diff --git a/.gitattributes b/.gitattributes
index b00c3d7340737b9678856a12e7e22d09424dd64a..9b089bca0b9e0ab3174fd60c74e364b639ebedf6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2756,9 +2756,5 @@ dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/mesh/pill_orga
 dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/pill_organizer_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/mesh/remote_holder_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/remote_holder_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.urdf b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e5ae61b502b670d6d25bbdd6fc2bfb34b36f5633
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_034">
+   <link name="jewelry_box_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_034.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>57128371779c5fc782b7b182be599432</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>clear jewelry box</name>
+         <color>transparent,golden</color>
+         <shape>cuboid</shape>
+         <material>glass</material>
+         <description>transparent square jewelry box with gold band and front clasp</description>
+         <min_height>0.1857</min_height>
+         <max_height>0.1857</max_height>
+         <real_height>0.1857</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133013</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.098525 -0.100004 -0.102022</min>
+            <max>0.105378 0.099996 0.083673</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.usd b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2cba7e0dd85ee1da966ed637d72cc1f29fa6a54c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/jewelry_box_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065aa79fa3214cb7f8594c1133ec0f98fcc1929014d0705da83330673239f9b5
+size 4641935
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.glb b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e9f18d1763092516b612b72b97f922b935d077a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d1e8ea16f1d50ec584fed0bfc2df0f2acc7833014c539e47af6399eadcd38b8
+size 14695648
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.mtl b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a39d20547c2d72f22c764bb94675415b2e80e6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_034_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8b0b33b8b6d6fd392eac4d68cfa4f4f55d2d99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034.obj
@@ -0,0 +1,113674 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034_collision.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216ec51ee32593c194381a4bafaffedaeb66daae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/jewelry_box_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..699cafe9cf4b874deb188f64fd015c9b5aeda5aa
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/material.mtl b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/material.mtl
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index 0000000000000000000000000000000000000000..ebc6f616fa80a0db7c0e68b9f3dddd463e818636
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/material_0.png b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/jewelry_box_034.xml b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/jewelry_box_034.xml
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index 0000000000000000000000000000000000000000..ba55035e0efb3da7e25545a99b8693f2a781d62f
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+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_034_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_034_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_034_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/jewelry_box_034_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/jewelry_box_034_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/jewelry_box_034_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/jewelry_box_034_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_034">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa8346d7fe505327bfb2ab2a533c0b7c27d4c16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034.obj
@@ -0,0 +1,113674 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_034_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71dea6d712ec36eae78e015e84a02261ad7761c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision.obj
@@ -0,0 +1,6608 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_0.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a2a84d070467d79ca4dd692e712866a0db6f5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_0.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_1.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ab0889cd1d2c85a69bc70d647aa6472bc04328
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_1.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_10.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a97ddc0d9228b3a112fa8d39d579e2e3508631
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_10.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_11.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2964a792d97f119877335cc7f8e25427e43ab58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_11.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_12.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f7ce18dda3de264d994218bdee8493eab749c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_12.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_13.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93824942823302e74f7525e6045d32a126c27ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_13.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00362087 0.07945824 -0.07594266
+v -0.00362087 0.01893220 -0.07594288
+v -0.00362087 0.07945826 -0.08153094
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+v -0.08076321 0.01893220 -0.07594288
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+v -0.08076321 0.07945827 -0.08457478
+v -0.04192775 0.01893222 -0.08201953
+v -0.07883767 0.07945827 -0.08459767
+v -0.08076321 0.01893222 -0.08248840
+v -0.07975891 0.07945827 -0.08460446
+v -0.05869880 0.01893222 -0.08226117
+v -0.05918208 0.01893222 -0.08226795
+v -0.06254233 0.01893222 -0.08231205
+v -0.06541176 0.01893222 -0.08234935
+v -0.06876446 0.01893222 -0.08239260
+v -0.07260799 0.01893222 -0.08243838
+v -0.07547741 0.01893222 -0.08246975
+v -0.07883767 0.01893222 -0.08249434
+f 1 2 5
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+f 1 12 8
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+f 1 4 6
+f 1 6 2
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+f 10 19 12
+f 11 12 20
+f 12 19 20
+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_14.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb3f249438cd6281fa3caf8b8ac4d8dd549c9cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_14.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.08650607 -0.04541562 -0.08304702
+v -0.08650607 0.01892630 -0.08298543
+v -0.06961623 0.01892630 -0.08240258
+v -0.06961623 -0.04443311 -0.08241303
+v -0.06961623 -0.04541563 -0.08241304
+v -0.08650607 -0.04541601 0.02141626
+v -0.08650607 0.01892592 0.02141650
+v -0.06961623 0.01892592 0.02141650
+v -0.06961623 -0.04541601 0.02141626
+f 1 2 3
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+f 1 7 2
+f 2 7 8
+f 2 8 3
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+f 3 9 5
+f 3 5 4
+f 6 9 8
+f 6 8 7
+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_15.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bcefcef483d29ca698412347e8d917377f2b709
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_15.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.09169927 -0.04541556 -0.10050518
+v -0.09170068 0.01173388 -0.10049304
+v -0.09169998 0.01892637 -0.10049301
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_16.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5833c8e5c60b2873545f04fd5b4567570de59c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_16.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.09637442 -0.02166155 0.05286813
+v 0.10470456 -0.01072807 0.05303375
+v 0.09637442 -0.02165360 0.05303371
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_17.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780e8f11157c6ebebc5f1468766a3af90c1f56a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_17.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01954620 0.09841951 -0.08683529
+v -0.00408149 0.09841605 -0.08683529
+v -0.00362087 0.09841435 -0.09465575
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_18.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8fa229409c96c1681c83437b383250a2e7190b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.08794691 0.07917554 -0.08528250
+v -0.09328177 0.07917554 -0.08528250
+v -0.08785405 0.07916375 -0.08528250
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_19.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf400e88686904e36d20201b0e4a0bba5cb53565
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02178889 0.09863204 -0.07594259
+v -0.00362087 0.09862641 -0.07594259
+v -0.02514914 0.09859639 -0.07787328
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_2.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3852183ad81867b3fe1d4b0f8b29cf8d83c7b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_2.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v -0.00362087 0.10048646 0.04968426
+v -0.01843283 0.10043854 0.05303985
+v -0.00362087 0.10045451 0.05165384
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_20.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d0e779d0ea6bc2acdb70f6ef18d23ead87117f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_20.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_21.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a2f6513d9783a9fd70beaec269c1620b4be63b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_21.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_22.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb41af9d6d9e73a91f2a338b3afe1a43bcefe33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_22.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_23.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dbcbee0ca27dd3bda15d4e878a4c04fae7d0d7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_23.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_24.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2115ca84ec6300e8909a69f23672e203bf90ca20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_25.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ac86d94dc70c94002bf4353c1b74f64245b297
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_25.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_26.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d71c25cc92d7003ec066591e16f7da29f139134
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_26.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_27.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bf6f4503c2ca35af4068740ec7f8a17dca6073
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_28.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873eacef7428808b90934794065984fc75f0f2ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_28.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00245911 -0.07885419 0.01294381
+v -0.06872976 -0.07885419 0.01294381
+v -0.00245911 -0.09745290 0.01294374
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+v -0.01488161 -0.09745874 0.01294374
+v -0.00245911 -0.09874767 -0.07451099
+v -0.00245911 -0.08582980 -0.08500054
+v -0.06541493 -0.09747237 0.01294374
+v -0.06872976 -0.09874572 -0.07451099
+v -0.05869445 -0.09874767 -0.07451099
+v -0.06872976 -0.08389398 -0.08500053
+v -0.02159560 -0.09746069 0.01294374
+v -0.04863320 -0.09869702 -0.07786689
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+v -0.00245911 -0.09853925 -0.08500058
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+v -0.06204820 -0.09869702 -0.07786689
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+v -0.00245911 -0.09868144 -0.07786689
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_29.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1abb5efaea393b6d4dd4972820c56ebd127753
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_29.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.08901608 -0.03209420 -0.08191625
+v 0.08896840 -0.03209550 -0.08191625
+v 0.08906959 -0.03214226 -0.08191625
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+v 0.09112058 -0.03857421 -0.09337419
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+v 0.08884581 -0.04535824 -0.08191630
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+f 36 39 38
+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_3.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849711d8dfff82074cac6afb058dc8b98f956af8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_3.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00362973 0.09739378 0.02618949
+v -0.08219405 0.09854887 0.02618949
+v -0.00362973 0.01892590 0.02618920
+v -0.00362973 0.09822123 -0.01745858
+v -0.08555438 0.09854887 0.02618949
+v -0.00362973 0.09823685 -0.01884820
+v -0.00362973 0.09825247 -0.02081766
+v -0.00362973 0.09865070 -0.07451297
+v -0.02178792 0.09865850 -0.07451297
+v -0.09010280 0.01892590 0.02618920
+v -0.00362973 0.01892628 -0.07594288
+v -0.08890584 0.09847082 0.02618949
+v -0.04528363 0.09865070 -0.07451297
+v -0.05534688 0.09864289 -0.07451297
+v -0.06205868 0.09863509 -0.07451297
+v -0.08554551 0.09855702 -0.06444573
+v -0.08890584 0.09852580 -0.06444573
+v -0.00362973 0.09862730 -0.07589260
+v -0.01700898 0.09862730 -0.07594259
+v -0.04528363 0.09862730 -0.07594259
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+v -0.09323260 0.09592654 0.01946132
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+v -0.09405717 0.09427973 0.02617948
+v -0.09405717 0.09427973 0.02618948
+v -0.09325920 0.09557564 -0.06444574
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+v -0.08890584 0.09849460 -0.07451297
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+v -0.09160120 0.09787022 -0.07115389
+v -0.09323260 0.09557565 -0.06779482
+v -0.09419016 0.09222711 0.02618947
+v -0.09419016 0.09222711 0.02617947
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_4.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cdf11d3f3de4802db7689b729a8b53d20a9947
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.08554881 0.01173321 0.08260400
+v -0.06961623 0.01892570 0.08258008
+v -0.08506757 0.01892570 0.08259206
+v -0.08554881 0.01892570 0.08259206
+v -0.08890591 0.01892570 0.08257409
+v -0.08890591 -0.04541623 0.08257385
+v -0.08568425 -0.04541623 0.08259780
+v -0.08554881 -0.04541623 0.08259780
+v -0.06961623 -0.01259026 0.08257996
+v -0.06961623 0.01892592 0.02141650
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+v -0.08900678 -0.04541623 0.08255588
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_5.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1453955f8ae29e43d024bd581831d9adada34521
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_6.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4882fabe1535f5d4e2b19dc3073b6884c70b45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_7.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2e561ec7449ecb530e901489224272c83c5e71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_7.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.08469983 -0.07885382 -0.08341487
+v -0.08469983 -0.07885443 0.08066146
+v -0.08469983 -0.04541562 -0.08267611
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+v 0.06882554 -0.07546615 -0.08203607
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+v -0.08221876 -0.07885443 0.08258191
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+v -0.08469983 -0.04541622 0.08259845
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+v 0.09230714 -0.07885384 -0.08011562
+v 0.08895769 -0.07885383 -0.08072295
+v 0.08564368 -0.07885383 -0.08096916
+v 0.07222815 -0.07885383 -0.08192118
+v 0.08557279 -0.07885444 0.08412485
+v 0.08559051 -0.07546676 0.08420693
+v 0.08559051 -0.07211181 0.08423978
+v 0.08559051 -0.06875686 0.08425620
+v 0.08559051 -0.04541623 0.08427269
+v 0.09404389 -0.04541563 -0.07960666
+v 0.09404389 -0.04863639 -0.07960667
+v 0.09402617 -0.07885384 -0.07959036
+v 0.08559051 -0.07885444 0.08412485
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+v 0.08895769 -0.07546676 0.08353395
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_8.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7968c063ced682e58968395f28133635b5494692
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00362087 0.01892627 -0.07440219
+v -0.00362087 0.01892594 0.01640225
+v -0.00362087 0.09863352 -0.07440190
+v 0.09465534 0.01892627 -0.07440219
+v -0.00362087 0.09740008 0.01640254
+v 0.09274931 0.01892594 0.01640225
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+v -0.00362087 0.09821967 -0.01745359
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+v 0.09154600 0.09793079 0.01640254
+v 0.09231612 0.09792318 -0.03758593
+v 0.09231612 0.09793100 -0.04094577
+v 0.08895650 0.09847713 0.00939843
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_9.obj b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c363d915353c9207d5b01a660485cce60ad1a205
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_collision_9.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.07350920 0.01892570 0.08257393
+v -0.06961623 0.01892570 0.08257393
+v -0.01842395 -0.03857013 0.08258987
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+v -0.06961623 -0.04541623 0.08257369
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+v -0.06925198 0.01892630 -0.08239766
+v -0.05534011 -0.03521892 -0.08222019
+v -0.05534011 -0.02851138 -0.08222016
+v -0.05583046 0.01892630 -0.08221999
+v -0.04239494 0.01892630 -0.08202617
+v -0.06541326 0.01892630 -0.08234921
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..699cafe9cf4b874deb188f64fd015c9b5aeda5aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/mjcf/mesh/jewelry_box_034_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cbc49b893bb8f0fd4f12af06f20c30ac9d6d603a73836f9a60fc3257543096
+size 11798096
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/textures/material_0.png b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..699cafe9cf4b874deb188f64fd015c9b5aeda5aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cbc49b893bb8f0fd4f12af06f20c30ac9d6d603a73836f9a60fc3257543096
+size 11798096
diff --git a/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/video.mp4 b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2952d5aa79dceb345baaa9eb01443f533acc519
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/57128371779c5fc782b7b182be599432/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6dde7f7198e765963454e67487141db91cccd54e0af4bc2c6dfb23594cc29b0
+size 696174