diff --git a/.gitattributes b/.gitattributes
index d2fa69986951c1ce762a98d0d307bc54a63cc27d..bd01aaba43a8038dab410c77db9d51e63baf263c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2758,3 +2758,5 @@ dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/mesh/remote_ho
 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
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.urdf b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..067c0ba33dd2e96679bec0ab145d366ed37618e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_014">
+   <link name="jewelry_box_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>5bfcf2020b245442a6b476a9bda63a93</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>oval jewelry box</name>
+         <color>gray,purple</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>rounded jewelry box with hinged lid and purple compartmented interior</description>
+         <min_height>0.0994</min_height>
+         <max_height>0.0994</max_height>
+         <real_height>0.0994</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170409</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044909 -0.059836 -0.031355</min>
+            <max>0.058831 0.060164 0.068018</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.usd b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..becf13a405b8e6a58e6706843b3641ef54cf4af8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c06a12674bb1d4064ec6600ad672622afb4533b018bcf0d635190fc1a85b891
+size 4916752
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.glb b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b206a9b36870cbc592d6cdb11114731db45b43f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d2154cefaf4b57b78dd020a5fb814d897d55ba429e00a937d6c0c43fac45ddf
+size 14924764
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.mtl b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e451eb9a7906007225a5effd42638486a85c4f84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_014_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/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b3502c201271bf2bfb71fb9e4e6112bff5b331
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.obj
@@ -0,0 +1,112728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_collision.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b8ab6a4b2b4037e986999d4a8f3fa34654185ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_collision.obj
@@ -0,0 +1,31018 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78f6664d12e3133c5a144881552f1fb40292f77e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592a788de959be9b2f2a10d8d048776d3b188a2867e75c58f77c91f7aa34b69f
+size 11580828
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material.mtl b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a90ca0668e52f0ea34919227bf6245d2e0fa8a09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material_0.png b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78f6664d12e3133c5a144881552f1fb40292f77e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592a788de959be9b2f2a10d8d048776d3b188a2867e75c58f77c91f7aa34b69f
+size 11580828
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/jewelry_box_014.xml b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/jewelry_box_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16bd2ad6284053aca62936e091a82ac52259513c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/jewelry_box_014.xml
@@ -0,0 +1,144 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_014">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_014_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/jewelry_box_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/jewelry_box_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/jewelry_box_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/jewelry_box_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/jewelry_box_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/jewelry_box_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/jewelry_box_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/jewelry_box_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/jewelry_box_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/jewelry_box_014_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/jewelry_box_014_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/jewelry_box_014_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/jewelry_box_014_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/jewelry_box_014_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/jewelry_box_014_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/jewelry_box_014_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/jewelry_box_014_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/jewelry_box_014_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/jewelry_box_014_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/jewelry_box_014_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/jewelry_box_014_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/jewelry_box_014_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/jewelry_box_014_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/jewelry_box_014_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/jewelry_box_014_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/jewelry_box_014_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/jewelry_box_014_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/jewelry_box_014_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/jewelry_box_014_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/jewelry_box_014_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/jewelry_box_014_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/jewelry_box_014_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/jewelry_box_014_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/jewelry_box_014_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/jewelry_box_014_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/jewelry_box_014_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/jewelry_box_014_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/jewelry_box_014_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/jewelry_box_014_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_014">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" 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/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a4ac0f64a3e4e1b475d0126d1c05046595be35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014.obj
@@ -0,0 +1,112728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_014_geometry_Looks_material_0
+v 0.016885 0.059824 -0.016289
+v 0.016885 0.059824 -0.016289
+v 0.014662 0.059800 -0.017557
+v 0.014662 0.059800 -0.017557
+v 0.014807 0.059814 -0.015992
+v 0.014807 0.059814 -0.015992
+v 0.057512 0.004958 -0.027642
+v 0.057512 0.004958 -0.027642
+v 0.057488 0.011450 -0.027692
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698c55bec3941a1d1f255f7c906e71085e0c67dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision.obj
@@ -0,0 +1,31018 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_0.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573ed950ad6bb14e1d962da9b2425b92fb039f1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_1.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db044e156a6d5c3804ebfc44e3a37af5b9941e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_10.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd018cfcd866f8c9899eff157d9dfccd230b8cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_10.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_11.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e51f09a55c698f39dd730ace699ae66da418576
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_11.obj
@@ -0,0 +1,997 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_12.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3185633dafc0d4e956ee55782478d0fa0cdc63c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_13.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe2867b4047c1e3d9a16256798d29946faccd3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_14.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f515206ab11642b35d2a6df2e1a9f57ab96414
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_14.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_15.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40abd569e04ac0a5115390a2d33eca3ccd69141
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_15.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.03061254 0.04343816 0.05252564
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+v -0.02765254 0.04303841 0.05252564
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_16.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1365c51710d34db73181a44423cf4d1ed62c57a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_16.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_17.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4bd4db4cbfab25824bfa9823c38bd1ff8397be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_17.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_18.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e03242f4ef0500eed2ae866ea29c643d7f84a9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_18.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_19.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca002dee7dcad632367917847004c1bd8c66277a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_19.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_2.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8377252c48744285c33f20e83eaa99beaed5c76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_20.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc961da5e01634e802a58af998dea722960dc26
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_20.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_21.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e47a6b60ae3b06a11e20a2d3f43fc530c912451
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_22.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab831869f519b81e8948e5730a527c933e350a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_23.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3126a9459608489cb371bb428d3fd1e9b2c301
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_24.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3aec3c082bfeb485add487630e5e15f17f352b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_25.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d7fdae5fd6fca110efd25df427b5ae1a10f4e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_26.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b607dbf3f83714215bf6c74e02790cecaa860da5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_26.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_27.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc12d7cc89e7784d1314d4f7a7b6d3be9184433
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_27.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_28.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4723b881a3936eec69481ebc9e26fc62c5a48787
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_28.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_29.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6412fbdbab7610fa1a00c66ed52378b4cec68212
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_29.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_3.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff46575d67ff8dc8efc99f2140b62c02d0ce02d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_3.obj
@@ -0,0 +1,2467 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_30.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9f0ef25949c7268e8b4e86d768dd8c0710f0d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_30.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_31.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dab78754ca6c4e9bdcad005de0ea27322fa3cd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_31.obj
@@ -0,0 +1,799 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_32.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e5671bcc2ae4319190516f82c36c570a371fb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_32.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_33.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0717e70a36b4fddf73cc0e78bcb903a7190cf7da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_33.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
+v 0.02457263 0.05195282 -0.00358378
+v 0.01177468 0.05212587 -0.00351734
+v 0.00980614 0.05206330 -0.00350073
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_34.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a90c9df09138033592494f34bbd1854c2cadd530
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_34.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_35.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709c2f875bb77a5bab62bf028cdc2f14b0b870bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_35.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_36.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79998defc32622e0a99f6b9e41e42884497b1de0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_36.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v 0.03934768 0.00538092 -0.03199545
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_37.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064d21fbab7008f36a2053cc4b2f821ebfb3d229
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_37.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
+v 0.03934768 -0.04874370 -0.00350083
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_38.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddaf61f435230b07ec400e601345bbcb29c3eba2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_39.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536955a5b767e701e74f9018f32f3fbeaea1af85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_39.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_4.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6d093eab8bce4c1aff044af3b323747db74cdf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_40.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88d69fc030cb3843ed2c0d7968f4c9ec958d671
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_40.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_41.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e1d59ff908b17fd306c2a16c090f3624893b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_41.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_42.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c34370875f2e70893e056a0786e547496c12df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_42.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_43.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd33c0b31d541c8f7c7cdf630dd8e957ecb557fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_43.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_44.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881ea30270f39707a6e69bc7b4ee8eda5e2440c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_44.obj
@@ -0,0 +1,1300 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_45.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cfa0b66b3871d08674f3d9e53db30f2abee6b36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_45.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_46.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc09b1caca81e2955661a86d8184e65c007e39b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_46.obj
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_47.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f477b8d409d459908bd9d0a090052e03ee53206
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_47.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00788334 0.03501569 -0.03198756
+v 0.00586792 0.03501569 -0.03198042
+v 0.00788334 0.03874118 -0.03197328
+v 0.00788334 0.03501560 -0.00810440
+v 0.00389926 0.03501569 -0.03196852
+v 0.00586792 0.03680782 -0.03197328
+v 0.00586792 0.03878779 -0.03195900
+v 0.00783657 0.04076916 -0.03195185
+v 0.00788334 0.04076916 -0.03195185
+v 0.00788334 0.04212291 -0.00767602
+v 0.00085617 0.04211943 -0.00781881
+v 0.00783657 0.03501560 -0.00810678
+v 0.00371148 0.03501569 -0.03196615
+v 0.00389926 0.03680782 -0.03195662
+v 0.00389926 0.03878779 -0.03193758
+v 0.00586792 0.04076916 -0.03193281
+v 0.00783657 0.04212300 -0.03192329
+v 0.00788334 0.04212300 -0.03192329
+v 0.00086236 0.04212291 -0.00781881
+v 0.00586792 0.03501560 -0.00823052
+v 0.00605570 0.03501560 -0.00821862
+v 0.00085617 0.04212291 -0.00783546
+v 0.00085617 0.03501560 -0.00858987
+v 0.00193061 0.03501569 -0.03194235
+v 0.00193061 0.03680782 -0.03192568
+v 0.00193061 0.03878779 -0.03189236
+v 0.00389926 0.04076916 -0.03189949
+v 0.00586792 0.04212300 -0.03189711
+v 0.00085617 0.04212300 -0.03171625
+v 0.00085617 0.03501569 -0.03190903
+v 0.00085617 0.03680782 -0.03188761
+v 0.00085617 0.03878779 -0.03184715
+v 0.00193061 0.04076916 -0.03184000
+v 0.00389926 0.04212300 -0.03185190
+v 0.00193061 0.04212300 -0.03178051
+v 0.00085617 0.04076916 -0.03178526
+f 1 2 3
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+f 1 4 12
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+f 1 21 20
+f 1 20 23
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+f 1 5 2
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_48.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1c59da7581009abe9c6ca98a1e886254ed5ca9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00004271 -0.02477075 -0.01347579
+v 0.01010668 -0.02477075 -0.01347579
+v -0.00004271 -0.02477077 -0.00733115
+v -0.00004271 -0.00908582 -0.01347573
+v 0.01010668 -0.02477078 -0.00644313
+v 0.01010668 -0.01142106 -0.01347574
+v 0.00586750 -0.02477078 -0.00653778
+v -0.00004271 -0.01667959 -0.00435066
+v -0.00004271 -0.01082383 -0.00855409
+v 0.01010668 -0.01211966 -0.00660269
+v 0.01010668 -0.01206438 -0.00697571
+v 0.01010668 -0.01183715 -0.00855038
+v 0.00783658 -0.02477078 -0.00644963
+v 0.01010668 -0.01667499 -0.00430798
+v 0.00980466 -0.01667499 -0.00430612
+v -0.00003775 -0.01667499 -0.00434880
+v -0.00004271 -0.01469903 -0.00399712
+v -0.00004271 -0.01144871 -0.00732924
+v 0.01010668 -0.01289961 -0.00516907
+v -0.00004271 -0.01178650 -0.00669455
+v 0.01010668 -0.01637253 -0.00426065
+v 0.00980466 -0.01469442 -0.00399804
+v -0.00003775 -0.01469442 -0.00399712
+v -0.00004271 -0.01303318 -0.00489534
+v 0.01010668 -0.01304854 -0.00490276
+v 0.00980466 -0.01304700 -0.00490183
+v 0.01010668 -0.01469442 -0.00399990
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_49.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93867b99b34a3b8f97a1016346de986257540bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_49.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02457263 0.00138589 -0.00788942
+v 0.02457263 0.00140810 -0.00789767
+v 0.02169900 0.01218920 -0.00623824
+v 0.02120342 0.01218920 -0.00527781
+v 0.02065852 0.01218920 -0.00487328
+v 0.01964933 0.00138588 -0.00446603
+v 0.02457263 0.00138598 -0.03199902
+v 0.02185537 0.01218920 -0.00657947
+v 0.02457263 0.01218923 -0.01366292
+v 0.01964933 0.01218920 -0.00441096
+v 0.01791360 0.00138587 -0.00396518
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+v 0.02457263 0.00610450 -0.03200176
+v 0.02457263 0.01218930 -0.03200174
+v 0.01880612 0.01218920 -0.00417704
+v 0.01768145 0.00138587 -0.00389913
+v 0.01768145 0.00138598 -0.03200452
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+v 0.01852345 0.01218930 -0.03200449
+v 0.01768145 0.01218919 -0.00391286
+v 0.01768145 0.00907594 -0.00389636
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_5.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671d96cd2433067db5dd728e30312b4d23975330
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_5.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
+v -0.04519722 -0.02978401 0.05252803
+v -0.04519722 -0.02978401 0.05260040
+v -0.03339883 -0.02978401 0.05252803
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_50.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbbb2f04fc8de206c771cf062bbeeefc33d49b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_50.obj
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_51.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c49d177114057c029cea7f39df40597a79884e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_51.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_52.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a532368acc3791a4eb35cb43169551a8c7aa4f37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_52.obj
@@ -0,0 +1,790 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_53.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8faefb10fc74f1f562dffa95c13b6f2ebe75d9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_53.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01228422 0.01218923 -0.01364392
+v 0.00114824 0.01218923 -0.01368166
+v 0.01228422 0.00138591 -0.01448697
+v 0.01228422 0.01218930 -0.03200334
+v 0.00114824 0.00138591 -0.01467929
+v 0.00114824 0.01218930 -0.03196020
+v 0.01228422 0.00138598 -0.03200337
+v 0.01064805 0.01218930 -0.03200334
+v 0.00114824 0.00138598 -0.03196023
+v 0.00137497 0.01218930 -0.03196559
+v 0.00114824 0.01105673 -0.03196200
+v 0.01154189 0.00138598 -0.03200337
+v 0.00867941 0.01218930 -0.03200154
+v 0.00114824 0.00511469 -0.03196202
+v 0.00169872 0.00138598 -0.03197281
+v 0.00193090 0.01218930 -0.03197818
+v 0.00760462 0.00138598 -0.03199978
+v 0.00586817 0.01218930 -0.03199795
+v 0.00586817 0.00138598 -0.03199798
+v 0.00193090 0.00313401 -0.03197821
+v 0.00193090 0.00138598 -0.03197641
+v 0.00389953 0.01218930 -0.03199256
+v 0.00389953 0.00907605 -0.03199437
+v 0.00389953 0.00138598 -0.03199259
+v 0.00389953 0.00709431 -0.03199437
+v 0.00366844 0.00138598 -0.03199079
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_54.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3191a90acb4215b2906e51943645f3ce6eeb0264
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_54.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00085617 0.03501569 -0.03191032
+v -0.00003889 0.03501569 -0.03188243
+v 0.00085617 0.03680782 -0.03188800
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_55.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a892d937a6c85e4c15764fc5690d91bb221131
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_55.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00004271 -0.00908597 -0.01347573
+v -0.00004271 -0.02477075 -0.01347579
+v 0.01010668 -0.01142102 -0.01347574
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+v -0.00004271 -0.02477069 -0.02882296
+v 0.01010668 -0.02477075 -0.01347579
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+v 0.00389942 -0.01469309 -0.03199538
+v 0.00407129 -0.02477068 -0.03198272
+v 0.00586750 -0.01469309 -0.03199901
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_56.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d352f5cc1a703b4810436b899f826cf65dc6642
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_56.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_57.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6123bb0db08c328923b338a16cc584e757486746
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_57.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_58.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c27c8866da2f14470771cf733f10c9cea31d3d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_58.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_59.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74676e11aeeca2952da08b7b6af46da54f52bdc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_59.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_6.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e953109b4aab25fff0117c1da0496b25694c2a3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_6.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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+f 213 235 214
+f 214 235 215
+f 216 227 217
+f 217 227 236
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+f 218 236 233
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+f 218 232 219
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_60.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4453752ec0469bcf89198dcd72822919e59901a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_60.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02457263 0.02690379 -0.00693342
+v 0.00980627 0.02690378 -0.00636032
+v 0.01964745 0.02492296 -0.00660522
+v 0.02161707 0.02492296 -0.00672893
+v 0.02457263 0.02590618 -0.00702936
+v 0.02457263 0.02766182 -0.00706218
+v 0.01374091 0.03501560 -0.00803415
+v 0.01177589 0.03501560 -0.00802405
+v 0.00999429 0.03501560 -0.00804677
+v 0.00980627 0.03501560 -0.00804929
+v 0.00783896 0.03501560 -0.00810484
+v 0.00783896 0.02690378 -0.00643354
+v 0.00783896 0.02492296 -0.00620885
+v 0.01768014 0.03501560 -0.00813261
+v 0.01589854 0.03501560 -0.00807707
+v 0.01571052 0.03501560 -0.00807202
+v 0.00980627 0.02164080 -0.00632499
+v 0.02353165 0.02484966 -0.00710258
+v 0.02457263 0.02164081 -0.00813518
+v 0.02457263 0.02519660 -0.00720862
+v 0.02457263 0.03501560 -0.00861734
+v 0.02377469 0.03501560 -0.00853908
+v 0.02161707 0.03501560 -0.00836993
+v 0.01983547 0.03501560 -0.00824117
+v 0.01964745 0.03501560 -0.00822855
+v 0.00605736 0.03501560 -0.00821845
+v 0.00586934 0.03501560 -0.00823107
+v 0.00114824 0.03501560 -0.00866279
+v 0.00781832 0.02164080 -0.00666330
+v 0.00114824 0.03482576 -0.00866026
+v 0.00114824 0.03205811 -0.00864513
+v 0.00114824 0.03086412 -0.00864261
+v 0.00114824 0.03007729 -0.00864514
+v 0.00114824 0.02888330 -0.00865271
+v 0.00114824 0.02809778 -0.00867039
+v 0.00114824 0.02690379 -0.00871079
+v 0.00114824 0.02611696 -0.00875371
+v 0.00114824 0.02164081 -0.00901629
+v 0.00192554 0.02164081 -0.00873101
+v 0.02457263 0.02164090 -0.03199331
+v 0.02457263 0.03501569 -0.03199326
+v 0.00114824 0.03501569 -0.03191752
+v 0.00114824 0.02164090 -0.03194787
+v 0.02094066 0.02164090 -0.03199584
+v 0.01768014 0.02492306 -0.03199835
+v 0.01964745 0.03482585 -0.03199579
+v 0.01355519 0.03501569 -0.03199326
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+v 0.00114824 0.03490179 -0.03192005
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+v 0.00125601 0.02164090 -0.03195039
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+v 0.00980627 0.03284503 -0.03199327
+v 0.01571052 0.03284503 -0.03199580
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+v 0.00389973 0.03501569 -0.03196802
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+v 0.00193241 0.03284503 -0.03195541
+v 0.00114824 0.02888339 -0.03194279
+v 0.00193241 0.02888339 -0.03196046
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+v 0.00980627 0.02164090 -0.03199331
+v 0.00783896 0.03284503 -0.03199075
+v 0.00765094 0.03501569 -0.03198569
+v 0.00114824 0.03086421 -0.03194027
+v 0.00568133 0.03501569 -0.03197812
+v 0.00586934 0.03482585 -0.03198064
+v 0.00389973 0.03284503 -0.03197560
+v 0.00389973 0.02888339 -0.03198066
+v 0.00322562 0.02164090 -0.03197564
+v 0.00783896 0.02164090 -0.03199079
+v 0.00519294 0.02164090 -0.03198574
+v 0.00389973 0.02164090 -0.03198069
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+f 1 41 21
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+f 1 6 2
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_61.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd5a0bb90ba2bbb8415bab27dcabe494fba60cea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_61.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03934768 -0.03173742 -0.03198147
+v 0.03934768 -0.02262777 -0.03198393
+v 0.04056633 -0.01989233 -0.03198392
+v 0.04130676 -0.02063678 -0.03198143
+v 0.04130676 -0.02855902 -0.03197645
+v 0.04130676 -0.03173742 -0.03197397
+v 0.03934768 -0.03173752 -0.00673391
+v 0.03934768 -0.01989233 -0.03198392
+v 0.04130676 -0.01989233 -0.03198142
+v 0.04253465 -0.01989233 -0.03196642
+v 0.04327436 -0.02459790 -0.03195644
+v 0.04327436 -0.02855902 -0.03195145
+v 0.04327436 -0.03173742 -0.03194397
+v 0.04012293 -0.03173751 -0.00683392
+v 0.03934768 -0.01989243 -0.00644383
+v 0.04327436 -0.01989233 -0.03195642
+v 0.04524339 -0.02657846 -0.03188894
+v 0.04524339 -0.02855902 -0.03188644
+v 0.04524339 -0.03053958 -0.03187895
+v 0.04524339 -0.03173742 -0.03187146
+v 0.04130676 -0.03173751 -0.00698894
+v 0.04660699 -0.03173635 -0.00811405
+v 0.04032260 -0.01989243 -0.00666136
+v 0.04524339 -0.01989233 -0.03188891
+v 0.04660699 -0.02657846 -0.03180143
+v 0.04660699 -0.02855902 -0.03179893
+v 0.04660699 -0.02993080 -0.03179394
+v 0.04660699 -0.03053958 -0.03179144
+v 0.04660699 -0.03136867 -0.03178395
+v 0.04643290 -0.03173742 -0.03179145
+v 0.04660628 -0.03173751 -0.00811655
+v 0.04660699 -0.02663769 -0.00829905
+v 0.04145030 -0.01989242 -0.00696389
+v 0.04660699 -0.03173746 -0.02067033
+v 0.04660699 -0.01989233 -0.03179890
+v 0.04660699 -0.02398912 -0.03180142
+v 0.04660699 -0.03173742 -0.03177895
+v 0.04660699 -0.02657855 -0.00830155
+v 0.04660699 -0.02465481 -0.00838405
+v 0.04660699 -0.02459799 -0.00838655
+v 0.04660699 -0.01989242 -0.00873407
+f 1 2 3
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+f 22 38 32
+f 24 35 36
+f 29 37 30
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 41
+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_62.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41e0b00071154d8739d44566dd9e69399c25f3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_62.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03541374 0.04674684 -0.00787709
+v 0.02457263 0.04674684 -0.00848021
+v 0.02457263 0.04253826 -0.00715630
+v 0.02555635 0.04076931 -0.00695282
+v 0.02859878 0.04024753 -0.00735980
+v 0.03487996 0.04024753 -0.00899754
+v 0.03541374 0.04025071 -0.00918877
+v 0.03541374 0.04674693 -0.03167569
+v 0.02457263 0.04674693 -0.03177376
+v 0.02457263 0.04076931 -0.00693811
+v 0.02555635 0.04024753 -0.00707541
+v 0.03539888 0.04024753 -0.00918877
+v 0.03541374 0.04024753 -0.00920348
+v 0.03541374 0.04669730 -0.03168060
+v 0.03539888 0.04671130 -0.03168060
+v 0.03339429 0.04674693 -0.03171002
+v 0.02555635 0.04674693 -0.03177131
+v 0.02457263 0.04671130 -0.03177621
+v 0.02457263 0.04024753 -0.00716367
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+v 0.03541374 0.04473045 -0.03181545
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+v 0.03146187 0.04473045 -0.03185958
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+v 0.03001228 0.04024762 -0.03197727
+v 0.03146187 0.04076940 -0.03196991
+v 0.03198079 0.04024762 -0.03197237
+f 1 2 3
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+f 1 4 5
+f 1 5 6
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+f 1 13 20
+f 1 20 29
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+f 1 21 14
+f 1 14 8
+f 1 8 16
+f 1 16 23
+f 1 23 33
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+f 1 24 17
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+
diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_63.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64faa89005ba812eb9dd8493f1c706cfedacf14f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_63.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04420191 0.04674682 -0.00349489
+v 0.04333909 0.04674682 -0.00349489
+v 0.04334253 0.04674555 -0.00349210
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+v 0.03941470 0.04674683 -0.00495501
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+v 0.04323844 0.04674693 -0.03131250
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_64.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4897b8896ebd734a7daa32ebde7909393606cfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_64.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_7.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc2a7b54b811058815470a70765408bfc8f8217
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_7.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_8.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5397284e10962a9747ff1af6e1e277cbfff2667c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_8.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_9.obj b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468e83f8186b114c15c97701dc5cd862ffbd062c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mjcf/mesh/jewelry_box_014_collision_9.obj
@@ -0,0 +1,157 @@
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