diff --git a/.gitattributes b/.gitattributes
index afa43a3ffc9f92989b139ec49a6b734f81025226..7196d81785911c64f0f6984a3b411f115d18110d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2711,5 +2711,5 @@ dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.gl
 dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.urdf b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da16b6614335a1846fec7a873ac97b576bcf666e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_017">
+   <link name="jewelry_box_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>1a1651ba69165a75ae1252157cc0edc2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>oval jewelry box</name>
+         <color>white,purple</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>oval hinged jewelry box with purple velvet-lined compartments</description>
+         <min_height>0.0937</min_height>
+         <max_height>0.0937</max_height>
+         <real_height>0.0937</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170555</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037586 -0.059962 -0.031925</min>
+            <max>0.058083 0.060038 0.061812</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.usd b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f8ab82d280e628ead1dc30d6d0fb4d0d5aced89e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd809f389db6d394158727c341ef44e0893a9d23f16a587e90d00844f47f50b
+size 4921137
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.glb b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e1f687bd3c2a1017f15692dfbc9d37f74c6143eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa79987b01dfc23fc365e32d0882164755bd458b21204464217a6831b218698
+size 16354840
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.mtl b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..45e110a6e5cd0aa1bf559af24c47a020837eb5bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_017_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/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc581e024240e907dfe2ec8079c92341753a7d7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017.obj
@@ -0,0 +1,116714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_017_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_collision.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290323f97995130bfa29aa66fa9d356b1763fb75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_collision.obj
@@ -0,0 +1,34757 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28844475c8e9b1e61698c1d8c1d097b95e42055
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/jewelry_box_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752412d970fe3337ad03b6a373903e2dd0126d5251a18f145dba2ac889a3bdf0
+size 13010581
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/material.mtl b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6df5c42bf159d3d83db133b7b860c819acdb7872
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_017_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/material_0.png b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:752412d970fe3337ad03b6a373903e2dd0126d5251a18f145dba2ac889a3bdf0
+size 13010581
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/jewelry_box_017.xml b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/jewelry_box_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8ae2a1073500bff6984191a58cffc743c611cb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/jewelry_box_017.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96869d12bb4d99638c4300ea9ccadb696a96ec7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017.obj
@@ -0,0 +1,116714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_017_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc681ac702cfb94556915424a3f2d33fe99692d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision.obj
@@ -0,0 +1,34757 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_0.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d1c6618775f9998db2d3cfbd0cca966c7aee656
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_1.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9830d2ec40823ea4bf4116c79166489076290bd0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_10.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2553e408fda3ea7ed7a8719b27dc4d1e28c9a22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_11.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf9992c9d2bccaa433d2492708673d45618fd50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_12.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8af4a0c3a3e470b44939267374b7809d33746c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_13.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce11addc11a4e4b68056bf77db316b4540a30bf4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_13.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_14.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c1ba05fb0412c9cca614c29c96a0263f0ee0dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_15.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63d4f2f35116fc3b5007a9773f8edce32f37fa03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_15.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_16.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435f6631b9b688cccdfae96b724f68c57faecb52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_16.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+v -0.01302623 -0.03546973 -0.00158834
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_17.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37b9816749f45652d8a7855193b717195ea1fb8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_17.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_18.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a827d343d57c7f1c7ae9904cb24d2c9adf53732
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_19.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f246e7556f411883d120e785af38819f72fd12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_19.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_2.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284f7ac352b82d0decbbbf09e302adace7a322ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_2.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_20.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b14fc9ae592c7aba28c834ff53335df1c835688
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_21.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1677274244a4668ccf9b4ac89289d8e91c082812
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_21.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_22.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c73d9ba11121169b6a38201d8f87db25c8e63a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_22.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_23.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943fbf29e89ee75041347ab4b37197d7d2d0f9ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_23.obj
@@ -0,0 +1,1162 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_24.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eeeec9b412b2bf1d314c13cc23330c938db977a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_25.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f6405df1b6e933faf568fc7e29e2106b136dc4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_26.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f19c175b7b139ecb857e2b34a0302fb801e56b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_27.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66d5302df6965a4fbc3349cf4668b0d2e32c546
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_27.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_28.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafc547d1a18e40130b191d271ca16af36d58517
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_29.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c6729fa4ef78102d2dfd267964a93104baeda0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_29.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_3.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3712f0dec6113721bc8cc79f037b4723aa1132f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_3.obj
@@ -0,0 +1,1081 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_30.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a33d75f0f972600e7951b84ae3a22b2a011b25b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_30.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02794237 0.01352360 -0.01330225
+v 0.03346342 0.01352360 -0.01330225
+v 0.02794237 0.01352359 -0.01158341
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_31.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38eab41917c02ce416d19b26b4356becc0e53cb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_31.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00542165 -0.00502077 -0.01330232
+v 0.00552434 -0.00681053 -0.01330233
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_32.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb02df168bc6fc8191cf465556a5b0d7edcb9f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04259748 0.03655959 -0.01158280
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+v 0.05481058 0.02867257 -0.00786035
+v 0.05486296 0.03049612 -0.00812124
+v 0.05531270 0.02867257 -0.00884543
+v 0.05560911 0.02867258 -0.01158282
+v 0.05563978 0.02640368 -0.01158283
+v 0.05482336 0.02669856 -0.00781148
+v 0.05563850 0.02669857 -0.01158283
+v 0.05383956 0.02669855 -0.00676371
+v 0.05384084 0.02119029 -0.00676426
+v 0.05384084 0.02472304 -0.00676372
+v 0.05384084 0.02274903 -0.00676373
+v 0.05234854 0.02119029 -0.00657617
+v 0.05234854 0.02274903 -0.00657564
+v 0.05234854 0.03262058 -0.00657507
+v 0.05373479 0.03262058 -0.00676209
+v 0.05379485 0.03064657 -0.00676423
+v 0.05382806 0.02867256 -0.00676423
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 42
+f 1 42 29
+f 1 29 21
+f 1 21 16
+f 1 16 9
+f 1 9 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 33
+f 1 33 32
+f 1 32 50
+f 1 50 53
+f 1 53 51
+f 1 51 34
+f 1 34 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 9 10
+f 3 10 8
+f 4 11 24
+f 4 24 37
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+f 31 47 49
+f 31 49 50
+f 31 50 32
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+f 35 49 52
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+f 37 57 55
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+f 40 59 60
+f 40 60 43
+f 41 46 42
+f 41 45 60
+f 41 60 61
+f 41 61 46
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+f 44 60 45
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+f 47 61 62
+f 47 62 52
+f 47 52 49
+f 49 53 50
+f 52 62 63
+f 52 63 54
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+f 54 60 56
+f 55 57 59
+f 55 59 58
+f 56 60 57
+f 57 60 59
+f 60 63 62
+f 60 62 61
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_33.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881a98f5fead5175922cd8699c800a88016c3bcf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00292904 0.01289415 -0.01330225
+v 0.01522867 0.01376155 -0.01330225
+v -0.00292904 0.01290806 -0.01204963
+v -0.00292904 0.05353655 -0.01330210
+v 0.02286910 0.01429497 -0.01330225
+v 0.02286910 0.01429497 -0.01328896
+v 0.02286910 0.01431816 -0.01187684
+v 0.01479423 0.01376154 -0.01207369
+v -0.00292904 0.01291733 -0.01172575
+v -0.00292904 0.05344841 -0.01264509
+v -0.00232538 0.05375918 -0.01187770
+v -0.00246430 0.05385196 -0.01330210
+v 0.02286910 0.06021596 -0.01330208
+v 0.02286910 0.01433207 -0.01158341
+v 0.01458460 0.01376154 -0.01178952
+v -0.00292904 0.01293589 -0.01163338
+v 0.01422846 0.01376154 -0.01158341
+v -0.00292904 0.05334172 -0.01187770
+v -0.00292904 0.05329997 -0.01158326
+v -0.00229254 0.05373599 -0.01158326
+v 0.00011451 0.05540122 -0.01252395
+v -0.00051693 0.05509507 -0.01330210
+v 0.02088637 0.06028090 -0.01330208
+v 0.02286910 0.06007215 -0.01187768
+v 0.02286910 0.05994228 -0.01158324
+v -0.00292904 0.01294980 -0.01158341
+v -0.00063564 0.05476110 -0.01158326
+v 0.00076868 0.05580012 -0.01330210
+v 0.00005894 0.05543368 -0.01330210
+v 0.00117533 0.05575837 -0.01158326
+v 0.00239274 0.05633818 -0.01158325
+v 0.00411026 0.05733082 -0.01272045
+v 0.01891880 0.06025771 -0.01330208
+v 0.02088637 0.06013245 -0.01187768
+v 0.02286910 0.06002577 -0.01158594
+v 0.02285394 0.06002577 -0.01158324
+v 0.00356722 0.05712673 -0.01330209
+v 0.00331970 0.05676956 -0.01158325
+v 0.00525443 0.05753954 -0.01158325
+v 0.00712855 0.05816110 -0.01158325
+v 0.00712855 0.05820285 -0.01187769
+v 0.00712855 0.05837448 -0.01330209
+v 0.00465583 0.05755811 -0.01330209
+v 0.00407490 0.05734474 -0.01330209
+v 0.01695376 0.06015566 -0.01330208
+v 0.01891880 0.06010927 -0.01187768
+v 0.02088637 0.06008143 -0.01158324
+v 0.00880060 0.05862495 -0.01158324
+v 0.00909359 0.05875019 -0.01187768
+v 0.00909359 0.05891718 -0.01330208
+v 0.01498872 0.05997476 -0.01330208
+v 0.01695376 0.06000722 -0.01187768
+v 0.01862834 0.06004433 -0.01158324
+v 0.01891880 0.06005824 -0.01158324
+v 0.01695376 0.05996084 -0.01158324
+v 0.00909359 0.05870380 -0.01158324
+v 0.01150822 0.05938567 -0.01233061
+v 0.01067219 0.05929754 -0.01330208
+v 0.01248064 0.05963151 -0.01330208
+v 0.01498872 0.05982168 -0.01187768
+v 0.01498872 0.05977993 -0.01158324
+v 0.01666077 0.05993764 -0.01158324
+v 0.01094750 0.05912127 -0.01158324
+v 0.01298579 0.05949698 -0.01158324
+v 0.01292770 0.05951554 -0.01175536
+v 0.01129858 0.05942742 -0.01330208
+v 0.01477403 0.05975210 -0.01158324
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 19
+f 1 19 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 22
+f 1 22 29
+f 1 29 28
+f 1 28 37
+f 1 37 44
+f 1 44 43
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+f 1 58 66
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+f 1 45 33
+f 1 33 23
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+f 1 5 2
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+f 5 13 24
+f 5 24 35
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+f 5 14 7
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+f 14 31 30
+f 14 30 27
+f 14 27 20
+f 14 20 19
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+f 14 26 17
+f 16 17 26
+f 20 27 21
+f 21 28 29
+f 21 29 22
+f 21 27 30
+f 21 30 31
+f 21 31 32
+f 21 32 28
+f 23 33 46
+f 23 46 34
+f 23 34 24
+f 24 34 35
+f 25 35 36
+f 28 32 37
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 37
+f 33 45 52
+f 33 52 46
+f 34 46 54
+f 34 54 47
+f 34 47 36
+f 34 36 35
+f 40 48 49
+f 40 49 41
+f 41 49 42
+f 42 49 50
+f 45 51 52
+f 46 53 54
+f 46 52 55
+f 46 55 53
+f 48 56 49
+f 49 56 57
+f 49 57 50
+f 50 57 58
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 52 61 62
+f 52 62 55
+f 56 63 57
+f 57 63 64
+f 57 64 65
+f 57 65 60
+f 57 60 59
+f 57 59 66
+f 57 66 58
+f 60 65 67
+f 60 67 61
+f 64 67 65
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_34.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a793d5c6c06beebbca65085ce4340ccb24717c41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03072181 -0.00009781 -0.03253155
+v 0.03072181 -0.01082370 -0.03252594
+v 0.03071979 -0.01082476 -0.03252594
+v 0.02967528 -0.00385012 -0.03252968
+v 0.02103434 -0.01081841 -0.03252406
+v 0.02103434 -0.00001741 -0.03252402
+v 0.02782668 -0.00001741 -0.03252778
+v 0.02967528 -0.00001741 -0.03252778
+v 0.03380483 -0.00009781 -0.03252026
+v 0.03268556 -0.00884757 -0.03252405
+v 0.03268556 -0.01082476 -0.03252218
+v 0.02967528 -0.01082476 -0.03252406
+v 0.02103434 -0.01081847 -0.01670736
+v 0.02103434 -0.00001747 -0.01622922
+v 0.02967528 -0.00001748 -0.01330418
+v 0.04167198 -0.00009781 -0.03206286
+v 0.04166794 -0.00009781 -0.03228685
+v 0.04055070 -0.00009781 -0.03235273
+v 0.03858492 -0.00009781 -0.03243179
+v 0.03661712 -0.00009781 -0.03248637
+v 0.03576858 -0.00009781 -0.03249955
+v 0.03465134 -0.00009781 -0.03251461
+v 0.03465134 -0.00490060 -0.03251463
+v 0.03465134 -0.01082476 -0.03250900
+v 0.02967528 -0.01082483 -0.01330234
+v 0.02617203 -0.01081848 -0.01330422
+v 0.02103434 -0.00292559 -0.01630076
+v 0.02103434 -0.00095052 -0.01622922
+v 0.02617203 -0.01061113 -0.01330422
+v 0.02617405 -0.00271720 -0.01330419
+v 0.02617607 -0.00073895 -0.01330418
+v 0.02617809 -0.00001748 -0.01330418
+v 0.03260677 -0.00009788 -0.01330230
+v 0.04167198 -0.00009787 -0.01641180
+v 0.04167198 -0.00010204 -0.03228685
+v 0.04055070 -0.00292553 -0.03235274
+v 0.03858492 -0.00490060 -0.03243181
+v 0.03661712 -0.00490060 -0.03248639
+v 0.03661712 -0.01082476 -0.03248076
+v 0.02967528 -0.00009788 -0.01330230
+v 0.03260677 -0.01082483 -0.01330234
+v 0.04167198 -0.01082376 -0.01640996
+v 0.04167198 -0.00095046 -0.03228685
+v 0.04055070 -0.00687250 -0.03235088
+v 0.04167198 -0.00997528 -0.03228501
+v 0.03858492 -0.01082476 -0.03242806
+v 0.04167198 -0.01082482 -0.01640996
+v 0.04055070 -0.01082476 -0.03234712
+v 0.04167198 -0.01082476 -0.03228124
+f 1 2 3
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+f 1 5 6
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+f 3 5 4
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+f 5 14 6
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+f 6 14 32
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+f 18 43 36
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+f 21 23 22
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+f 23 39 24
+f 25 40 29
+f 25 29 26
+f 25 41 33
+f 25 33 40
+f 26 28 27
+f 29 40 30
+f 30 40 31
+f 31 40 32
+f 33 41 47
+f 33 47 42
+f 33 42 34
+f 36 44 37
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+f 36 45 44
+f 37 44 46
+f 37 46 38
+f 38 46 39
+f 44 48 46
+f 44 45 48
+f 45 49 48
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_35.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6032ba894b5f7fcbdb8e1c8667fe7b0d99f391c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_35.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00546147 0.00548913 -0.01330228
+v 0.00549274 0.00512169 -0.01330228
+v 0.00600650 0.00556482 -0.01275895
+v 0.00595544 0.00694925 -0.01269443
+v 0.00556568 0.00687218 -0.01330227
+v 0.00586061 0.00380469 -0.01330229
+v 0.00891195 -0.00030457 -0.01158374
+v 0.00908077 -0.00030457 -0.01145844
+v 0.00712679 0.00694924 -0.01182885
+v 0.00718306 0.01375441 -0.01192573
+v 0.00691524 0.01375442 -0.01228441
+v 0.00603047 0.00807771 -0.01274203
+v 0.00562404 0.00750522 -0.01330227
+v 0.00691628 0.00145970 -0.01330229
+v 0.01217588 -0.00030457 -0.01158374
+v 0.01006453 -0.00030457 -0.01088759
+v 0.00755510 0.00694924 -0.01158371
+v 0.00773956 0.01375441 -0.01158369
+v 0.00755510 0.00694786 -0.01158371
+v 0.00623160 0.01375442 -0.01330225
+v 0.01439248 0.00145970 -0.01330229
+v 0.01110666 -0.00030457 -0.01100515
+v 0.01610781 0.00497582 -0.01330228
+v 0.01321383 0.00694786 -0.01125198
+v 0.01012498 -0.00030457 -0.01088759
+v 0.01091803 0.01293559 -0.01037318
+v 0.00953930 0.00694786 -0.01073618
+v 0.00855658 0.00694786 -0.01101142
+v 0.01423303 0.01375441 -0.01158369
+v 0.00969875 0.01293559 -0.01059194
+v 0.00979567 0.01293559 -0.01056814
+v 0.01522930 0.01375442 -0.01330225
+v 0.01044595 -0.00030457 -0.01092573
+v 0.01223111 0.00694786 -0.01082477
+v 0.01520637 0.01375442 -0.01323659
+v 0.01479682 0.01375441 -0.01207339
+v 0.01458631 0.01375441 -0.01178955
+v 0.01480828 0.00694924 -0.01223713
+v 0.01450711 0.01375441 -0.01174310
+v 0.01227488 0.00827036 -0.01081015
+v 0.01112854 0.01293559 -0.01042880
+v 0.01208417 0.01293559 -0.01071781
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 20
+f 1 20 32
+f 1 32 23
+f 1 23 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 7 16 8
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+f 18 31 26
+f 18 26 29
+f 22 24 34
+f 22 34 26
+f 22 26 33
+f 23 32 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 37
+f 24 37 39
+f 24 39 29
+f 24 29 40
+f 24 40 34
+f 25 33 26
+f 26 40 41
+f 26 41 29
+f 26 31 27
+f 26 34 40
+f 27 31 30
+f 27 30 28
+f 29 41 42
+f 29 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_36.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a4e18fc9e88f9faf95195f2f7de204f0fadab1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_36.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.04196133 -0.05430540 -0.01330250
+v 0.04306149 -0.05362309 -0.01330250
+v 0.04350382 -0.05327921 -0.01285815
+v 0.04196133 -0.05402157 -0.01166930
+v 0.04196133 -0.01402182 -0.01330235
+v 0.04353360 -0.05330104 -0.01330250
+v 0.04397451 -0.05295170 -0.01330249
+v 0.04570981 -0.05152158 -0.01330249
+v 0.04562758 -0.05144516 -0.01238351
+v 0.04442960 -0.05220935 -0.01158365
+v 0.04244478 -0.05369406 -0.01158366
+v 0.04196133 -0.05400519 -0.01158366
+v 0.04196133 -0.01404913 -0.01182344
+v 0.04414464 0.00145842 -0.01330229
+v 0.04632794 -0.05093752 -0.01330249
+v 0.04760957 -0.04951286 -0.01227464
+v 0.04651083 -0.05036985 -0.01158365
+v 0.04485634 -0.05183272 -0.01158365
+v 0.04196133 -0.01406004 -0.01158351
+v 0.04416165 0.00145841 -0.01187772
+v 0.05637114 0.00145842 -0.01330229
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+v 0.05456778 -0.03678915 -0.01158360
+v 0.05508242 -0.03551186 -0.01330243
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+f 1 13 5
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+f 1 14 21
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+f 10 19 12
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+f 39 47 40
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+f 56 64 62
+f 58 60 65
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+f 63 69 64
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+f 64 74 68
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+f 80 88 81
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_37.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba70df1faa27bd187f24024ac7eac189546b8a1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_37.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02684030 0.01287141 -0.01158321
+v 0.02892831 0.01287141 -0.01053163
+v 0.03147880 0.01287141 -0.01158321
+v 0.02795546 0.00032183 -0.01158337
+v 0.02705193 -0.01247587 -0.01158342
+v 0.02811509 -0.01247587 -0.01093167
+v 0.03010686 0.01287141 -0.01062387
+v 0.02903458 -0.01247587 -0.01056015
+v 0.02905374 -0.01247587 -0.01056015
+v 0.02906423 -0.01247587 -0.01056045
+v 0.03149978 -0.01247587 -0.01158342
+v 0.03099716 0.00032183 -0.01158337
+v 0.03109021 0.01287141 -0.01125873
+v 0.03129864 -0.01247587 -0.01141150
+v 0.03009774 -0.01247587 -0.01065671
+v 0.03025874 -0.01247587 -0.01074349
+v 0.03108109 -0.01247587 -0.01125039
+f 1 2 7
+f 1 7 13
+f 1 13 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 13 14
+f 3 14 11
+f 4 12 11
+f 4 11 5
+f 5 11 14
+f 5 14 17
+f 5 17 16
+f 5 16 15
+f 5 15 10
+f 5 10 9
+f 5 9 8
+f 5 8 6
+f 7 10 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 13 17 14
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_38.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5609b73f85caf91a566db00cad10a4fd84b429a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03800627 0.01287613 0.00242053
+v -0.03800212 0.00004688 0.00242048
+v -0.03797304 0.01090053 0.00388511
+v -0.03797304 0.01287613 0.00388512
+v -0.03797166 0.01879686 0.00388514
+v -0.03800350 0.01879686 0.00242055
+v -0.02387968 0.00004688 0.00242048
+v -0.03799104 0.00004688 0.00290935
+v -0.03786366 0.01484565 0.00585033
+v -0.03796889 0.00004688 0.00388507
+v -0.03785951 0.00004687 0.00585028
+v -0.03786366 0.01681519 0.00585034
+v -0.03797027 0.02077245 0.00388515
+v -0.03800074 0.02127847 0.00242056
+v -0.02389906 0.00004990 0.00585028
+v -0.02408321 0.00004687 0.00486045
+v -0.02386168 0.03100192 0.00242059
+v -0.03090075 0.00004687 0.00585028
+v -0.03786090 0.02076638 0.00585036
+v -0.03785813 0.02274198 0.00585036
+v -0.03796750 0.02274502 0.00388515
+v -0.03799797 0.02274502 0.00242056
+v -0.02389906 0.00102557 0.00585028
+v -0.03791904 0.03100192 0.00242059
+v -0.02410675 0.03100191 0.00585039
+v -0.02409290 0.03064436 0.00585039
+v -0.02403198 0.02867179 0.00585039
+v -0.02398906 0.02669620 0.00585038
+v -0.02395860 0.02472060 0.00585037
+v -0.02394060 0.02274501 0.00585036
+v -0.02392952 0.02077244 0.00585036
+v -0.02392121 0.01879685 0.00585035
+v -0.02391568 0.01682125 0.00585034
+v -0.02391152 0.01484868 0.00585033
+v -0.02390875 0.01287612 0.00585033
+v -0.02390599 0.01090052 0.00585032
+v -0.02390183 0.00497676 0.00585030
+v -0.03785397 0.02471454 0.00585037
+v -0.03796335 0.02472061 0.00388516
+v -0.03799381 0.02472061 0.00242057
+v -0.03789828 0.03100192 0.00388518
+v -0.03792874 0.03064437 0.00242059
+v -0.03780274 0.03100191 0.00585039
+v -0.03784705 0.02669014 0.00585038
+v -0.03795504 0.02669621 0.00388517
+v -0.03799243 0.02522663 0.00242057
+v -0.03788166 0.03100191 0.00423941
+v -0.03790797 0.03064437 0.00388518
+v -0.03795920 0.02917782 0.00242059
+v -0.03781105 0.03064133 0.00585039
+v -0.03783597 0.02866573 0.00585039
+v -0.03798550 0.02669621 0.00242058
+v -0.03793981 0.02867180 0.00388518
+v -0.03796750 0.02867180 0.00242059
+v -0.03798135 0.02720223 0.00242058
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
+f 1 22 40
+f 1 40 46
+f 1 46 52
+f 1 52 55
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+f 1 7 2
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_39.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7444b0b34b5712e43b6c02cc161a4709fab5902
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_39.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02617135 -0.01078555 -0.01330234
+v 0.02618848 -0.01078555 -0.01327912
+v 0.02617421 -0.00292401 -0.01330231
+v 0.03260599 -0.01078555 -0.01330234
+v 0.02704981 -0.01078556 -0.01211955
+v 0.02705552 0.00102579 -0.01212573
+v 0.02617706 -0.00094910 -0.01330230
+v 0.03209433 -0.01078555 -0.01239076
+v 0.03346162 0.01352242 -0.01330225
+v 0.02793540 -0.01078556 -0.01158350
+v 0.02794254 0.01352241 -0.01158341
+v 0.02705623 0.00145646 -0.01212572
+v 0.02637402 0.00145647 -0.01304386
+v 0.02618206 0.00124471 -0.01330230
+v 0.03100322 -0.01078556 -0.01158350
+v 0.03254962 0.01352241 -0.01198772
+v 0.03206508 0.01352241 -0.01158341
+v 0.02794254 0.01352242 -0.01330225
+v 0.02618277 0.00145647 -0.01330229
+v 0.02628910 0.00145647 -0.01315860
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
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+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 9 16
+f 8 16 17
+f 8 17 15
+f 9 18 11
+f 9 11 17
+f 9 17 16
+f 10 15 17
+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 11 13 12
+f 13 20 14
+f 14 20 19
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_4.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8191e33d9439903572462b2271f5134b9d513c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_4.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00294665 -0.05988488 -0.01164740
+v -0.00294665 -0.05988488 -0.01064740
+v -0.00294665 -0.04695710 -0.01164740
+v -0.00294665 -0.04695710 -0.01064740
+v 0.01681395 -0.05988488 -0.01164740
+v 0.01681395 -0.05988488 -0.01064740
+v 0.01681395 -0.04695710 -0.01164740
+v 0.01681395 -0.04695710 -0.01064740
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_40.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e177deeaec0e504cf0046bc271760a866270bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_40.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v 0.02103232 0.06027243 -0.01330396
+v 0.02231147 0.06023698 -0.01330396
+v 0.02103232 0.06027834 -0.01334161
+v 0.02103232 0.01429731 -0.01330413
+v 0.02285629 0.06021926 -0.01330396
+v 0.02285629 0.06027243 -0.01384795
+v 0.02103232 0.06032560 -0.01384795
+v 0.02103232 -0.00001747 -0.01622744
+v 0.02617767 -0.00001748 -0.01330418
+v 0.02427756 0.06011882 -0.01330396
+v 0.02482239 0.06013655 -0.01384795
+v 0.02482239 0.06014838 -0.01581876
+v 0.02285629 0.06028427 -0.01778955
+v 0.02103232 0.06033151 -0.01399101
+v 0.02103232 -0.00001741 -0.03252467
+v 0.02967418 -0.00001748 -0.01330418
+v 0.02482239 0.06007747 -0.01330396
+v 0.02624282 0.05991796 -0.01330396
+v 0.02678764 0.05991205 -0.01384795
+v 0.02678764 0.05993569 -0.01581876
+v 0.02482239 0.06015429 -0.01778955
+v 0.02103232 0.06033154 -0.02187233
+v 0.02103232 0.06033744 -0.01778955
+v 0.02482239 0.06015429 -0.01976036
+v 0.02285629 0.06027837 -0.02172928
+v 0.02192738 -0.00001741 -0.03252655
+v 0.02103232 0.02669802 -0.03252457
+v 0.02967418 -0.00001741 -0.03253031
+v 0.02967418 0.05935671 -0.01330396
+v 0.02678764 0.05985297 -0.01330396
+v 0.02872666 0.05953985 -0.01330396
+v 0.02875374 0.05959302 -0.01384795
+v 0.02875374 0.05962257 -0.01581876
+v 0.02875374 0.05964030 -0.01778955
+v 0.02678764 0.05994161 -0.01778955
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_41.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da0bd914f3c1c0a573bddd1012fc1454d9109e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_41.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_42.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1497da083e09d9080f9185316e6ce40e14b2af0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_42.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_43.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d076342da367c2019c133964cbebbb0c2d740
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_43.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_44.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9532a98ce688fccfb4d041c38d5d79f65fc79296
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_44.obj
@@ -0,0 +1,79 @@
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+v 0.02741474 0.00146416 -0.01190919
+v 0.02794237 0.01092042 -0.01158342
+v 0.02287162 0.05994454 -0.01158324
+v 0.02482229 0.05993304 -0.01187751
+v 0.02287162 0.06002506 -0.01158577
+v 0.02482229 0.05988702 -0.01158324
+v 0.02482229 0.06007685 -0.01330208
+v 0.02678785 0.05985252 -0.01330208
+v 0.02794237 0.05952465 -0.01192849
+v 0.02794237 0.05947288 -0.01158324
+v 0.02452845 0.05990427 -0.01158324
+v 0.02624335 0.05991579 -0.01330208
+v 0.02678983 0.05965694 -0.01158324
+v 0.02678785 0.05970296 -0.01187751
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 16
+f 1 16 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 25
+f 1 25 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 14
+f 2 14 13
+f 2 13 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
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+f 5 22 23
+f 5 23 15
+f 5 15 11
+f 6 13 7
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+f 7 14 11
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+f 7 15 23
+f 7 23 26
+f 7 26 19
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+f 7 24 16
+f 9 17 10
+f 9 18 19
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+f 10 17 20
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+f 17 27 21
+f 17 21 25
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+f 21 27 22
+f 22 27 23
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_45.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d5db5f5b526fd246494ce4d09cb51e574d7d71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_45.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.01629165 -0.00687702 -0.01158349
+v -0.01574492 -0.00687701 -0.01330233
+v -0.01629023 -0.01279899 -0.01158351
+v -0.01629023 0.00145841 -0.01158345
+v -0.01574492 0.00145842 -0.01330229
+v -0.01574209 -0.01477660 -0.01330235
+v -0.01628881 -0.01674879 -0.01158352
+v -0.00368855 0.00145841 -0.01158345
+v -0.00366589 0.00145842 -0.01330229
+v -0.01573925 -0.01872640 -0.01330237
+v -0.01573784 -0.02015378 -0.01330237
+v -0.01573359 -0.02410357 -0.01330239
+v -0.01628598 -0.01872641 -0.01158353
+v -0.00182316 -0.01403569 -0.01158351
+v -0.00182316 -0.01403024 -0.01162608
+v -0.00182316 -0.01400844 -0.01330235
+v -0.00182316 -0.01401934 -0.01187778
+v -0.00182316 -0.01401390 -0.01212393
+v -0.01572226 -0.02607575 -0.01330240
+v -0.01627323 -0.02267621 -0.01158354
+v -0.01628173 -0.02024640 -0.01158353
+v -0.00182316 -0.05395860 -0.01158366
+v -0.00182316 -0.05419830 -0.01330250
+v -0.01568401 -0.02804792 -0.01330240
+v -0.01626049 -0.02464838 -0.01158355
+v -0.00209227 -0.05379516 -0.01158366
+v -0.00182316 -0.05400763 -0.01187204
+v -0.00232881 -0.05369165 -0.01187793
+v -0.00247045 -0.05378970 -0.01330250
+v -0.01621658 -0.02662056 -0.01158356
+v -0.01622791 -0.02617382 -0.01158356
+v -0.01561461 -0.02964963 -0.01330241
+v -0.00229482 -0.05366986 -0.01158366
+v -0.00331179 -0.05301065 -0.01187792
+v -0.00345343 -0.05310870 -0.01330250
+v -0.01609760 -0.02859273 -0.01158357
+v -0.01534408 -0.03212302 -0.01330242
+v -0.00327780 -0.05298341 -0.01158365
+v -0.00468570 -0.05188836 -0.01158365
+v -0.00568142 -0.05132721 -0.01276325
+v -0.00569842 -0.05134355 -0.01330249
+v -0.01506930 -0.03396989 -0.01330242
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+v -0.00488682 -0.05171947 -0.01158365
+v -0.00550579 -0.05117467 -0.01158365
+v -0.00629331 -0.05043919 -0.01158365
+v -0.00653268 -0.05021038 -0.01158364
+v -0.00765446 -0.04936593 -0.01273094
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+v -0.01497440 -0.03452014 -0.01330243
+v -0.01488092 -0.03454739 -0.01158359
+v -0.00676072 -0.04997611 -0.01158364
+v -0.00749866 -0.04919160 -0.01158364
+v -0.00806663 -0.04855964 -0.01158364
+v -0.00823377 -0.04836896 -0.01158364
+v -0.00932864 -0.04700696 -0.01158363
+v -0.00935131 -0.04703964 -0.01187790
+v -0.00944762 -0.04717039 -0.01330247
+v -0.01466704 -0.03594751 -0.01330243
+v -0.01451549 -0.03622537 -0.01158359
+v -0.01003967 -0.04602087 -0.01158363
+v -0.01006234 -0.04605356 -0.01187790
+v -0.01015157 -0.04618430 -0.01330247
+v -0.01454806 -0.03649231 -0.01330243
+v -0.01443900 -0.03649232 -0.01158359
+v -0.01111189 -0.04433199 -0.01158362
+v -0.01167986 -0.04362919 -0.01227580
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+v -0.01393618 -0.03821934 -0.01158360
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+v -0.01160338 -0.04349300 -0.01158362
+v -0.01204104 -0.04264856 -0.01158362
+v -0.01207928 -0.04257229 -0.01158362
+v -0.01214586 -0.04243064 -0.01158362
+v -0.01357783 -0.03960857 -0.01255576
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+v -0.01172660 -0.04371091 -0.01330246
+v -0.01397159 -0.03848628 -0.01330244
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+v -0.01310051 -0.04035495 -0.01158361
+v -0.01359908 -0.03966305 -0.01330245
+v -0.01319541 -0.04058921 -0.01330245
+v -0.01263168 -0.04183680 -0.01330245
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+f 40 45 46
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+f 40 48 41
+f 41 48 49
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+f 47 52 48
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 57
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+f 48 58 49
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+f 58 62 63
+f 59 64 60
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+f 70 76 80
+f 75 81 76
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+f 76 83 84
+f 76 84 77
+f 76 81 80
+f 76 79 82
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_46.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0425f08f26448f47b23214d3eaf0a7c45b4fea77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_46.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04167198 0.01089505 -0.01640625
+v 0.03261285 0.01089504 -0.01330414
+v 0.03261285 0.01016011 -0.01330414
+v 0.03260815 -0.00009771 -0.01330418
+v 0.04167198 0.00215228 -0.01641004
+v 0.04167198 0.01089511 -0.03228762
+v 0.02967418 0.01089504 -0.01330414
+v 0.02967418 -0.00009771 -0.01330418
+v 0.04167198 -0.00009770 -0.01641193
+v 0.04167198 0.00102574 -0.03228766
+v 0.04118808 -0.00009764 -0.03231590
+v 0.04055148 0.00497478 -0.03235164
+v 0.04055148 0.00892382 -0.03234975
+v 0.04055148 0.01089511 -0.03234786
+v 0.02967418 0.01089511 -0.03252856
+v 0.02967418 -0.00009764 -0.03253048
+v 0.04167198 -0.00009764 -0.03206366
+v 0.04166846 -0.00009764 -0.03228766
+v 0.04055148 -0.00009764 -0.03235166
+v 0.03858532 0.00102574 -0.03243449
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+v 0.03072538 0.01089511 -0.03252856
+v 0.03072069 0.00300026 -0.03253236
+v 0.02967418 0.00497478 -0.03253046
+v 0.03072069 -0.00009764 -0.03253048
+v 0.03858532 -0.00009764 -0.03243449
+v 0.03661799 0.00300026 -0.03248718
+v 0.03661799 0.00892382 -0.03248339
+v 0.03661799 0.01089511 -0.03248150
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+v 0.03268684 0.00497478 -0.03252670
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+v 0.03183884 -0.00009764 -0.03252860
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+v 0.03465300 0.00102574 -0.03251542
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+v 0.03465300 0.01089511 -0.03251162
+v 0.03380499 -0.00009764 -0.03252107
+v 0.03465300 -0.00009764 -0.03251542
+f 1 2 3
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+f 1 10 6
+f 1 6 14
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+f 7 16 8
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+f 28 37 29
+f 30 37 36
+f 30 36 31
+f 31 38 32
+f 31 36 38
+f 35 39 38
+f 35 38 36
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_47.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af180cd1aee16ccf05c1000101f5c3dc0c451b07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01675980 -0.06000722 -0.01178427
+v 0.01675980 -0.06000722 -0.01078427
+v 0.01675980 -0.02233102 -0.01178427
+v 0.01675980 -0.02233102 -0.01078427
+v 0.02609069 -0.06000722 -0.01178427
+v 0.02609069 -0.06000722 -0.01078427
+v 0.02609069 -0.02233102 -0.01178427
+v 0.02609069 -0.02233102 -0.01078427
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_48.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a55b4245d513ca67036ce615df0588c0dc9f9762
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_48.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01629056 0.00145841 -0.01158345
+v -0.01574526 0.00145842 -0.01330229
+v -0.00368869 0.00145841 -0.01158345
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_49.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4687930c9faca6f92bd4b8ebfbdb6e61a0816d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_49.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_5.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a2c332cb28957409bac946e5bfa500674ff202
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_5.obj
@@ -0,0 +1,2170 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_50.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467d87dd45a6c00a1ec7df1df717e0ec43691f34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_50.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_51.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e4a1db4a11da9ec1919cc915a55e83824a137b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_51.obj
@@ -0,0 +1,358 @@
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+f 72 91 73
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+f 79 85 80
+f 82 83 97
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+f 87 103 88
+f 88 103 104
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_52.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9870f0dfc34bf775b5ce9ad20b2a783bbc0921ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_52.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00281829 0.02194568 -0.01158287
+v -0.00281829 0.01308807 -0.01158290
+v -0.00281829 0.02174938 -0.01051204
+v 0.04252382 0.02070125 -0.00990654
+v 0.03661638 0.02110540 -0.01158338
+v 0.03465020 0.02112405 -0.01158338
+v 0.02088690 0.02114359 -0.01158338
+v 0.01892959 0.02113294 -0.01158338
+v 0.01881863 0.02113205 -0.01158338
+v 0.01681694 0.02109741 -0.01158338
+v 0.00837521 0.01293707 -0.01158290
+v 0.00876135 0.01293707 -0.01123530
+v 0.00969784 0.01293707 -0.01059107
+v 0.00979548 0.01293707 -0.01056763
+v 0.01091838 0.01293707 -0.01037242
+v -0.00281829 0.01339540 -0.00990708
+v 0.01681694 0.01431030 -0.01158341
+v 0.02683872 0.01287222 -0.01158341
+v -0.00281829 0.02068614 -0.00828882
+v 0.04252382 0.02019760 -0.00820219
+v 0.04252382 0.02086113 -0.01158338
+v 0.03850268 0.02104855 -0.01158338
+v 0.02892474 0.01287222 -0.01053093
+v -0.00281829 0.01454390 -0.00801108
+v -0.00281829 0.01375247 -0.00930158
+v 0.03147678 0.01287222 -0.01158341
+v -0.00281829 0.02027044 -0.00786427
+v 0.04252382 0.01955184 -0.00721800
+v 0.04252382 0.01415841 -0.01158341
+v 0.03010533 0.01287222 -0.01062318
+v 0.04252382 0.01497559 -0.00793767
+v 0.04252382 0.01566308 -0.00680364
+v -0.00281829 0.01552808 -0.00685563
+v 0.04252382 0.01434227 -0.00990657
+v 0.03108621 0.01287222 -0.01125824
+v -0.00281829 0.01957316 -0.00716244
+v 0.04252382 0.01856943 -0.00653962
+v 0.04252382 0.01434405 -0.00989893
+v 0.04252382 0.01682402 -0.00638825
+v 0.04054875 0.01682402 -0.00638264
+v 0.03858257 0.01682402 -0.00638010
+v -0.00281829 0.01559557 -0.00679497
+v -0.00281829 0.01859785 -0.00653299
+v 0.04252382 0.01683113 -0.00638876
+v 0.03661638 0.01855966 -0.00653095
+v 0.04054875 0.01855966 -0.00653299
+v 0.04251494 0.01856410 -0.00653707
+v 0.03465020 0.01855966 -0.00653044
+v 0.02285308 0.01682402 -0.00637653
+v -0.00281829 0.01671743 -0.00640048
+v -0.00281829 0.01847705 -0.00652178
+v 0.00122948 0.01856410 -0.00652789
+v 0.00516185 0.01856499 -0.00652789
+v 0.01106041 0.01856410 -0.00652840
+v 0.03071783 0.01855966 -0.00652993
+v 0.02088690 0.01682402 -0.00637653
+v 0.00122948 0.01682402 -0.00637959
+v -0.00073670 0.01682402 -0.00638010
+v -0.00281829 0.01682402 -0.00638315
+f 1 2 16
+f 1 16 25
+f 1 25 24
+f 1 24 33
+f 1 33 42
+f 1 42 50
+f 1 50 59
+f 1 59 51
+f 1 51 43
+f 1 43 36
+f 1 36 27
+f 1 27 19
+f 1 19 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 17
+f 1 17 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 17 18
+f 2 18 11
+f 3 19 20
+f 3 20 4
+f 4 20 28
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+f 4 22 5
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+f 5 7 6
+f 11 18 12
+f 12 18 13
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+f 15 25 16
+f 15 23 24
+f 18 26 35
+f 18 35 30
+f 18 30 23
+f 19 27 28
+f 19 28 20
+f 23 30 31
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+f 23 32 24
+f 24 32 33
+f 26 29 34
+f 26 34 35
+f 27 36 28
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+f 30 35 34
+f 30 34 38
+f 30 38 31
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 36 43 37
+f 37 43 45
+f 37 45 46
+f 37 46 47
+f 37 47 44
+f 39 44 40
+f 40 47 46
+f 40 46 41
+f 40 44 47
+f 41 46 45
+f 41 45 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 48
+f 43 48 45
+f 48 55 49
+f 49 56 50
+f 49 55 53
+f 49 53 56
+f 50 57 58
+f 50 58 59
+f 50 56 57
+f 51 59 58
+f 51 58 52
+f 52 58 57
+f 52 57 56
+f 52 56 53
+f 53 55 54
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_53.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232e828eedd84b9b78a992d48a669fc01fee777a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_53.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02609069 -0.05962776 -0.01178426
+v 0.02609069 -0.05962776 -0.01078426
+v 0.02609069 -0.04281635 -0.01178426
+v 0.02609069 -0.04281635 -0.01078426
+v 0.03695842 -0.05962776 -0.01178426
+v 0.03695842 -0.05962776 -0.01078426
+v 0.03695842 -0.04281635 -0.01178426
+v 0.03695842 -0.04281635 -0.01078426
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_54.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7773f8169ffbc9e887b31437838ec67a27f4043
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_54.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03149446 -0.01247673 -0.01158351
+v 0.02705245 -0.01247673 -0.01158351
+v 0.03129417 -0.01247673 -0.01141072
+v 0.04252380 -0.01421201 -0.00990608
+v 0.04252380 -0.01421100 -0.00991373
+v 0.04252380 -0.01401245 -0.01153101
+v 0.04252380 -0.01400739 -0.01158351
+v 0.02811177 -0.01247673 -0.01093160
+v 0.01681537 -0.01422113 -0.01158351
+v -0.00294665 -0.01283939 -0.01158300
+v 0.03108052 -0.01247673 -0.01124966
+v 0.04252380 -0.01489581 -0.00793761
+v 0.03025711 -0.01247673 -0.01074250
+v 0.03009242 -0.01247673 -0.01065636
+v 0.04252380 -0.02096575 -0.01158354
+v 0.02903311 -0.01247673 -0.01056003
+v 0.01681537 -0.02172247 -0.01158354
+v -0.00294665 -0.02278106 -0.01158303
+v -0.00294665 -0.01284749 -0.01153509
+v 0.00969392 -0.01271580 -0.01062374
+v 0.04252380 -0.01558668 -0.00680964
+v 0.02906872 -0.01247673 -0.01056003
+v 0.04252380 -0.02096474 -0.01157590
+v 0.03607444 -0.02232926 -0.01158354
+v 0.01091792 -0.01271580 -0.01046369
+v -0.00294665 -0.01316659 -0.00990659
+v -0.00294665 -0.01420088 -0.00821030
+v 0.01696225 -0.02185213 -0.01158354
+v 0.00511394 -0.02282564 -0.01158303
+v 0.00516290 -0.02282564 -0.01157947
+v -0.00294665 -0.02072163 -0.00828118
+v 0.01823521 -0.02232926 -0.01158354
+v 0.04251490 -0.01559175 -0.00680505
+v 0.04252380 -0.01675064 -0.00638251
+v -0.00294665 -0.01547425 -0.00678161
+v 0.04252380 -0.02075403 -0.01050042
+v 0.04252380 -0.02063652 -0.00990611
+v 0.04252380 -0.02012598 -0.00819553
+v 0.03511304 -0.02232926 -0.01150964
+v 0.00523857 -0.02282564 -0.01158303
+v 0.03464570 -0.02232926 -0.01149027
+v 0.04252380 -0.01948271 -0.00721181
+v -0.00294665 -0.01970051 -0.00722659
+v 0.04054760 -0.01675064 -0.00637945
+v 0.04251490 -0.01849403 -0.00652983
+v 0.04252380 -0.01849605 -0.00653033
+v -0.00294665 -0.01674962 -0.00637945
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+v 0.02285525 -0.01675064 -0.00637639
+v 0.03661300 -0.01675064 -0.00637690
+v 0.03858475 -0.01675064 -0.00637792
+v -0.00294665 -0.01854670 -0.00653390
+v 0.03858475 -0.01848997 -0.00652677
+v 0.03661300 -0.01849099 -0.00652575
+v 0.01681537 -0.01849200 -0.00652677
+f 1 2 8
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+f 1 22 14
+f 1 14 13
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+f 1 11 3
+f 1 3 4
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+f 47 49 48
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+f 50 54 51
+f 51 54 53
+f 52 54 55
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_55.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca1eec673362eebb7f1e1f683676a03481bc167
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_55.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01892789 -0.06018495 -0.01329915
+v 0.01946826 -0.06018978 -0.01330252
+v 0.01892789 -0.06003985 -0.01187795
+v 0.01892789 -0.01458253 -0.01330235
+v 0.02088987 -0.06019462 -0.01330252
+v 0.02088987 -0.06005436 -0.01187795
+v 0.01892789 -0.05999148 -0.01158368
+v 0.01892789 -0.01419074 -0.01330235
+v 0.02285657 -0.06012690 -0.01330252
+v 0.02285657 -0.05998181 -0.01187795
+v 0.02118362 -0.05999632 -0.01158368
+v 0.02088987 -0.06000599 -0.01158368
+v 0.01892789 -0.01892125 -0.01158353
+v 0.01892789 -0.01421493 -0.01188249
+v 0.02617261 -0.01078555 -0.01330234
+v 0.02482326 -0.05997212 -0.01330252
+v 0.02482326 -0.05982702 -0.01187795
+v 0.02482326 -0.05978349 -0.01158368
+v 0.02315032 -0.05991409 -0.01158368
+v 0.02285657 -0.05993344 -0.01158368
+v 0.02059613 -0.01422944 -0.01158351
+v 0.01892789 -0.01422944 -0.01158436
+v 0.02704914 -0.01078556 -0.01211955
+v 0.03260521 -0.01078555 -0.01330234
+v 0.02678838 -0.05973511 -0.01330252
+v 0.02678838 -0.05958517 -0.01187795
+v 0.02678524 -0.05954164 -0.01158368
+v 0.02793353 -0.01078556 -0.01158350
+v 0.03497561 -0.01406014 -0.01330235
+v 0.03209469 -0.01078555 -0.01239076
+v 0.03497561 -0.01420042 -0.01158351
+v 0.03497561 -0.01419559 -0.01163180
+v 0.02732561 -0.05965289 -0.01330252
+v 0.02982011 -0.05922240 -0.01276076
+v 0.02859642 -0.05930947 -0.01201373
+v 0.02833409 -0.05928045 -0.01158368
+v 0.03100295 -0.01078556 -0.01158350
+v 0.03497561 -0.05771812 -0.01330251
+v 0.03102494 -0.01078556 -0.01159932
+v 0.03497561 -0.05747628 -0.01158367
+v 0.02928916 -0.05934332 -0.01330252
+v 0.02985938 -0.05923207 -0.01330252
+v 0.03034948 -0.05911599 -0.01330252
+v 0.03268532 -0.05846300 -0.01330251
+v 0.03268532 -0.05830340 -0.01187794
+v 0.03268532 -0.05825986 -0.01158367
+v 0.03100452 -0.05871453 -0.01158368
+v 0.03060396 -0.05881611 -0.01158368
+v 0.03497561 -0.05769393 -0.01308362
+v 0.03468500 -0.05781486 -0.01330251
+v 0.03472428 -0.05758270 -0.01158367
+v 0.03497561 -0.05754400 -0.01191597
+v 0.03293666 -0.05817763 -0.01158367
+v 0.03477297 -0.05759721 -0.01180391
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 8
+f 2 8 15
+f 2 15 24
+f 2 24 29
+f 2 29 38
+f 2 38 50
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+f 2 44 43
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+f 2 33 25
+f 2 25 16
+f 2 16 9
+f 2 9 5
+f 3 6 12
+f 3 12 7
+f 5 9 6
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+f 6 11 12
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+f 7 11 20
+f 7 20 19
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+f 7 27 36
+f 7 36 48
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+f 8 14 15
+f 9 16 17
+f 9 17 10
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+f 13 21 22
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+f 15 39 30
+f 15 30 24
+f 15 22 23
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 21 28 22
+f 22 28 23
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 25 33 34
+f 25 34 26
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 29 32 31
+f 29 31 40
+f 29 40 52
+f 29 52 49
+f 29 49 38
+f 30 39 31
+f 31 39 37
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 36
+f 34 36 35
+f 38 49 50
+f 40 51 52
+f 44 50 45
+f 45 53 46
+f 45 50 49
+f 45 49 52
+f 45 52 54
+f 45 54 51
+f 45 51 53
+f 51 54 52
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_56.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a6e73217a8bf87d1fbb34529352561e9f32abf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02706626 0.04319402 -0.01178388
+v 0.02706626 0.04319402 -0.01078388
+v 0.02706626 0.05961562 -0.01178388
+v 0.02706626 0.05961562 -0.01078388
+v 0.03635573 0.04319402 -0.01178388
+v 0.03635573 0.04319402 -0.01078388
+v 0.03635573 0.05961562 -0.01178388
+v 0.03635573 0.05961562 -0.01078388
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_57.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf996698fdfc0b0e61fe4ac9947119066fd8f23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_57.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_58.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08f8140f0f4b0db8669d4befa09708fe4f62faf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_59.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a05deb39e3d71f6d0158946f952f7de59d07f91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_59.obj
@@ -0,0 +1,949 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_6.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ab994db5600beb37b7fe315c249afa634c488b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_60.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4463c5bb58900827d0ec1b164a9f2a32d84d5888
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_60.obj
@@ -0,0 +1,22 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_61.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091c1c373dc2f6290b717e95ef9916d2c16bf501
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_61.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_62.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0da5f02a8e2b37ebd46cb069a5df0733d43b65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_62.obj
@@ -0,0 +1,781 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_63.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5771782a68b154ca45e4c8264672ecc0849beb0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_63.obj
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_64.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944cec121118280f3b9bf90f367f61fecee40a2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_64.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00073623 -0.01047060 -0.03238695
+v 0.00073623 -0.01047066 -0.01671394
+v 0.00073623 -0.00687128 -0.03239071
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+v 0.00122890 -0.01047060 -0.03240765
+v 0.01493414 -0.01066727 -0.03252056
+v 0.01493215 -0.01066733 -0.01547011
+v 0.01493215 -0.01066734 -0.01468730
+v 0.00711903 -0.01047067 -0.01330610
+v 0.00599663 -0.00810002 -0.01330609
+v 0.00552582 -0.00681002 -0.01330609
+v 0.00542450 -0.00501882 -0.01330608
+v 0.00073623 -0.00341582 -0.01652385
+v 0.00073623 0.00094065 -0.03239068
+v 0.00122890 -0.00292302 -0.03241138
+v 0.00319559 -0.01047060 -0.03246787
+v 0.00319559 -0.00687128 -0.03246974
+v 0.00481264 -0.01047060 -0.03249421
+v 0.00516228 -0.01047060 -0.03249798
+v 0.00712896 -0.01047060 -0.03251679
+v 0.00909168 -0.01047060 -0.03252056
+v 0.02088784 -0.01066727 -0.03252244
+v 0.02102889 -0.01066733 -0.01670829
+v 0.01417925 -0.01047067 -0.01330610
+v 0.00698196 0.00094058 -0.01330418
+v 0.00586353 0.00380185 -0.01330417
+v 0.00549403 0.00511934 -0.01330416
+v 0.00546423 0.00548519 -0.01330416
+v 0.00073623 0.00299825 -0.01651630
+v 0.00073623 0.00250551 -0.01651630
+v 0.00073623 0.00892175 -0.03238877
+v 0.00122890 0.00497349 -0.03241135
+v 0.00516228 -0.00884646 -0.03250173
+v 0.00516228 -0.00094784 -0.03250546
+v 0.00319559 0.00497349 -0.03246969
+v 0.00327704 0.00094065 -0.03247159
+v 0.00712896 -0.00687128 -0.03251866
+v 0.00909168 -0.00489609 -0.03252242
+v 0.01105638 -0.00094784 -0.03252616
+v 0.02103088 -0.01066727 -0.03252244
+v 0.02103088 -0.01066733 -0.01683813
+v 0.02103088 -0.00292308 -0.01630181
+v 0.01695645 -0.00489616 -0.01372948
+v 0.01592146 -0.00676772 -0.01330608
+v 0.01588371 -0.00686923 -0.01330609
+v 0.01436201 0.00094058 -0.01330418
+v 0.00556753 0.00687036 -0.01330415
+v 0.00073623 0.01093706 -0.01669504
+v 0.00073623 0.01093712 -0.03238687
+v 0.00122890 0.00892175 -0.03240946
+v 0.00712896 -0.00094784 -0.03252052
+v 0.00516228 0.00094065 -0.03250546
+v 0.00319559 0.00892175 -0.03246780
+v 0.00712896 0.00094065 -0.03252052
+v 0.00905394 0.01093712 -0.03252048
+v 0.01101864 0.01093712 -0.03252236
+v 0.01302307 0.01093712 -0.03252236
+v 0.02103088 0.00102312 -0.03252428
+v 0.02103088 -0.00094790 -0.01622841
+v 0.02103088 -0.00080621 -0.01622841
+v 0.02103088 0.00116475 -0.01623217
+v 0.01610819 0.00497131 -0.01330604
+v 0.01623533 -0.00489616 -0.01330608
+v 0.01493215 0.00260066 -0.01330417
+v 0.00562713 0.00750267 -0.01330415
+v 0.00723227 0.01093705 -0.01330414
+v 0.00122890 0.01093712 -0.03240757
+v 0.00512254 0.01093712 -0.03249790
+v 0.00516228 0.00892175 -0.03249979
+v 0.00712896 0.01093712 -0.03251483
+v 0.00319559 0.01093712 -0.03246591
+v 0.01493215 0.01093712 -0.03252048
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+v 0.02103088 0.00314205 -0.01629802
+v 0.01695645 0.00497131 -0.01382164
+v 0.02103088 0.01092225 -0.01669504
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+v 0.01493215 0.00836550 -0.01330415
+v 0.01416534 0.01093705 -0.01330414
+v 0.01493215 0.01093705 -0.01473426
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_65.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac2fea1e1c705b3aa904ed03f11c78c4e9b89f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_65.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01681395 0.02613129 -0.01178391
+v 0.01681395 0.02613129 -0.01078391
+v 0.01681395 0.06009035 -0.01178391
+v 0.01681395 0.06009035 -0.01078391
+v 0.02706626 0.02613129 -0.01178391
+v 0.02706626 0.02613129 -0.01078391
+v 0.02706626 0.06009035 -0.01178391
+v 0.02706626 0.06009035 -0.01078391
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_66.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793229c298a5c5fcdd5be8d385464e027a2d90a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_66.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01574567 -0.00292409 -0.01330231
+v -0.01562940 -0.00378965 -0.01471107
+v -0.01574443 -0.00884712 -0.01330233
+v -0.01574443 0.00946978 -0.01330227
+v -0.01562940 0.00892196 -0.01471103
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+v -0.00357061 -0.01111948 -0.01330234
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+v -0.00311666 0.01126663 -0.01471102
+v -0.00311047 -0.01111948 -0.01471110
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+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_67.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb5c1c1579e1d3532b62f5b9e9c930a87e33eee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_67.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00351495 -0.05665038 -0.01071106
+v 0.00404607 -0.05686901 -0.01071106
+v 0.00351495 -0.05662852 -0.01056707
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+v 0.00909308 -0.05850715 -0.01071106
+v 0.01100540 -0.05893347 -0.01071107
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+v 0.01302447 -0.05229348 -0.00624648
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_68.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c04373174cb7d366c07deab55dfbb804196a7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00281829 0.04257271 -0.01158330
+v -0.00281829 0.04257269 -0.00620066
+v -0.00281829 0.04648399 -0.01158329
+v 0.00983237 0.04257271 -0.01158330
+v -0.00270436 0.04257269 -0.00619486
+v -0.00281829 0.04435660 -0.00623548
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_69.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb58f045f174777b6adf2bba094860b714a9278f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_69.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_7.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee5df563e6244fc7956d1c684396f329ba515d07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_7.obj
@@ -0,0 +1,2008 @@
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_70.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9580b209fc2f0815901d38e5efa46d15b5c6e0fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_70.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_71.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ae313dcdae429440c1b59f41e3bc9f808a575c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_71.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03695842 -0.05668995 -0.01178423
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_72.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24184f0f1f8fcd3e312d98a2d43f408942ddf0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_72.obj
@@ -0,0 +1,1198 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_73.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f04719047d7aeb5ffc5dd149709b954bf18d763
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_73.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_74.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aaba78836b1fd5a5031b4c029466d180f8dd29a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_74.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03255839 0.02774098 -0.01202547
+v 0.03255839 0.02774098 -0.01102547
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+v 0.03633896 0.03797945 -0.01102547
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_75.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd0949f1647f5af5d56b313d88f4f0541af6472
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_75.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00294665 -0.05307508 -0.01071060
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+v -0.00193718 -0.05342385 -0.00841357
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+v -0.00294602 -0.03452361 -0.01071054
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_76.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b8287d5f05bd1293a1edd85ab702f26ec33385
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_76.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01681395 0.05995544 -0.01158324
+v 0.01681395 0.05968379 -0.00980995
+v 0.01681395 0.04737673 -0.01158329
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+v 0.01298590 0.05950314 -0.01158324
+v 0.01094504 0.05912732 -0.01158324
+v 0.01256504 0.05919985 -0.00990676
+v 0.01105842 0.05890051 -0.00990676
+v 0.00909058 0.05802623 -0.00793721
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+v 0.01499025 0.05888072 -0.00759175
+v 0.01681395 0.05899544 -0.00730079
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+v 0.00909058 0.05871062 -0.01158324
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+v 0.00909058 0.05749744 -0.00681832
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+v 0.00319476 0.05550231 -0.00685060
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_77.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673ea4eaad5ba90c1bf6741a730df89e51dacbcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_77.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00281829 0.04238153 -0.00619208
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+v 0.00000331 0.04257232 -0.00752101
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+f 13 15 17
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_78.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b52745af0cbb4183cfdf8fa2b2ca9f82662eae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_78.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.02967418 -0.01082407 -0.01330422
+v 0.02967418 -0.01082400 -0.03252703
+v 0.02617091 -0.01082407 -0.01330422
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_79.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c66f03e9356c93ed4e8293f429cc6de6600369
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_8.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e186d3f94e03a40d55df5390e5b111ff890aa897
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_8.obj
@@ -0,0 +1,1471 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_80.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd1c80b0bc13c4ff3fba5accb69350a8ef15500
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_80.obj
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diff --git a/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_9.obj b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_9.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/mjcf/mesh/jewelry_box_017_collision_9.obj
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