 11
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 20
+f 6 20 7
+f 6 13 17
+f 6 17 18
+f 6 18 19
+f 6 19 14
+f 7 20 21
+f 7 21 9
+f 7 9 8
+f 9 22 23
+f 9 23 10
+f 9 21 22
+f 11 24 25
+f 12 26 27
+f 14 28 15
+f 14 19 29
+f 14 29 30
+f 14 30 28
+f 15 28 16
+f 16 28 31
+f 16 31 32
+f 16 32 33
+f 16 33 20
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 29
+f 20 33 22
+f 20 22 21
+f 22 33 39
+f 22 39 40
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 26 44 27
+f 27 45 63
+f 27 63 46
+f 27 44 45
+f 28 47 31
+f 28 30 47
+f 29 38 48
+f 29 48 30
+f 30 49 47
+f 30 48 49
+f 31 47 32
+f 32 47 50
+f 32 50 51
+f 32 51 33
+f 33 51 40
+f 33 40 39
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 38
+f 38 56 48
+f 40 51 57
+f 42 58 59
+f 42 59 43
+f 44 60 61
+f 44 61 45
+f 45 62 76
+f 45 76 63
+f 45 61 62
+f 46 63 64
+f 46 64 65
+f 47 66 50
+f 47 49 67
+f 47 67 66
+f 48 56 68
+f 48 68 49
+f 49 68 67
+f 50 66 51
+f 51 66 57
+f 53 69 54
+f 54 69 82
+f 54 82 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 68
+f 57 61 60
+f 57 66 61
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 61 66 76
+f 61 76 62
+f 63 76 79
+f 63 79 77
+f 63 77 64
+f 64 77 65
+f 66 67 78
+f 66 78 79
+f 66 79 76
+f 67 68 72
+f 67 72 80
+f 67 80 78
+f 69 81 82
+f 70 82 73
+f 70 73 83
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 71 86 80
+f 71 80 72
+f 73 82 74
+f 74 82 81
+f 77 79 87
+f 78 80 88
+f 78 88 89
+f 78 89 79
+f 79 90 87
+f 79 89 90
+f 80 86 88
+f 84 89 85
+f 84 87 90
+f 84 90 89
+f 85 89 86
+f 86 89 88
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_57.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc791475d6b37a69f86640d235249cf6832def77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_57.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01414738 0.02560611 0.02918436
+v -0.03065499 0.02567499 0.03025262
+v -0.03065499 0.02560611 0.03026766
+v -0.03065499 0.02273730 0.02945517
+v -0.01414738 0.02364367 0.02845463
+v -0.01414738 0.02731702 0.02874803
+v -0.03065499 0.02864562 0.02943263
+v -0.01414738 0.02777020 0.02862767
+v -0.03065499 0.02259755 0.02940251
+v -0.01414738 0.01961199 0.01800519
+v -0.03065499 0.02870651 0.02928970
+v -0.01414738 0.02848791 0.02685977
+v -0.03065499 0.02153249 0.02653626
+v -0.01414738 0.01961223 -0.04657204
+v -0.03065499 0.01961198 0.02088649
+v -0.01414738 0.02867657 0.02638583
+v -0.03065499 0.02973865 0.02638583
+v -0.01958313 0.01961223 -0.04657956
+v -0.01414738 0.02980979 -0.04657200
+v -0.03065499 0.01961223 -0.04657204
+v -0.01414738 0.02980955 0.01835881
+v -0.03065499 0.02980953 0.02334655
+v -0.03065499 0.02980979 -0.04657200
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 6
+f 1 6 2
+f 2 7 11
+f 2 11 17
+f 2 17 22
+f 2 22 23
+f 2 23 20
+f 2 20 15
+f 2 15 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 7
+f 4 9 5
+f 5 9 10
+f 7 8 11
+f 8 12 11
+f 9 13 10
+f 10 13 15
+f 10 15 20
+f 10 20 18
+f 10 18 14
+f 11 12 16
+f 11 16 17
+f 14 18 19
+f 16 21 17
+f 17 21 22
+f 18 20 23
+f 18 23 19
+f 19 23 22
+f 19 22 21
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_58.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143f683c43b296c52a354d92859aa61f4ab8bd93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_58.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.04857613 -0.02020877
+v 0.04512165 -0.04857613 -0.02020877
+v 0.03289468 -0.04857616 -0.01170062
+v 0.03289468 -0.03515971 -0.02022374
+v 0.06174241 -0.04857613 -0.01978829
+v 0.04426039 -0.03515971 -0.02022374
+v 0.04510188 -0.03515213 -0.02022374
+v 0.04542662 -0.04857616 -0.01170062
+v 0.03289468 -0.03515974 -0.01170057
+v 0.03289468 -0.00982897 -0.02022365
+v 0.06174241 -0.04857616 -0.01217534
+v 0.06174241 -0.03515971 -0.01978991
+v 0.04510188 -0.03167000 -0.02022373
+v 0.06174241 -0.01661494 -0.01979150
+v 0.04542662 -0.04676682 -0.01170061
+v 0.04541532 -0.03515974 -0.01170057
+v 0.03289468 -0.00982900 -0.01173802
+v 0.04509906 -0.00982897 -0.02022365
+v 0.06174241 -0.00982900 -0.01217686
+v 0.06174241 -0.01002622 -0.01979148
+v 0.04553957 -0.00982900 -0.01173802
+v 0.06174241 -0.00982897 -0.01979065
+f 1 2 5
+f 1 5 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 15
+f 3 15 16
+f 3 16 9
+f 4 10 18
+f 4 18 13
+f 4 13 7
+f 4 7 6
+f 5 7 12
+f 5 12 14
+f 5 14 20
+f 5 20 22
+f 5 22 19
+f 5 19 11
+f 7 13 20
+f 7 20 14
+f 7 14 12
+f 8 11 15
+f 9 16 21
+f 9 21 17
+f 10 17 21
+f 10 21 19
+f 10 19 22
+f 10 22 18
+f 11 19 16
+f 11 16 15
+f 13 18 20
+f 16 19 21
+f 18 22 20
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_59.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d45a1043ae34c7c95e8383c21d99b546483c40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_59.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00164981 0.01957605 -0.04657193
+v 0.00164981 0.03473179 -0.04657187
+v 0.01187019 0.03465314 -0.04657926
+v 0.01187019 0.01957605 -0.04657193
+v 0.00164981 0.01957582 0.01762205
+v 0.00164981 0.03473324 -0.03769768
+v 0.00460136 0.03473327 -0.04657187
+v 0.01187019 0.03470359 -0.04657926
+v 0.01187019 0.01957581 0.01825697
+v 0.00601411 0.01957578 0.02808356
+v 0.00164981 0.02300638 0.02638551
+v 0.00164981 0.03473304 0.01755566
+v 0.01187019 0.03473327 -0.04657187
+v 0.01187019 0.02265768 0.02640766
+v 0.01140295 0.01957579 0.02335115
+v 0.00771300 0.01957578 0.02857821
+v 0.00164981 0.02375422 0.02826077
+v 0.00164981 0.02764628 0.02841582
+v 0.00602611 0.03473300 0.02808362
+v 0.01187019 0.03473303 0.01824227
+v 0.01187019 0.02304050 0.02660700
+v 0.00980110 0.01957578 0.02840102
+v 0.01087567 0.01957578 0.02638550
+v 0.00771300 0.02560750 0.02883663
+v 0.00164981 0.02560750 0.02877019
+v 0.00771300 0.03473299 0.02858566
+v 0.00607014 0.03473300 0.02809839
+v 0.01138994 0.03473301 0.02335121
+v 0.01187019 0.02860928 0.02650367
+v 0.01187019 0.02560751 0.02752987
+v 0.01025934 0.02560751 0.02840104
+v 0.00980210 0.03473300 0.02840108
+v 0.01087067 0.03473300 0.02638556
+v 0.00983012 0.03473300 0.02834940
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 8 13
+f 3 13 20
+f 3 20 29
+f 3 29 30
+f 3 30 21
+f 3 21 14
+f 3 14 9
+f 3 9 4
+f 5 10 11
+f 6 12 19
+f 6 19 27
+f 6 27 26
+f 6 26 32
+f 6 32 34
+f 6 34 33
+f 6 33 28
+f 6 28 20
+f 6 20 13
+f 6 13 7
+f 7 13 8
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
+f 16 25 17
+f 16 22 24
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 29
+f 21 30 22
+f 22 30 31
+f 22 31 24
+f 24 26 25
+f 24 31 32
+f 24 32 26
+f 28 33 29
+f 29 33 30
+f 30 33 34
+f 30 34 32
+f 30 32 31
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_6.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba91bae45c62cfd615090209538e9a8fbc922b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_6.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.09721719 -0.02566195 -0.01759394
+v 0.09863930 -0.02566194 -0.01912663
+v 0.09863930 -0.01481666 -0.01912659
+v 0.09806547 -0.01481666 -0.01850912
+v 0.09721623 -0.01481667 -0.01759634
+v 0.09703775 -0.02566195 -0.01759394
+v 0.09721240 -0.05581530 -0.01759650
+v 0.09721432 -0.04978182 -0.01759647
+v 0.09863738 -0.04978181 -0.01912672
+v 0.09863834 -0.04375301 -0.01912670
+v 0.10002302 -0.05581528 -0.02216284
+v 0.10002206 -0.01481665 -0.02216268
+v 0.09704159 -0.01481667 -0.01759634
+v 0.09553025 -0.05581529 -0.01779662
+v 0.09704639 -0.05581530 -0.01759650
+v 0.09720184 -0.05801993 -0.01760138
+v 0.09863546 -0.05581529 -0.01912675
+v 0.09999135 -0.05882968 -0.02216285
+v 0.09999519 -0.05882966 -0.02823015
+v 0.10002781 -0.05581522 -0.03733110
+v 0.10003069 -0.05279614 -0.03733108
+v 0.10003165 -0.04978174 -0.03733107
+v 0.10002781 -0.01481660 -0.03429728
+v 0.09643034 -0.01481666 -0.01771593
+v 0.09022856 -0.05882969 -0.01936837
+v 0.09591312 -0.05894670 -0.01778443
+v 0.09709149 -0.05801993 -0.01760138
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+v 0.09022856 -0.04978173 -0.04078206
+v 0.09022856 -0.04375293 -0.04078692
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+f 114 116 115
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_60.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28587f48f5926555cfabb986e423cc6f35694a82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_60.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04124389 -0.03516002 -0.01173791
+v 0.04124389 -0.00982900 -0.01173782
+v 0.04551136 -0.03516002 -0.01173791
+v 0.04124389 -0.03516012 0.01722484
+v 0.04553479 -0.00982900 -0.01173782
+v 0.04124389 -0.00982910 0.01720334
+v 0.04555949 -0.01359828 -0.01173783
+v 0.04559441 -0.03515759 0.00061855
+v 0.04559441 -0.03516006 0.00063151
+v 0.04339892 -0.03516017 0.02942150
+v 0.04124389 -0.02818451 0.02438134
+v 0.04553905 -0.01038695 -0.01173782
+v 0.04559441 -0.00982904 0.00059273
+v 0.04124389 -0.02396392 0.02534879
+v 0.04340446 -0.00982915 0.02942159
+v 0.04554033 -0.01058286 -0.01173782
+v 0.04559441 -0.01058290 0.00059273
+v 0.04559441 -0.03516018 0.03234110
+v 0.04456162 -0.03516018 0.03193080
+v 0.04124389 -0.02565762 0.02594480
+v 0.04559441 -0.00982916 0.03238438
+v 0.04369364 -0.00982915 0.03004784
+v 0.04520685 -0.00982916 0.03221594
+v 0.04456162 -0.02867306 0.03193082
+v 0.04456247 -0.00982916 0.03192657
+f 1 2 5
+f 1 5 12
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+f 1 16 7
+f 1 7 3
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+f 1 18 19
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+f 1 10 4
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_61.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5dff5776dc48a0af6fb2970e805374a676f925
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_61.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04431115 0.05181941 -0.02341153
+v 0.04537675 0.02560062 -0.02995456
+v 0.04537675 0.02861171 -0.02995227
+v 0.04537675 0.03163487 -0.02995907
+v 0.04537675 0.05181943 -0.03002704
+v 0.03959541 0.05181941 -0.02341153
+v 0.04358225 -0.00982647 -0.02341176
+v 0.04537675 -0.00982645 -0.03004768
+v 0.04537675 0.02258953 -0.02996137
+v 0.04537675 0.05181949 -0.04657828
+v 0.03959541 0.05181949 -0.04657828
+v 0.03959541 -0.00982647 -0.02341176
+v 0.04537675 -0.00982639 -0.04657397
+v 0.04537675 0.02861780 -0.04657836
+v 0.03959541 -0.00454642 -0.04657849
+v 0.03959541 -0.00982639 -0.04657624
+v 0.04107414 -0.00982639 -0.04657624
+v 0.04537675 -0.00756355 -0.04657623
+v 0.04107414 -0.00152930 -0.04657848
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 12
+f 1 12 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 13
+f 2 13 18
+f 2 18 14
+f 2 14 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
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+f 6 15 16
+f 6 16 12
+f 7 12 16
+f 7 16 17
+f 7 17 13
+f 7 13 8
+f 10 14 19
+f 10 19 15
+f 10 15 11
+f 13 17 18
+f 14 18 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_62.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0066cd16e41e6dcb4accaf92bad3ea3cfdbf1819
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_62.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01414738 -0.03087929 0.01812371
+v -0.01351490 -0.02848581 0.02638842
+v -0.01414738 -0.02848896 0.02638842
+v -0.01414738 -0.02017816 0.01812375
+v -0.01212159 -0.03077874 0.01812371
+v 0.00165075 -0.02838630 0.02638842
+v -0.01414738 -0.02769706 0.02852061
+v -0.01351490 -0.02021063 0.01812375
+v -0.01414738 -0.02272987 0.02638844
+v -0.01351490 -0.02273406 0.02638844
+v 0.00164611 -0.02284509 0.02638844
+v 0.00165075 -0.02284405 0.02638411
+v 0.00113734 -0.02994389 0.01812371
+v 0.00165075 -0.02991037 0.01812479
+v 0.00165075 -0.02757869 0.02831822
+v -0.00441891 -0.02762897 0.02840589
+v -0.00744988 -0.02765411 0.02844485
+v -0.01048239 -0.02767506 0.02847948
+v -0.01351490 -0.02769391 0.02851412
+v -0.01414738 -0.02565866 0.02918085
+v 0.00165075 -0.02137229 0.01812374
+v -0.01414738 -0.02290480 0.02684626
+v -0.00744988 -0.02361605 0.02848599
+v 0.00165075 -0.02369356 0.02835178
+v -0.01414738 -0.02356995 0.02856500
+v -0.01351490 -0.02357414 0.02855851
+v -0.01048239 -0.02359405 0.02852387
+v 0.00164611 -0.02991037 0.01812371
+v 0.00165075 -0.02139743 0.01812374
+v 0.00165075 -0.02565866 0.02876740
+v -0.00441891 -0.02565866 0.02894490
+v -0.00744988 -0.02565866 0.02902607
+v -0.01048239 -0.02565866 0.02909859
+v -0.01351490 -0.02565866 0.02916678
+v -0.01414738 -0.02400781 0.02869813
+v 0.00164611 -0.02369565 0.02835394
+v -0.00441891 -0.02364328 0.02844378
+f 1 2 3
+f 1 3 7
+f 1 7 20
+f 1 20 35
+f 1 35 25
+f 1 25 22
+f 1 22 9
+f 1 9 4
+f 1 4 8
+f 1 8 21
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+f 1 29 28
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+f 1 13 5
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_63.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca046f7da6a92016458d68909617aee55b898d1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_63.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03289591 -0.04857995 -0.01169875
+v 0.04542122 -0.04857995 -0.01169875
+v 0.03289591 -0.04857999 -0.00102113
+v 0.03289591 -0.03516003 -0.01169870
+v 0.04482279 -0.04857999 -0.00102113
+v 0.04542245 -0.04679851 -0.01169874
+v 0.03289591 -0.03516007 -0.00102108
+v 0.04541386 -0.03516003 -0.01169870
+v 0.04482524 -0.03772187 -0.00102109
+v 0.04482524 -0.03516007 -0.00102108
+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 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 6 9
+f 6 8 10
+f 6 10 9
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_64.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89ad0863ccb6b26f51fd9ac14af6b4813e9f460f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_64.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05623646 0.02861774 -0.02975828
+v 0.05623646 0.02560665 -0.02976983
+v 0.05926898 0.02861774 -0.02977146
+v 0.05926898 0.03163487 -0.02977803
+v 0.05623646 0.03163487 -0.02976651
+v 0.04537675 0.03163487 -0.02995752
+v 0.04537675 0.02861171 -0.02995095
+v 0.04537675 0.02560062 -0.02995262
+v 0.04537675 -0.00982645 -0.03004661
+v 0.05926898 0.02560665 -0.02978794
+v 0.06174081 0.02861774 -0.02982086
+v 0.06174081 0.03107971 -0.02982745
+v 0.06174081 0.03163487 -0.02982908
+v 0.05926898 0.03465199 -0.02981590
+v 0.05623646 0.03465199 -0.02979943
+v 0.04537675 0.05181943 -0.03002662
+v 0.04537675 -0.00982639 -0.04657478
+v 0.05320555 -0.00982645 -0.03018493
+v 0.05926898 0.02258953 -0.02982583
+v 0.06174081 0.02560665 -0.02983900
+v 0.06174081 0.02806259 -0.02982416
+v 0.06174081 0.03465199 -0.02986695
+v 0.06174081 0.05181943 -0.03020940
+v 0.05926898 0.03766911 -0.02987846
+v 0.05626370 0.05181943 -0.03013530
+v 0.04537675 0.05181949 -0.04657783
+v 0.04638119 -0.00982639 -0.04657643
+v 0.04537675 -0.00580758 -0.04657641
+v 0.05396168 -0.00982645 -0.03020140
+v 0.06174081 0.02258953 -0.02988181
+v 0.05623646 -0.00982645 -0.03025245
+v 0.06174081 0.05181947 -0.04075996
+v 0.05921932 0.05181943 -0.03017153
+v 0.05017303 0.05181949 -0.04657783
+v 0.05017303 0.03465205 -0.04658119
+v 0.04537675 0.02560671 -0.04657793
+v 0.04941370 -0.00982639 -0.04657806
+v 0.05017303 0.00148782 -0.04657966
+v 0.05926898 -0.00982645 -0.03038089
+v 0.06174081 -0.00982645 -0.03051428
+v 0.05579112 0.05181949 -0.04572978
+v 0.06174081 0.04431889 -0.04076164
+v 0.05579272 0.04068026 -0.04573146
+v 0.05110698 0.05181949 -0.04657290
+v 0.05320555 0.04671451 -0.04656139
+v 0.05320555 0.03465205 -0.04656308
+v 0.05320555 0.03163493 -0.04656309
+v 0.05320555 -0.00454642 -0.04656158
+v 0.05017303 -0.00982639 -0.04657806
+v 0.06174081 -0.00982641 -0.04076184
+v 0.05320555 0.05181949 -0.04655972
+v 0.05579272 0.03163493 -0.04573149
+v 0.05579112 -0.00982639 -0.04573001
+v 0.05320555 -0.00982639 -0.04655995
+v 0.05244622 -0.00982639 -0.04656490
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 22
+f 4 22 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 26
+f 6 26 36
+f 6 36 28
+f 6 28 17
+f 6 17 9
+f 6 9 8
+f 6 8 7
+f 9 17 27
+f 9 27 37
+f 9 37 49
+f 9 49 55
+f 9 55 54
+f 9 54 53
+f 9 53 50
+f 9 50 40
+f 9 40 39
+f 9 39 31
+f 9 31 29
+f 9 29 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 11 20 30
+f 11 30 40
+f 11 40 50
+f 11 50 42
+f 11 42 32
+f 11 32 23
+f 11 23 22
+f 11 22 13
+f 11 13 12
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 16
+f 14 16 15
+f 16 25 33
+f 16 33 23
+f 16 23 32
+f 16 32 41
+f 16 41 51
+f 16 51 44
+f 16 44 34
+f 16 34 26
+f 17 28 27
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 30
+f 23 33 24
+f 24 33 25
+f 26 34 35
+f 26 35 36
+f 27 28 37
+f 28 38 37
+f 28 36 38
+f 30 31 39
+f 30 39 40
+f 32 42 43
+f 32 43 41
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 38
+f 35 38 36
+f 37 38 49
+f 38 48 49
+f 41 45 51
+f 41 43 45
+f 42 50 52
+f 42 52 43
+f 43 52 47
+f 43 47 46
+f 43 46 45
+f 44 51 45
+f 47 52 48
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 48 52 53
+f 50 53 52
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_65.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2be2f24c006f552b6c938ce41a4a0ad84d7602
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_65.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.03515995 -0.02999247
+v 0.04530761 -0.03515995 -0.02999247
+v 0.03289468 -0.03515999 -0.02022457
+v 0.03289468 -0.00982893 -0.02999238
+v 0.04509618 -0.03515504 -0.02022457
+v 0.04425528 -0.03515999 -0.02022457
+v 0.04530761 -0.03168825 -0.02999246
+v 0.03289468 -0.00982897 -0.02022448
+v 0.04525293 -0.00982893 -0.02999238
+v 0.04509618 -0.03167093 -0.02022456
+v 0.04530154 -0.02867283 -0.02999245
+v 0.04509375 -0.00982897 -0.02022448
+v 0.04509496 -0.01961173 -0.02022451
+v 0.04525658 -0.01064726 -0.02999238
+v 0.04526508 -0.01359821 -0.02999239
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 7 10
+f 2 10 5
+f 3 6 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 7 11 12
+f 7 12 13
+f 7 13 10
+f 9 12 14
+f 11 15 12
+f 12 15 14
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_66.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65cb563b473456b303300f152902c46c96425a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_66.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01414563 -0.00982639 -0.04657304
+v -0.01414563 0.01957457 -0.04657293
+v 0.00380186 -0.00982639 -0.04657304
+v -0.01414563 -0.00982663 0.01806310
+v 0.00380186 0.01957457 -0.04657293
+v -0.01414563 0.01957433 0.01799979
+v 0.00380186 -0.00982663 0.01819626
+v -0.01414563 -0.00756458 0.01807579
+v 0.00380186 0.01957434 0.01754323
+v -0.01414563 0.01354218 0.01803782
+v 0.00380186 0.01956570 0.01819637
+v -0.01048234 0.01957433 0.01793004
+v 0.00380186 -0.00153819 0.01820263
+v -0.01414563 -0.00153243 0.01808849
+v -0.01414563 -0.00517589 0.01808214
+v 0.00164605 0.01957434 0.01761932
+v -0.01414563 0.00751291 0.01806951
+v -0.01414563 0.00449972 0.01808218
+v -0.01414563 0.00148364 0.01808851
+v -0.00441902 0.01957433 0.01777785
+v -0.00744980 0.01957433 0.01785395
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 14
+f 1 14 19
+f 1 19 18
+f 1 18 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 20
+f 2 20 16
+f 2 16 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 13
+f 3 13 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 11
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 13
+f 11 16 20
+f 11 20 21
+f 11 21 12
+f 13 19 14
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_67.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58fd70c43535435aea2dea5c7ad78152f25ac64d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_67.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.05447992 -0.00190343
+v 0.03289468 -0.05447994 0.00403820
+v 0.03289468 -0.04858129 -0.00190341
+v 0.04907922 -0.05447992 -0.00190343
+v 0.03289468 -0.04858131 0.00403822
+v 0.05699554 -0.05447994 0.00403820
+v 0.04461094 -0.04858129 -0.00190341
+v 0.05320270 -0.05447992 -0.00171846
+v 0.05668380 -0.04858131 0.00403822
+v 0.05702152 -0.05447994 0.00208500
+v 0.05595405 -0.04858131 0.00257652
+v 0.05609811 -0.05447993 -0.00078897
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 8
+f 6 10 9
+f 7 11 12
+f 7 12 8
+f 9 10 12
+f 9 12 11
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_68.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce36352a6f7d83a233ad0943465ca20739849e66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_68.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00771385 0.06068923 0.02970373
+v 0.01050483 0.06068923 0.02916426
+v 0.00507082 0.06068923 0.02902652
+v 0.00771385 0.03473299 0.02858912
+v 0.00980180 0.03473300 0.02840433
+v 0.01150486 0.06068924 0.02638773
+v 0.01086969 0.03473300 0.02638764
+v 0.00492287 0.06068923 0.02863627
+v 0.00602636 0.03473300 0.02808868
+v 0.00607085 0.03473300 0.02810245
+v 0.01439818 0.06068927 0.01797894
+v 0.01138917 0.03473301 0.02335515
+v 0.00426767 0.06068924 0.02638773
+v 0.00542678 0.03473300 0.02638764
+v 0.00544235 0.03473300 0.02643240
+v 0.00306407 0.06068927 0.01797894
+v 0.01229577 0.03473303 0.01797885
+v 0.00306407 0.06068927 0.01833820
+v 0.00309188 0.03767267 0.01797886
+v 0.00312191 0.03473303 0.01797885
+v 0.00303515 0.05878626 0.01797894
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 15
+f 4 15 14
+f 4 14 20
+f 4 20 17
+f 4 17 12
+f 4 12 7
+f 4 7 5
+f 6 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 11 12 17
+f 11 17 20
+f 11 20 19
+f 11 19 21
+f 11 21 16
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 16 21 18
+f 18 21 19
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_69.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45b444ee2e209f78bee0c1b92d84a15f321badc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_69.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00380186 -0.00982639 -0.04657363
+v 0.01382552 -0.00982639 -0.04657363
+v 0.00380186 -0.00982663 0.01819310
+v 0.00380186 0.01957457 -0.04657352
+v 0.01382552 0.01957457 -0.04657352
+v 0.01382552 -0.00982662 0.01700107
+v 0.00542962 -0.00982666 0.02638276
+v 0.00535604 0.01957430 0.02638287
+v 0.00380186 -0.00455426 0.01820048
+v 0.00380186 0.01957434 0.01754569
+v 0.01382552 0.01957434 0.01719250
+v 0.01382552 -0.00126480 0.02352046
+v 0.01086728 -0.00982666 0.02638276
+v 0.00557876 -0.00982666 0.02680953
+v 0.00602716 -0.00982666 0.02808250
+v 0.00601440 0.01957430 0.02808261
+v 0.00380677 0.01957433 0.01820057
+v 0.00380186 0.01956570 0.01819321
+v 0.00380186 0.00449108 0.01820052
+v 0.01087513 0.01957430 0.02638287
+v 0.01382552 0.00151528 0.02361613
+v 0.01382552 0.00145197 0.02361613
+v 0.01282865 -0.00044747 0.02516870
+v 0.00980271 -0.00982666 0.02840626
+v 0.00771379 -0.00982667 0.02859021
+v 0.00771379 0.01655823 0.02858296
+v 0.00771379 0.01957430 0.02857561
+v 0.00980173 0.01957430 0.02839901
+v 0.01282865 0.00039577 0.02516870
+v 0.00980173 -0.00756461 0.02840627
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 25
+f 1 25 15
+f 1 15 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 8
+f 4 8 16
+f 4 16 27
+f 4 27 28
+f 4 28 20
+f 4 20 11
+f 4 11 5
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 18 17
+f 11 20 21
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 20 28 21
+f 21 28 29
+f 21 29 23
+f 21 23 22
+f 23 29 24
+f 24 28 30
+f 24 30 25
+f 24 29 28
+f 25 30 28
+f 25 28 26
+f 26 28 27
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_7.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb45da479a25329b4ee928f4a81b4b69bd1c0e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_7.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.09721769 -0.00153248 -0.01759416
+v 0.09704295 -0.00153248 -0.01759416
+v 0.09721769 -0.01481199 -0.01759665
+v 0.09864158 -0.00153247 -0.01912712
+v 0.09864158 0.02560261 -0.01912702
+v 0.09721632 0.02861929 -0.01759649
+v 0.09721496 0.03766937 -0.01759646
+v 0.09721359 0.04369518 -0.01759644
+v 0.09721223 0.04671187 -0.01759643
+v 0.09704295 -0.01481199 -0.01759665
+v 0.09705660 0.04671187 -0.01759643
+v 0.09705250 0.04369518 -0.01759644
+v 0.09556444 0.05576196 -0.01780388
+v 0.09806547 -0.01481198 -0.01850958
+v 0.09863885 -0.01481198 -0.01912716
+v 0.10012144 0.00148423 -0.02086755
+v 0.09863885 0.03766938 -0.01912697
+v 0.09863749 0.04369519 -0.01912695
+v 0.09720950 0.05274526 -0.01759884
+v 0.09720540 0.05576195 -0.01759883
+v 0.09863202 0.05576196 -0.01912691
+v 0.09643134 -0.01481198 -0.01771625
+v 0.09708117 0.05576195 -0.01759883
+v 0.09711939 0.05772507 -0.01760371
+v 0.09593032 0.05874834 -0.01780386
+v 0.09061837 0.05877865 -0.01926847
+v 0.09552622 -0.01481198 -0.01789445
+v 0.09946479 -0.01481197 -0.02093840
+v 0.10377605 -0.00153244 -0.02593025
+v 0.10012144 -0.00153246 -0.02087245
+v 0.10377742 0.00148425 -0.02592779
+v 0.09719584 0.05772507 -0.01760371
+v 0.10000131 0.05877866 -0.02216108
+v 0.09831667 0.05874834 -0.01882909
+v 0.09810779 0.06111318 -0.01964195
+v 0.09566410 0.06134815 -0.01928799
+v 0.09061837 0.06065841 -0.02017409
+v 0.09061837 0.05703534 -0.01948329
+v 0.09349619 -0.01481198 -0.01941032
+v 0.09470847 -0.01481198 -0.01850470
+v 0.10002179 -0.01481197 -0.02216135
+v 0.10449960 -0.00153244 -0.02822969
+v 0.10449551 0.00148425 -0.02822967
+v 0.10000540 0.05877868 -0.02822946
+v 0.09858015 0.06153009 -0.02822945
+v 0.09857741 0.06153008 -0.02519526
+v 0.09857332 0.06152249 -0.02216107
+v 0.10455830 0.00148426 -0.03126142
+v 0.09566410 0.06249269 -0.02216107
+v 0.09061837 0.06090854 -0.02094302
+v 0.09061837 0.05596661 -0.01962731
+v 0.09061837 -0.01481194 -0.03123951
+v 0.10002725 -0.01481192 -0.03429567
+v 0.10383612 -0.00397307 -0.03126144
+v 0.10379107 -0.00388970 -0.02822969
+v 0.10456513 -0.00153243 -0.03126144
+v 0.10000540 0.05877869 -0.03126121
+v 0.09858015 0.06153010 -0.03126120
+v 0.09566410 0.06262159 -0.03429539
+v 0.09566410 0.06258365 -0.02519526
+v 0.10383885 0.00148427 -0.03383914
+v 0.09998219 0.05877872 -0.03733203
+v 0.10000404 0.05877871 -0.03429540
+v 0.09061837 0.06167413 -0.03429539
+v 0.09061837 0.06134817 -0.02519526
+v 0.09061837 0.06124964 -0.02318387
+v 0.09061837 0.06118899 -0.02216108
+v 0.09061837 -0.01481190 -0.04088399
+v 0.10002725 -0.01481192 -0.03610935
+v 0.10002588 -0.01481191 -0.03733230
+v 0.10384158 -0.00153242 -0.03384893
+v 0.09939789 -0.01481190 -0.04036649
+v 0.09857878 0.06153012 -0.03429539
+v 0.09855830 0.06151498 -0.03733202
+v 0.09566410 0.06249275 -0.03733202
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_70.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06b70c0c5665026cb731c4dd69d978be5e98cb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_70.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.04124389 -0.02045760 0.01785069
+v 0.04124389 -0.02267153 0.02348730
+v 0.04124389 -0.03063538 0.01785066
+v 0.03289442 -0.02138023 0.01785069
+v 0.01378075 -0.02163031 0.01812466
+v 0.01377268 -0.02162932 0.01812556
+v 0.01377268 -0.02235269 0.02335346
+v 0.01377268 -0.02331120 0.02597459
+v 0.04124389 -0.02312288 0.02443048
+v 0.04124389 -0.02843545 0.02401816
+v 0.01377268 -0.02890473 0.02335343
+v 0.01377268 -0.02962408 0.01812463
+v 0.03289442 -0.02982435 0.01785066
+v 0.01377268 -0.02358716 0.01812465
+v 0.01377268 -0.02566658 0.02702466
+v 0.01378075 -0.02565861 0.02702646
+v 0.04124389 -0.02396579 0.02534850
+v 0.04124389 -0.02818337 0.02438465
+v 0.01377268 -0.02797016 0.02592427
+v 0.04124389 -0.02565861 0.02594674
+f 1 2 9
+f 1 9 17
+f 1 17 20
+f 1 20 18
+f 1 18 10
+f 1 10 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 13 12
+f 4 12 14
+f 4 14 5
+f 5 14 6
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+f 6 15 8
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+f 8 16 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 15 19 20
+f 15 20 16
+f 16 20 17
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_71.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db770c842f28e84e86b18277d18bc7277a7323b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_71.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05702052 -0.05448196 0.00208473
+v 0.05609989 -0.05448195 -0.00078990
+v 0.05699623 -0.05448196 0.00403878
+v 0.05771039 -0.05460355 -0.00797120
+v 0.04792353 -0.05448192 -0.00797120
+v 0.05771039 -0.05582186 0.00403877
+v 0.05771039 -0.05496441 0.00150511
+v 0.05771039 -0.05473128 -0.00094392
+v 0.05771039 -0.05465424 -0.00239594
+v 0.03289468 -0.05448196 0.00403878
+v 0.05771039 -0.06316998 -0.00797123
+v 0.03289468 -0.05448192 -0.00797120
+v 0.05771039 -0.05898613 0.00403876
+v 0.03289468 -0.07510544 0.00403870
+v 0.05771039 -0.06315175 -0.00395379
+v 0.05714683 -0.07089316 -0.00395382
+v 0.05714683 -0.07089314 -0.00797126
+v 0.03289468 -0.07518852 -0.00797128
+v 0.05771039 -0.05990440 0.00356495
+v 0.05729744 -0.06787689 0.00403873
+v 0.03996580 -0.07510747 0.00403870
+v 0.05771039 -0.06311122 -0.00092161
+v 0.05714198 -0.07089318 0.00211289
+v 0.05585698 -0.07357295 -0.00395383
+v 0.05585698 -0.07357293 -0.00698837
+v 0.05585698 -0.07357091 -0.00797127
+v 0.05017045 -0.07510747 0.00403870
+v 0.05017045 -0.07510540 -0.00797128
+v 0.05771039 -0.06199229 0.00230809
+v 0.05719785 -0.06979045 0.00403872
+v 0.05713955 -0.07089318 0.00403872
+v 0.05632337 -0.07258782 0.00403871
+v 0.05585212 -0.07356487 0.00403871
+v 0.05320440 -0.07491895 0.00403870
+v 0.05320440 -0.07492098 0.00211287
+v 0.05320440 -0.07492501 -0.00395384
+v 0.05320440 -0.07492499 -0.00698838
+v 0.05320440 -0.07492297 -0.00797128
+v 0.05222062 -0.07498378 -0.00797128
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+f 1 3 4
+f 1 4 2
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+f 3 6 7
+f 3 7 8
+f 3 8 9
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+f 27 39 37
+f 27 37 36
+f 27 36 35
+f 27 35 34
+f 29 30 31
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_72.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd5a8a09b554a6760e8ee5f26fa1d0c3cd01608
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_72.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.04979096 -0.00819064
+v 0.03959541 0.04979094 -0.00178800
+v 0.03959541 0.05441468 -0.00819062
+v 0.04435414 0.04979096 -0.00819064
+v 0.03959541 0.05441466 -0.00178798
+v 0.04466364 0.04979094 -0.00178800
+v 0.04767580 0.05441468 -0.00819062
+v 0.04814005 0.05441466 -0.00178798
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_73.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e526a7fa05d8bc1703e9a3c0b3d510006fc73f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_73.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03289550 -0.03516002 -0.01173791
+v 0.03289550 -0.00982900 -0.01173782
+v 0.04124389 -0.03516002 -0.01173791
+v 0.03289550 -0.03516012 0.01664995
+v 0.04124389 -0.00982900 -0.01173782
+v 0.03289550 -0.00982910 0.01662108
+v 0.04124389 -0.03516012 0.01722628
+v 0.03289550 -0.02982611 0.01784897
+v 0.04124389 -0.00982910 0.01720610
+v 0.03289550 -0.02137996 0.01784900
+v 0.04124389 -0.03063700 0.01784897
+v 0.04124389 -0.02045996 0.01784900
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 9
+f 7 11 8
+f 8 11 12
+f 8 12 10
+f 9 10 12
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_74.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d5b71fba697d0b4b6a9759ab8b33ea83c5ee90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_74.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.06174241 -0.03772176 -0.03018821
+v 0.06128240 -0.03515996 -0.03018657
+v 0.05926966 -0.03515996 -0.03010663
+v 0.05926966 -0.03772176 -0.03009522
+v 0.06174241 -0.04073813 -0.03020617
+v 0.06174241 -0.03526374 -0.03020451
+v 0.06174241 -0.03515996 -0.03020615
+v 0.05623682 -0.03515996 -0.03002343
+v 0.05926966 -0.04073813 -0.03011970
+v 0.05623682 -0.03772176 -0.03002018
+v 0.06174241 -0.04375186 -0.03026981
+v 0.06174241 -0.03515992 -0.04076142
+v 0.04525308 -0.03515996 -0.02991412
+v 0.05623682 -0.04073813 -0.03005282
+v 0.05926966 -0.04375186 -0.03019149
+v 0.04525308 -0.03772176 -0.02992392
+v 0.06174241 -0.04676823 -0.03038238
+v 0.06174241 -0.04375182 -0.04076145
+v 0.05579134 -0.04857982 -0.04573078
+v 0.05578973 -0.04073807 -0.04573075
+v 0.05578811 -0.03515990 -0.04572909
+v 0.04525308 -0.03515990 -0.04657743
+v 0.04525308 -0.03786496 -0.02992556
+v 0.04525308 -0.04073813 -0.02996308
+v 0.04525308 -0.04083666 -0.02996472
+v 0.04525308 -0.04667495 -0.03011157
+v 0.05623682 -0.04375186 -0.03012950
+v 0.05926966 -0.04676823 -0.03031060
+v 0.06174241 -0.04857988 -0.03048843
+v 0.06174241 -0.04857984 -0.04075985
+v 0.05320560 -0.04857982 -0.04656117
+v 0.05320560 -0.03515990 -0.04656112
+v 0.05017277 -0.03515990 -0.04657907
+v 0.04525308 -0.04375180 -0.04657910
+v 0.04525308 -0.04848004 -0.03016052
+v 0.04525308 -0.04857988 -0.03016378
+v 0.05623682 -0.04676823 -0.03025024
+v 0.05926966 -0.04857988 -0.03041991
+v 0.05199505 -0.04857982 -0.04656933
+v 0.05017277 -0.04375180 -0.04658072
+v 0.04525308 -0.04857982 -0.04657912
+v 0.05623682 -0.04857988 -0.03036281
+v 0.05017277 -0.04857982 -0.04657912
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 29
+f 1 29 30
+f 1 30 18
+f 1 18 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 12
+f 2 12 21
+f 2 21 32
+f 2 32 33
+f 2 33 22
+f 2 22 13
+f 2 13 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 9
+f 5 9 11
+f 8 13 10
+f 9 10 14
+f 9 14 15
+f 9 15 11
+f 10 13 16
+f 10 16 14
+f 11 15 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 13 22 34
+f 13 34 41
+f 13 41 36
+f 13 36 35
+f 13 35 26
+f 13 26 25
+f 13 25 24
+f 13 24 23
+f 13 23 16
+f 14 16 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 17
+f 17 28 29
+f 18 30 19
+f 19 31 32
+f 19 32 20
+f 19 30 29
+f 19 29 38
+f 19 38 42
+f 19 42 36
+f 19 36 41
+f 19 41 43
+f 19 43 39
+f 19 39 31
+f 20 32 21
+f 22 33 40
+f 22 40 34
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 34 40 41
+f 36 42 37
+f 37 42 38
+f 39 43 40
+f 40 43 41
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_75.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da16d2b7a4673675170e60a9bf421a2d031fa2ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_75.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05771039 -0.06330399 -0.03429545
+v 0.05771039 -0.06322567 -0.03726412
+v 0.06174241 -0.06168919 -0.03429545
+v 0.06174241 -0.06166283 -0.01306228
+v 0.05771039 -0.06327457 -0.01306228
+v 0.06174241 -0.06166377 -0.03485872
+v 0.05771039 -0.06322263 -0.03732877
+v 0.06174241 -0.06132731 -0.00395773
+v 0.05771039 -0.06310887 -0.00092442
+v 0.05771039 -0.06315056 -0.00395773
+v 0.06174241 -0.06153971 -0.03732877
+v 0.05771039 -0.06263588 -0.04014508
+v 0.06174241 -0.06120733 -0.00092441
+v 0.06174241 -0.06087583 0.00058531
+v 0.05771039 -0.06199135 0.00230742
+v 0.06174241 -0.06084517 -0.03954487
+v 0.05771039 -0.06154986 -0.04249509
+v 0.06174241 -0.06071212 0.00102854
+v 0.05771039 -0.05990270 0.00356322
+v 0.06174241 -0.05883076 -0.04044055
+v 0.05771039 -0.05883075 -0.04283211
+v 0.06174241 -0.05883803 0.00192422
+v 0.05771039 -0.05898447 0.00403415
+v 0.05771039 -0.05907801 0.00398798
+v 0.06174241 -0.05581574 -0.04075911
+v 0.05771039 -0.05581573 -0.04312297
+v 0.06174241 -0.05667922 0.00165183
+v 0.05799732 -0.05602842 0.00403416
+v 0.05780471 -0.05804081 0.00403416
+v 0.05771039 -0.05582200 0.00403416
+v 0.06174241 -0.05291665 -0.04075909
+v 0.05771039 -0.05291664 -0.04312756
+v 0.06174241 -0.05622671 0.00153179
+v 0.05771039 -0.05496478 0.00150410
+v 0.06174241 -0.05514374 -0.00039806
+v 0.06174241 -0.05491291 -0.00092439
+v 0.06174241 -0.05291676 -0.01055064
+v 0.05771039 -0.05291676 -0.01054602
+v 0.05977139 -0.05291676 -0.01054602
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 30
+f 1 30 34
+f 1 34 38
+f 1 38 32
+f 1 32 26
+f 1 26 21
+f 1 21 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 11
+f 3 11 16
+f 3 16 20
+f 3 20 25
+f 3 25 31
+f 3 31 37
+f 3 37 36
+f 3 36 35
+f 3 35 33
+f 3 33 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 7 11
+f 7 12 11
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 11 12 16
+f 12 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 17 21 20
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 21 25
+f 21 26 25
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 23 29 28
+f 23 28 30
+f 25 26 32
+f 25 32 31
+f 27 33 28
+f 28 33 30
+f 30 33 35
+f 30 35 36
+f 30 36 34
+f 31 32 38
+f 31 38 39
+f 31 39 37
+f 34 36 37
+f 34 37 39
+f 34 39 38
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_76.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6453d323771a045fe7d4b8d2760dfa93b9dc709
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_76.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01414570 0.05878717 0.01766529
+v -0.01414570 0.05878717 0.01866529
+v -0.01414570 0.06068927 0.01766529
+v -0.01414570 0.06068927 0.01866529
+v 0.00306304 0.05878717 0.01766529
+v 0.00306304 0.05878717 0.01866529
+v 0.00306304 0.06068927 0.01766529
+v 0.00306304 0.06068927 0.01866529
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_77.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d42d06e6e72d89ef7c6fade4b23dc33fee48327
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_77.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00165075 -0.02990948 0.01812476
+v 0.00356112 -0.03171338 0.01812475
+v 0.00165075 -0.02838627 0.02638833
+v 0.00165075 -0.02136988 0.01812479
+v 0.00531842 -0.03171341 0.02638831
+v 0.01210912 -0.03171338 0.01812475
+v 0.00165075 -0.02757858 0.02831832
+v 0.00599950 -0.03171341 0.02809476
+v 0.00352552 -0.00982877 0.01812483
+v 0.00165075 -0.02284174 0.02638415
+v 0.01139243 -0.03171340 0.02335428
+v 0.01377268 -0.02962454 0.01812476
+v 0.01377268 -0.02890472 0.02335429
+v 0.00165075 -0.02565900 0.02876750
+v 0.00770104 -0.03171342 0.02859326
+v 0.00771290 -0.03171342 0.02859641
+v 0.00542995 -0.00982880 0.02638839
+v 0.01206047 -0.00982877 0.01812483
+v 0.00165075 -0.02369227 0.02835191
+v 0.01138887 -0.03171340 0.02337737
+v 0.01377268 -0.02358512 0.01812478
+v 0.01377268 -0.02797064 0.02592551
+v 0.01087153 -0.03171341 0.02638831
+v 0.00771290 -0.02565900 0.02884411
+v 0.00771290 -0.00982881 0.02859019
+v 0.00602680 -0.00982880 0.02808959
+v 0.00980244 -0.03171341 0.02840750
+v 0.01377268 -0.02162697 0.01812584
+v 0.01138531 -0.00982879 0.02335436
+v 0.01377268 -0.02330878 0.02597485
+v 0.01377268 -0.02235112 0.02335432
+v 0.01377268 -0.02566542 0.02702432
+v 0.01086441 -0.03171341 0.02640300
+v 0.01025808 -0.02565899 0.02840438
+v 0.00980244 -0.00982880 0.02840548
+v 0.01099731 -0.00982879 0.02562962
+v 0.01086679 -0.00982880 0.02638839
+v 0.01006942 -0.00982880 0.02790069
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 20
+f 2 20 23
+f 2 23 33
+f 2 33 27
+f 2 27 16
+f 2 16 15
+f 2 15 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 10 9
+f 6 12 13
+f 6 13 11
+f 7 8 15
+f 7 15 16
+f 7 16 14
+f 9 17 26
+f 9 26 25
+f 9 25 35
+f 9 35 38
+f 9 38 37
+f 9 37 36
+f 9 36 29
+f 9 29 18
+f 9 10 19
+f 9 19 17
+f 11 13 20
+f 12 21 28
+f 12 28 31
+f 12 31 30
+f 12 30 32
+f 12 32 22
+f 12 22 13
+f 13 22 23
+f 13 23 20
+f 14 16 24
+f 14 24 25
+f 14 25 26
+f 14 26 19
+f 16 27 24
+f 17 19 26
+f 18 28 21
+f 18 29 30
+f 18 30 31
+f 18 31 28
+f 22 32 27
+f 22 27 33
+f 22 33 23
+f 24 27 34
+f 24 34 35
+f 24 35 25
+f 27 32 34
+f 29 36 30
+f 30 36 37
+f 30 37 32
+f 32 37 38
+f 32 38 35
+f 32 35 34
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_78.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fad147e4a0c18aff15bf341739dacc1ff499e17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_78.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.03959541 0.04979094 -0.00178800
+v 0.03959541 0.04979091 0.00482740
+v 0.03959541 0.05441466 -0.00178798
+v 0.04466548 0.04979094 -0.00178800
+v 0.03959541 0.05441463 0.00482742
+v 0.05708065 0.04979091 0.00482740
+v 0.04814236 0.05441466 -0.00178798
+v 0.05320374 0.05441466 -0.00138520
+v 0.05344898 0.05441465 -0.00132240
+v 0.05614664 0.05441465 -0.00059130
+v 0.05595358 0.04979092 0.00256744
+v 0.05736242 0.05441463 0.00482742
+v 0.05720240 0.05441464 0.00289318
+v 0.05710674 0.05005434 0.00482740
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 13
+f 3 13 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 6 10 13
+f 6 13 14
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_79.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f09b908fc31392c6775733409c7613330867053
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03289564 -0.06056472 0.00404019
+v 0.03289564 -0.04858131 0.00404023
+v 0.04270989 -0.06056472 0.00404019
+v 0.03289564 -0.06056478 0.01779782
+v 0.04270989 -0.04858131 0.00404023
+v 0.03289564 -0.04858136 0.01678036
+v 0.04270989 -0.06056478 0.01859729
+v 0.04270989 -0.04858137 0.01822254
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_8.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3632cce50358101b193b4d55c470f8bc0f89658c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_8.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v -0.03809578 -0.06544627 0.06884710
+v -0.03809578 -0.06549816 0.06884710
+v -0.03809865 -0.06537977 0.06884710
+v -0.04764633 -0.06049341 0.13258629
+v -0.03812158 -0.06771197 0.06884709
+v -0.04764633 -0.06184927 0.13258628
+v -0.04765206 -0.06486426 0.13258627
+v -0.04766353 -0.06787926 0.13258626
+v -0.04767500 -0.07089263 0.13258625
+v -0.03956950 -0.06392336 0.06884711
+v -0.04730513 -0.06049340 0.12955364
+v -0.04854662 -0.05875294 0.06893414
+v -0.04890501 -0.05875295 0.07166554
+v -0.05412613 -0.05875309 0.10838535
+v -0.05596973 -0.05875313 0.12046239
+v -0.04811368 -0.06049342 0.13479550
+v -0.04529811 -0.07255495 0.11335938
+v -0.03815886 -0.06784983 0.06884709
+v -0.04821976 -0.07276423 0.13452767
+v -0.04811368 -0.06184928 0.13479549
+v -0.04811941 -0.06787927 0.13478209
+v -0.04812801 -0.07089264 0.13476199
+v -0.04109484 -0.06273779 0.06884711
+v -0.04109771 -0.06273617 0.06887388
+v -0.04854949 -0.05875294 0.06885381
+v -0.06594748 -0.05875313 0.12046239
+v -0.05108407 -0.06049342 0.13723233
+v -0.05040455 -0.06049342 0.13682396
+v -0.04956733 -0.06049342 0.13630848
+v -0.04891362 -0.06049342 0.13563233
+v -0.04220730 -0.07267487 0.08954004
+v -0.04803913 -0.07309671 0.13258624
+v -0.03928852 -0.07089239 0.06884708
+v -0.04204961 -0.07298464 0.08708312
+v -0.04960747 -0.07089264 0.13628167
+v -0.05123316 -0.07252908 0.13719212
+v -0.05009776 -0.07327513 0.13557202
+v -0.04991140 -0.07455474 0.13258624
+v -0.04957880 -0.06486427 0.13630846
+v -0.04958740 -0.06787927 0.13630176
+v -0.04854662 -0.05884863 0.06884712
+v -0.05895732 -0.05875294 0.06884712
+v -0.06615392 -0.05875313 0.12045570
+v -0.05217073 -0.06049342 0.13723233
+v -0.05109267 -0.06486427 0.13723231
+v -0.04957020 -0.06184928 0.13630847
+v -0.04784990 -0.07337079 0.12955359
+v -0.04185751 -0.07328953 0.08404378
+v -0.04059595 -0.07361546 0.06884707
+v -0.04166541 -0.07351982 0.08101113
+v -0.05112134 -0.07089264 0.13722561
+v -0.05186680 -0.07252908 0.13719212
+v -0.05290185 -0.07363680 0.13587998
+v -0.05294199 -0.07530890 0.13258623
+v -0.04991140 -0.07483045 0.12955359
+v -0.04766066 -0.07357188 0.12652095
+v -0.05110700 -0.06787927 0.13723230
+v -0.05923257 -0.05875294 0.06884712
+v -0.06715743 -0.06049339 0.12788000
+v -0.06737821 -0.06049340 0.12955364
+v -0.06738681 -0.06049341 0.13258629
+v -0.06688792 -0.06049341 0.13442730
+v -0.06507013 -0.06049342 0.13525073
+v -0.06203666 -0.06049342 0.13594698
+v -0.05217359 -0.06184928 0.13723232
+v -0.05597546 -0.06486427 0.13674361
+v -0.04455838 -0.07363829 0.10225306
+v -0.04475908 -0.07344855 0.10527232
+v -0.04344592 -0.07510431 0.06884706
+v -0.04146757 -0.07368200 0.07797848
+v -0.04126974 -0.07378416 0.07494583
+v -0.04106903 -0.07383766 0.07190649
+v -0.04384732 -0.07529407 0.07190648
+v -0.05212198 -0.07089264 0.13722561
+v -0.05363298 -0.07089264 0.13703146
+v -0.05597546 -0.07089264 0.13673020
+v -0.06203666 -0.07089264 0.13594024
+v -0.06203666 -0.07366923 0.13501638
+v -0.05900606 -0.07377303 0.13521052
+v -0.05597546 -0.07382817 0.13541135
+v -0.05597546 -0.07528782 0.13258623
+v -0.06203666 -0.07531051 0.12955358
+v -0.05900606 -0.07531700 0.12955358
+v -0.05597546 -0.07531862 0.12955358
+v -0.05294199 -0.07532024 0.12955358
+v -0.04991426 -0.07531369 0.11437695
+v -0.04991426 -0.07529911 0.11740960
+v -0.04991140 -0.07525695 0.12046233
+v -0.04991140 -0.07517100 0.12348159
+v -0.04991140 -0.07503154 0.12652094
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_80.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9efd3b8654d44c2ddb07f361dbc516380a7fe8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_80.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05728885 -0.03516015 0.02077788
+v 0.05729023 -0.04375207 0.02638904
+v 0.05728885 -0.03516014 0.02000879
+v 0.05728748 -0.03516017 0.02638907
+v 0.05729023 -0.04858009 0.02638902
+v 0.05727371 -0.03516017 0.02684417
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+v 0.04456489 -0.04676846 0.03193030
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_81.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18501e988b25293542553bbf4a29d4a7fc8cf93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_81.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.05799715 -0.05602754 0.00403877
+v 0.05760808 -0.06048378 0.00403876
+v 0.05668330 -0.04858131 0.00403880
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_82.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9788bb575bbca8fd12e28a61c85ec44483ef5248
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_82.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.04857982 -0.04658078
+v 0.03289468 -0.03515990 -0.04658073
+v 0.04107354 -0.04857982 -0.04658078
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+v 0.04525188 -0.03772176 -0.02992369
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_83.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ac2e46a5abc24660ecfbbb56384e3eef246a5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_83.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03289468 -0.04857999 -0.00102113
+v 0.03289468 -0.04858005 0.01677892
+v 0.03289468 -0.03516007 -0.00102108
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+
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_9.obj b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4904951acb56a9e5410775e82f5954e6c66f051
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_collision_9.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.05526624 0.05877596 0.12311525
+v -0.04839267 0.01203772 0.07038786
+v -0.04839267 0.01204663 0.07038786
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+v -0.06653100 0.02027973 0.12311510
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+v -0.04864659 -0.03215504 0.06884721
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diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93e9140808cd0ab46337f6bd45e158c39067f41d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/mjcf/mesh/jewelry_box_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f3f1784544e6c3750b44f1408e079300814e7f13838f386b5143db196c4bc
+size 13207185
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/textures/material_0.png b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93e9140808cd0ab46337f6bd45e158c39067f41d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f3f1784544e6c3750b44f1408e079300814e7f13838f386b5143db196c4bc
+size 13207185
diff --git a/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/video.mp4 b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d32e70c28dadc4c4ad2e0817e7b39d35cac794dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e8a6ef963fc25faa8d31bba8a5bb4662/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58304ebbe37ff353ad335bbfa750b7869eab6145b311befe7dec887d29859163
+size 534913