diff --git a/.gitattributes b/.gitattributes
index f774e6b60824df885de21d1ee36d66c31b89b060..144691354cc46e328bbbc07a03b02cf09e6b1251 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2810,3 +2810,5 @@ dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_02
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/a9ee9ba5e1fe5f8ab4a4915ac49a35aa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.urdf b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..325b3d10d223e7d09ade51fa17042d6563da89c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_011">
+   <link name="jewelry_box_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.5000" />
+         <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>aa40146233245c049295c16b77e89f9f</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>brown jewelry box</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>brown rectangular jewelry box with hinged lid and compartmentalized interior</description>
+         <min_height>0.0913</min_height>
+         <max_height>0.0913</max_height>
+         <real_height>0.0913</real_height>
+         <min_mass>1.0</min_mass>
+         <max_mass>2.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170219</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034661 -0.059862 -0.025769</min>
+            <max>0.050732 0.060138 0.065528</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</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/aa40146233245c049295c16b77e89f9f/jewelry_box_011.usd b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5556382a3a48da817259e7c50da242f53da72bc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e576fe9b69930c6b0a98e7b00034b831c3365644a8e7cc6b6c51eb35ce5f402
+size 4924945
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.glb b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9af475851cc1fa93efd312ae01dd3fe3b7863273
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13acb6800eec465ee219b2e574a1546978574adf2c1092da41e5fa25173cc934
+size 15527324
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.mtl b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6bdf35ef087761d95b42681d86f2bc74bb927ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_011_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/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ecd1a38b05bc9798f9dbc8997a0190186335b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011.obj
@@ -0,0 +1,116036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_011_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_collision.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec6213e3111d8b7fdbe9667579a6c0a5bfd965a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_collision.obj
@@ -0,0 +1,9466 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e42e8c9d88238a0a32f74e4cca7e203ae24aeb09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/jewelry_box_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af106f9d0229c9d81167a393bc651130d8335d226694c5041ca5a11923383fb
+size 12183128
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material.mtl b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0ff4168d91590e550e1aa1705279f414483713ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_011_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd jewelry_box_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material_0.png b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material_0.png
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af106f9d0229c9d81167a393bc651130d8335d226694c5041ca5a11923383fb
+size 12183128
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/jewelry_box_011.xml b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/jewelry_box_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01a7d9bc15ebf3cff1b7dc81e32e109af141243a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/jewelry_box_011.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_011">
+  <asset>
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+  </asset>
+  <worldbody>
+    <body name="jewelry_box_011">
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d37fcab4e91028059e48cf76f86467c3b88208
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011.obj
@@ -0,0 +1,116036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_011_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9d29b369aaad585e193ec512abe66249fdafc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision.obj
@@ -0,0 +1,9466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_0.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c217a4740f80f9aabe503651613730474f9a6cdc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_1.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa197eed94aa999fa8bafc01ee1ad05bd8c701e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_10.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d895a72040e275ddfe93c2a0f330248ee3e1add1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_10.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_11.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420b21a4fdc5300a2ffe60627d57cd43c4047978
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_12.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24f994e35d97d910a57e8feeaf55598c956e716
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_12.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_13.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ae894a4902987e16622bca0dd6db6d85c66459
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_13.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_14.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85049cbe2d091213fd0bbe8ea084aae3b5c6ee4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02324917 0.00900542 0.04590071
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+v -0.02331584 -0.04461907 0.04590052
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+f 29 38 30
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+f 31 39 40
+f 31 40 33
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+f 33 40 41
+f 33 41 34
+f 34 41 40
+f 35 38 37
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+f 35 42 36
+f 38 43 39
+f 39 43 40
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_15.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa302e500e8a80e1b77c34df9de9da3ab420d20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_15.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.03507570 -0.05424523 0.01070151
+v -0.03507570 -0.05425145 0.01069707
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+v -0.03503178 -0.05622998 0.01069706
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+v -0.03503641 -0.05622377 0.01266905
+v -0.03504219 -0.05622378 0.01660194
+v -0.03504912 -0.05622380 0.02204046
+v -0.03324291 0.00241037 0.02204068
+v -0.03321864 0.00310099 0.02204068
+v -0.03320362 0.00343697 0.02204068
+v -0.02569104 0.00343701 0.01069728
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+v -0.02400155 -0.00679165 0.01856968
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+v -0.02328277 -0.04911225 0.01069709
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_16.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0f2d552602f941d0e0f745209d040545b60ecb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_16.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.02328277 0.03474077 0.00917662
+v -0.02255356 0.04763838 0.00913484
+v -0.02328277 0.04763838 0.00916272
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+v -0.02066322 0.04763838 0.00892228
+v -0.02328277 0.04763842 -0.00176843
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+v -0.01862599 -0.03130825 0.00821811
+v -0.02292866 0.04763849 -0.02273867
+v -0.02295751 0.04463240 -0.02273868
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+v -0.02297412 -0.00282368 -0.02273885
+v -0.02328277 0.04464778 -0.00179632
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_17.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cf266d59826aa5a6f88967b2b5f3e17e4a6952b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03548721 -0.04589911 -0.00795257
+v 0.04816452 -0.04589911 -0.00795257
+v 0.03595243 -0.04589914 -0.00110344
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+v 0.03582419 0.02028536 0.00187629
+v 0.03582419 0.02100236 0.00180985
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+v 0.03582419 0.02245768 0.00110638
+v 0.03582419 0.02281264 0.00082794
+v 0.03582419 0.02348704 -0.00105783
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+v 0.03582419 0.02350837 -0.00871274
+v 0.03582419 0.02347288 -0.00871696
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+v 0.03618355 -0.02774682 -0.00865598
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+v 0.04823013 -0.04589913 -0.00306937
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+v 0.03720793 0.02662483 0.00023417
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_18.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8000343d0ae1ee448c0bd7882f916af8d85955b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02907055 0.00153734 -0.02642279
+v 0.03048115 0.00508094 -0.02642278
+v 0.03203741 0.00153734 -0.02642106
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_19.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a2e9e09327fd4600af042202fa9c401f4df996
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.02328277 -0.04901178 0.02204049
+v -0.01862572 -0.05030868 0.02204049
+v -0.02328277 -0.04700429 0.00922050
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_2.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4d2396c491ef8eae9ac512ac20d1e38c63911b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_2.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.01666133 0.04763851 -0.02641478
+v -0.01435042 0.04763851 -0.02641004
+v -0.01862599 0.04763851 -0.02641004
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+v -0.02328277 0.06026224 0.00749377
+v -0.02328277 0.06030455 0.00873172
+v -0.02328277 0.06031700 0.00946216
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+f 97 112 115
+f 97 115 98
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+f 98 116 99
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+f 99 117 100
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+f 112 114 115
+f 114 122 115
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+f 115 123 124
+f 115 124 118
+f 115 118 116
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_20.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c67108893e43a4193351e13c0cda11a8d9d3de6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01327542 0.02702274 -0.00978225
+v 0.01327542 0.02702280 -0.02641435
+v 0.01285359 0.02702274 -0.00969134
+v 0.01327542 0.02320917 -0.00898334
+v 0.01327542 0.02089649 -0.02641611
+v 0.00494424 0.02702280 -0.02641784
+v 0.01083636 0.02702274 -0.00953575
+v 0.01327542 0.01630495 -0.00898337
+v -0.01074197 0.02702273 -0.00856202
+v -0.00158875 0.02319608 -0.00856203
+v 0.01327542 0.00026503 -0.02641619
+v 0.00101795 0.00705924 -0.02642141
+v -0.01434918 0.02702280 -0.02641784
+v -0.00158875 0.01682094 -0.00856206
+v 0.01297257 0.00026496 -0.00898343
+v 0.01327542 0.00026496 -0.00916699
+v -0.01434918 0.02702273 -0.00856202
+v 0.00776186 0.00026503 -0.02641794
+v 0.00494424 0.00310424 -0.02641968
+v 0.00101795 0.00310424 -0.02641968
+v -0.01187767 0.00026503 -0.02641794
+v -0.01434918 0.00077839 -0.02641794
+v -0.01049320 0.00026496 -0.00856212
+v -0.01434918 0.00026496 -0.00856212
+v -0.01434918 0.00026503 -0.02641619
+f 1 2 6
+f 1 6 13
+f 1 13 17
+f 1 17 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 14
+f 4 14 8
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 8 14 15
+f 8 15 16
+f 9 17 24
+f 9 24 23
+f 9 23 14
+f 9 14 10
+f 11 16 15
+f 11 15 23
+f 11 23 24
+f 11 24 25
+f 11 25 21
+f 11 21 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 25
+f 13 25 24
+f 13 24 17
+f 14 23 15
+f 18 21 20
+f 18 20 19
+f 21 25 22
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_21.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54e972a610115e079503d0d02b6714260cf31ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_21.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01435042 -0.04526088 0.00243660
+v -0.01435042 -0.04526084 -0.00852959
+v -0.01127265 -0.04526087 0.00037326
+v -0.01435042 -0.04435625 0.00243553
+v -0.01035101 -0.04526084 -0.00852959
+v -0.01435042 0.00026050 -0.00852942
+v -0.01086390 -0.04526087 -0.00110286
+v -0.01168963 0.00026047 0.00002131
+v -0.01273265 0.00026047 0.00096387
+v -0.01435042 -0.04359421 0.00242695
+v -0.01052954 0.00026050 -0.00852942
+v -0.01435042 0.00026046 0.00143516
+v -0.01358695 0.00026047 0.00121293
+v -0.01435042 -0.04238210 0.00241084
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 7
+f 6 12 13
+f 6 13 9
+f 6 9 8
+f 6 8 11
+f 7 11 8
+f 9 13 14
+f 9 14 10
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_22.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c5c0dcf1f9500eb3f3e46b1cf12f1d04b083f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02366689 -0.04262030 0.01814058
+v -0.02366689 -0.04262030 0.02204053
+v -0.02366689 -0.03441317 0.01814058
+v -0.02366689 -0.03441317 0.02204053
+v -0.02266689 -0.04262030 0.01814058
+v -0.02266689 -0.04262030 0.02204053
+v -0.02266689 -0.03441317 0.01814058
+v -0.02266689 -0.03441317 0.02204053
+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/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_23.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4d2bc6d468764dde466bde8165f4933385f7d2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_23.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02851645 0.02881374 -0.02642359
+v 0.02851645 0.03672083 -0.02642175
+v 0.03047920 0.03672083 -0.02642175
+v 0.03244419 0.03276820 -0.02642176
+v 0.03068829 0.02662493 -0.02642178
+v 0.02655147 0.02662493 -0.02642178
+v 0.01327542 0.02662493 -0.02641451
+v 0.01327542 0.03672083 -0.02641448
+v 0.02655147 0.03276820 -0.02642176
+v 0.02458872 0.04525721 -0.02641626
+v 0.02851645 0.04265434 -0.02641808
+v 0.02066099 0.04525721 -0.02641444
+v 0.03047920 0.04265434 -0.02641808
+v 0.03182141 0.04525721 -0.02641626
+v 0.03566146 0.04525721 -0.02641444
+v 0.03624152 0.04463157 -0.02641445
+v 0.03440918 0.03869988 -0.02641810
+v 0.03244419 0.02662493 -0.02641997
+v 0.03624152 0.03685216 -0.02641629
+v 0.03624152 0.02881374 -0.02641632
+v 0.01327542 0.02662487 -0.00983989
+v 0.01327542 0.04525721 -0.02641080
+v 0.03624152 0.04525721 -0.02641262
+v 0.03624152 0.02662493 -0.02641451
+v 0.01327542 0.02696961 -0.00978534
+v 0.02066099 0.02662486 -0.00951800
+v 0.02066099 0.02683462 -0.00945981
+v 0.02066099 0.02881367 -0.00911609
+v 0.01327542 0.04525714 -0.00938336
+v 0.03624152 0.04525714 -0.00784665
+v 0.03624152 0.02662486 -0.00888695
+v 0.01327542 0.02881368 -0.00953800
+v 0.02066099 0.03079090 -0.00894877
+v 0.03624152 0.02683280 -0.00885786
+v 0.03624152 0.02881367 -0.00861234
+v 0.01327542 0.03869981 -0.00933792
+v 0.02066099 0.03869981 -0.00882326
+v 0.02066099 0.03672076 -0.00881054
+v 0.02066099 0.03474536 -0.00882691
+v 0.02066099 0.03276813 -0.00886875
+v 0.03624152 0.03079090 -0.00847594
+v 0.01327542 0.03079090 -0.00941070
+v 0.01327542 0.03734275 -0.00932883
+v 0.01327542 0.03672076 -0.00932520
+v 0.01327542 0.03474536 -0.00933430
+v 0.01327542 0.03276813 -0.00935613
+f 1 2 3
+f 1 3 4
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+f 1 6 7
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+f 33 35 41
+f 36 43 37
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+f 39 45 46
+f 39 46 40
+f 40 46 42
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_24.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf156d02481fbd27152c8cce61cd1275fd67959
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_24.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.01616110 0.00900538 0.05795444
+v -0.01634171 0.00900538 0.05597496
+v -0.01626209 0.00900537 0.05988068
+v -0.01548722 0.00663532 0.05988067
+v -0.01634559 0.00900538 0.05594644
+v -0.01560374 0.00631829 0.05851158
+v -0.01627568 0.00900537 0.05992061
+v -0.01554548 0.00644779 0.06184684
+v -0.01527360 0.00507913 0.05988067
+v -0.01554354 0.00507914 0.05823776
+v -0.01574939 0.00507914 0.05725467
+v -0.01689518 0.00900539 0.05401069
+v -0.01567948 0.00606889 0.06282993
+v -0.01701559 0.00900536 0.06152930
+v -0.01538429 0.00507912 0.06184684
+v -0.01535516 0.00310149 0.06184683
+v -0.01525224 0.00310150 0.05988066
+v -0.01552218 0.00310151 0.05815218
+v -0.01573386 0.00310151 0.05716719
+v -0.01615527 0.00507914 0.05594643
+v -0.01690489 0.00900539 0.05398026
+v -0.01565423 0.00507912 0.06285845
+v -0.01862552 0.00900536 0.06235075
+v -0.01666214 0.00646519 0.06301437
+v -0.01947418 0.00223736 0.06488926
+v -0.01935378 0.00112386 0.06497482
+v -0.01562510 0.00310149 0.06288886
+v -0.01561928 0.00112387 0.06289456
+v -0.01534934 0.00112387 0.06184682
+v -0.01525029 -0.00282943 0.05988064
+v -0.01552023 -0.00282942 0.05812554
+v -0.01552023 -0.00085373 0.05813315
+v -0.01572803 -0.00282942 0.05714245
+v -0.01572997 -0.00085373 0.05715007
+v -0.01613974 0.00310151 0.05594642
+v -0.01613391 -0.00085373 0.05594641
+v -0.01690295 0.00705677 0.05398026
+v -0.01747002 0.00900540 0.05283555
+v -0.01862552 0.00691368 0.06319883
+v -0.02059085 0.00900536 0.06250858
+v -0.02059085 0.00249061 0.06503568
+v -0.02059085 0.00112386 0.06532470
+v -0.01934795 -0.00085376 0.06498052
+v -0.01561928 -0.00085375 0.06289456
+v -0.01534934 -0.00085375 0.06184682
+v -0.01535322 -0.00282944 0.06184681
+v -0.01526777 -0.00480705 0.05988063
+v -0.01553771 -0.00480704 0.05818828
+v -0.01573774 -0.00480704 0.05720519
+v -0.01614362 -0.00480704 0.05594639
+v -0.01613197 -0.00282942 0.05594640
+v -0.01690295 -0.01074376 0.05398019
+v -0.01747973 -0.01074375 0.05281646
+v -0.01747973 0.00900540 0.05281653
+v -0.02255423 0.00900536 0.06252949
+v -0.02255423 0.00248094 0.06502807
+v -0.02059085 -0.00085376 0.06532660
+v -0.02255423 0.00112386 0.06530949
+v -0.01946642 -0.00197306 0.06489875
+v -0.01567365 -0.00581423 0.06283749
+v -0.01564646 -0.00480706 0.06286601
+v -0.01562316 -0.00282944 0.06289074
+v -0.01537652 -0.00480706 0.06184680
+v -0.01553965 -0.00618153 0.06184680
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_25.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e6809c13737fbae9277805b3f8fa3ae2575b02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_25.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01146959 0.02702448 -0.02641662
+v -0.01146959 0.02702441 -0.00719491
+v -0.01146959 0.03672154 -0.02641659
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_26.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b07cc72977e6b5f1cc1244f53d30fd3e5791c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_26.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00887400 -0.02656111 0.00152618
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_27.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79dc030eac47528c11acfcea4ce6fa4293221f66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_27.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01327300 0.05056648 0.00187364
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_28.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6a3afe707b08f8f959376688afb54c69bc0617
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_28.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_29.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e3a54cbcf312011d1efdb979da04b0b94c226d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_29.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_3.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d526d3f2d01a3d1cbdfb9a7347734c667515d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_3.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_30.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a01fde6453e0c560f07b42e5a0700a7678e884
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_31.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2276817e230c67db38eb185131c80dd903b2c408
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_31.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03582287 0.01603557 -0.00871700
+v 0.02907121 0.01607080 -0.00871700
+v 0.03582287 0.02348249 -0.00871697
+v 0.03582287 0.01665355 -0.00110302
+v 0.02907121 0.01664474 -0.00110302
+v 0.02907121 0.02314853 -0.00871697
+v 0.03582287 0.02351038 -0.00871386
+v 0.03582287 0.01716806 0.00059636
+v 0.02907121 0.01670566 -0.00084572
+v 0.02907121 0.02315881 -0.00755812
+v 0.02907121 0.02317641 -0.00503603
+v 0.03582287 0.02352652 -0.00503603
+v 0.02907121 0.01716953 0.00058080
+v 0.03582287 0.01878720 0.00156018
+v 0.02907121 0.01755340 0.00089204
+v 0.02907121 0.02317567 -0.00307003
+v 0.03582287 0.02353311 -0.00307003
+v 0.03582287 0.01977660 0.00187764
+v 0.02907121 0.01905290 0.00167015
+v 0.02907121 0.01877399 0.00156952
+v 0.02907121 0.02315731 -0.00110299
+v 0.03582287 0.02351035 -0.00110299
+v 0.03582287 0.02029186 0.00187764
+v 0.03440895 0.01977073 0.00187868
+v 0.03244506 0.01976633 0.00187972
+v 0.03048117 0.01976339 0.00188075
+v 0.02907121 0.01976266 0.00187972
+v 0.02907121 0.02251508 0.00079246
+v 0.03582287 0.02349494 -0.00105734
+v 0.03582287 0.02100381 0.00181125
+v 0.03048117 0.02030066 0.00188075
+v 0.03244506 0.02029626 0.00187972
+v 0.03440895 0.02028965 0.00187868
+v 0.02907121 0.02029406 0.00187972
+v 0.02907121 0.02128272 0.00177598
+v 0.03582287 0.02281674 0.00082981
+v 0.03582287 0.02128052 0.00178324
+v 0.03048117 0.02128933 0.00177702
+v 0.02907121 0.02057297 0.00185068
+v 0.03582287 0.02246590 0.00110785
+f 1 2 6
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+f 1 17 22
+f 1 22 29
+f 1 29 36
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+f 24 26 25
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+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 34
+f 35 39 38
+f 35 38 40
+f 35 40 36
+f 37 40 38
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_32.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0bd90dfcc34c1ad73c098d594c04e0d29df432
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_32.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03456878 0.04814475 0.05090621
+v -0.02228905 0.04814475 0.05090621
+v -0.03424563 0.04814477 0.04521093
+v -0.03429581 0.00900540 0.05090606
+v -0.02206627 0.02880878 0.05090614
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+v -0.02327686 0.02288196 0.04521083
+v -0.02369549 0.04463158 0.04521091
+v -0.02402231 0.04814094 0.04521093
+v -0.02393295 0.04814477 0.04610969
+v -0.03049267 0.04814477 0.04521093
+v -0.03321742 0.00902841 0.04521078
+v -0.03321620 0.00900542 0.04521078
+v -0.02223029 0.00900540 0.05090606
+v -0.02206505 0.02683572 0.05090613
+v -0.02322423 0.01892435 0.04521082
+v -0.02337601 0.00900542 0.04521078
+v -0.02337478 0.00903607 0.04521078
+v -0.02334051 0.01018542 0.04521079
+v -0.02331848 0.01101679 0.04521079
+v -0.02329155 0.01205504 0.04521079
+v -0.02221071 0.00980995 0.05090607
+v -0.02216787 0.01299366 0.05090608
+v -0.02323157 0.01590155 0.04521081
+v -0.02322423 0.01694746 0.04521081
+v -0.02327319 0.01299368 0.04521080
+v -0.02325483 0.01396297 0.04521080
+v -0.02219112 0.01101677 0.05090607
+v -0.02218011 0.01177151 0.05090607
+v -0.02324136 0.01497057 0.04521080
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+f 1 11 3
+f 1 3 4
+f 1 4 14
+f 1 14 22
+f 1 22 28
+f 1 28 29
+f 1 29 23
+f 1 23 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
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+f 3 11 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 16
+f 3 16 25
+f 3 25 24
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+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_33.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c085ae4ee9a3e2b9317562f6d4e6a529ddf337a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02655214 -0.04589915 0.00137675
+v 0.02502526 -0.04589914 0.00130799
+v 0.02828234 -0.04589914 0.00062143
+v 0.02655135 0.01479748 0.00111963
+v 0.02458800 -0.04589914 0.00126183
+v 0.02895353 -0.04589914 -0.00110334
+v 0.02772968 0.01479748 0.00021108
+v 0.02763155 0.01479748 0.00028868
+v 0.02458879 0.01479748 0.00088979
+v 0.02316632 -0.04589914 0.00072554
+v 0.02986887 -0.04589911 -0.00795328
+v 0.02799187 0.01479748 -0.00110410
+v 0.02797539 0.01479748 -0.00099114
+v 0.02353528 0.01479748 -0.00001679
+v 0.02291825 -0.04589914 0.00052026
+v 0.02184905 -0.04589911 -0.00795328
+v 0.02887581 -0.02776023 -0.00865647
+v 0.02886718 -0.00086383 -0.00865637
+v 0.02886561 0.00153052 -0.00865636
+v 0.02876356 0.01479751 -0.00847461
+v 0.02304621 0.01479751 -0.00847461
+v 0.02197701 0.00153646 -0.00865636
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+v 0.02192677 -0.01137404 -0.00865641
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+f 19 35 20
+f 20 35 22
+f 20 22 21
+f 22 36 23
+f 23 36 37
+f 23 37 24
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_34.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29deff4d8fcd1b323d448fba5176b84913fe798
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_34.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03048294 -0.03645113 -0.02642715
+v 0.02851803 -0.04435989 -0.02642357
+v 0.02851803 -0.04040462 -0.02642537
+v 0.02066183 -0.04238226 -0.02642176
+v 0.02262673 -0.03842699 -0.02642355
+v 0.01476710 -0.03842699 -0.02641993
+v 0.01476710 -0.03645113 -0.02641992
+v 0.02262673 -0.03249586 -0.02642353
+v 0.02851803 -0.02776481 -0.02642532
+v 0.03048294 -0.02776481 -0.02642532
+v 0.04423043 -0.02776481 -0.02641085
+v 0.04030062 -0.03645113 -0.02641630
+v 0.04379150 -0.04589904 -0.02641273
+v 0.04030062 -0.04589904 -0.02641634
+v 0.03637080 -0.04589904 -0.02641996
+v 0.03048294 -0.04435989 -0.02642357
+v 0.02611762 -0.04589904 -0.02642177
+v 0.01476710 -0.04435989 -0.02641814
+v 0.01673201 -0.04238226 -0.02641995
+v 0.01327542 -0.04285803 -0.02641814
+v 0.01327542 -0.02776481 -0.02641808
+v 0.04542035 -0.02776481 -0.02630597
+v 0.04423043 -0.04589904 -0.02641092
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+v 0.01327542 -0.04589904 -0.02641634
+v 0.01327542 -0.02776488 -0.00916686
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+v 0.04619191 -0.04589904 -0.02623732
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+v 0.02313768 -0.02776488 -0.00795530
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+v 0.04830770 -0.04238228 -0.02274005
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_35.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c67effbc98863af36875f6fe85bee9931ab3b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_35.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01435042 -0.04526077 -0.02641860
+v -0.00150019 -0.04526077 -0.02641860
+v -0.01435042 -0.04526084 -0.00853382
+v -0.01435042 -0.04039892 -0.02642037
+v -0.00880146 -0.04238199 -0.02642038
+v -0.00150019 -0.04526083 -0.01017517
+v -0.00487500 -0.04238199 -0.02642038
+v 0.00495468 -0.04436505 -0.02641859
+v 0.01327542 -0.04436505 -0.02641501
+v -0.01034825 -0.04526084 -0.00853382
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+v -0.01435042 0.00026050 -0.00853365
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+v 0.01295903 -0.04436512 -0.00924083
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+v -0.00515353 -0.04526084 -0.00938224
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+v 0.01327542 -0.04285436 -0.02641680
+v -0.00684093 -0.04526084 -0.00904932
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+v 0.00019533 0.00026496 -0.00929794
+v -0.00087012 0.00026497 -0.00959149
+v -0.00129467 0.00026497 -0.00976332
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+f 9 36 22
+f 10 26 20
+f 11 20 38
+f 11 38 55
+f 11 55 41
+f 11 41 28
+f 11 28 27
+f 11 27 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 42
+f 17 42 34
+f 18 34 35
+f 19 22 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 26 21
+f 23 39 24
+f 24 39 40
+f 28 41 59
+f 28 59 61
+f 28 61 60
+f 28 60 44
+f 28 44 43
+f 28 43 42
+f 28 42 33
+f 28 33 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 39
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 58
+f 38 58 55
+f 39 44 56
+f 39 56 40
+f 40 56 57
+f 41 58 59
+f 41 55 58
+f 44 60 57
+f 44 57 56
+f 57 60 61
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_36.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be296cdea19a04935c1414e61fffe4d667a4ee50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_36.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01021075 0.02021015 0.00187081
+v -0.01076873 0.02020229 0.00186979
+v -0.01021075 0.01980679 0.00187081
+v -0.01021075 0.02119759 0.00176767
+v -0.01435042 0.02702269 0.00144499
+v -0.01200139 0.02009228 0.00186059
+v -0.01076873 0.01980941 0.00186979
+v -0.01021075 0.01909960 0.00165431
+v -0.01435042 0.00026492 0.00143569
+v -0.01343626 0.00026493 0.00116916
+v -0.01273240 0.00026493 0.00096389
+v -0.01168979 0.00026493 0.00002130
+v -0.01021075 0.02277959 0.00076891
+v -0.01168452 0.02702270 0.00002854
+v -0.01263312 0.02702270 0.00088740
+v -0.01273240 0.02702270 0.00097726
+v -0.01419604 0.02702269 0.00140107
+v -0.01435042 0.02702273 -0.00856202
+v -0.01435042 0.02088590 0.00158998
+v -0.01268621 0.02080994 0.00179525
+v -0.01200139 0.01984870 0.00186059
+v -0.01021075 0.01881935 0.00155116
+v -0.01435042 0.00026496 -0.00856212
+v -0.01435042 0.01924890 0.00158691
+v -0.01049521 0.00026496 -0.00856212
+v -0.01021075 0.01758310 0.00086080
+v -0.01021075 0.02346321 -0.00110299
+v -0.01074401 0.02702273 -0.00856202
+v -0.01021075 0.01633115 -0.00856206
+v -0.01021075 0.01667161 -0.00110302
+v -0.01021075 0.01674757 -0.00078746
+v -0.01021075 0.01717450 0.00054014
+v -0.01021075 0.02352346 -0.00306987
+v -0.01021075 0.02355229 -0.00856203
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 22
+f 1 22 26
+f 1 26 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 34
+f 1 34 33
+f 1 33 27
+f 1 27 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 21
+f 2 21 7
+f 2 5 6
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 28
+f 5 28 18
+f 5 18 23
+f 5 23 9
+f 5 9 24
+f 5 24 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 7 21 9
+f 8 12 22
+f 9 23 25
+f 9 25 12
+f 9 12 11
+f 9 11 10
+f 9 21 20
+f 9 20 24
+f 12 25 26
+f 12 26 22
+f 13 27 14
+f 14 27 28
+f 18 28 34
+f 18 34 29
+f 18 29 25
+f 18 25 23
+f 19 24 20
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 28 33 34
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_37.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88aa8206665a5e3e4c3610f7be69a1f276136f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_37.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03624152 0.05056628 0.00187290
+v 0.02655147 0.05056628 0.00187844
+v 0.03624152 0.05049760 0.00187290
+v 0.03624152 0.05160233 0.00186182
+v 0.02262598 0.04951416 0.00186181
+v 0.02458872 0.04950978 0.00186181
+v 0.02655147 0.04950685 0.00186181
+v 0.03624152 0.04951855 0.00185904
+v 0.02851645 0.05160379 0.00186182
+v 0.01327542 0.05160233 0.00186182
+v 0.01327542 0.05056628 0.00187290
+v 0.01327542 0.04952147 0.00185904
+v 0.03047920 0.05649762 0.00131619
+v 0.03624152 0.05649762 0.00130788
+v 0.03440918 0.05649762 0.00131065
+v 0.03624152 0.04852926 0.00156544
+v 0.01327542 0.05649762 0.00131065
+v 0.01327542 0.04853218 0.00150174
+v 0.03624152 0.05847619 0.00091457
+v 0.03624152 0.04672021 0.00060431
+v 0.01327542 0.05847619 0.00088687
+v 0.01327542 0.04725065 0.00051845
+v 0.03624152 0.05962183 0.00024706
+v 0.03624152 0.04596619 -0.00110466
+v 0.03624152 0.05970221 0.00019997
+v 0.01327542 0.05967590 0.00017227
+v 0.01327542 0.04687948 -0.00110466
+v 0.03624152 0.04525896 -0.00784636
+v 0.01327542 0.04525896 -0.00938360
+v 0.03624152 0.06003830 -0.00101874
+v 0.03244419 0.06007629 -0.00110461
+v 0.03047920 0.06008067 -0.00110461
+v 0.01476827 0.06006898 -0.00110461
+v 0.01327542 0.05977089 -0.00013518
+v 0.03624152 0.04525903 -0.02641234
+v 0.01327542 0.04525903 -0.02640958
+v 0.03624152 0.06006168 -0.00110461
+v 0.03244419 0.06011429 -0.00307117
+v 0.03047920 0.06011868 -0.00307117
+v 0.01327542 0.06005291 -0.00110461
+v 0.01476827 0.06010699 -0.00307117
+v 0.03440918 0.04525903 -0.02641511
+v 0.03624152 0.05649772 -0.02641230
+v 0.01327542 0.05254496 -0.02640956
+v 0.02200321 0.04525903 -0.02641511
+v 0.03624152 0.06009822 -0.00307117
+v 0.03624152 0.06017574 -0.02273954
+v 0.02262598 0.06018451 -0.02273954
+v 0.01476827 0.06018743 -0.02273954
+v 0.01327542 0.06008945 -0.00307117
+v 0.02851645 0.04525903 -0.02641788
+v 0.03047920 0.05254496 -0.02641509
+v 0.03047920 0.05649772 -0.02641230
+v 0.03440918 0.05844268 -0.02605223
+v 0.03624152 0.05662631 -0.02638738
+v 0.01327542 0.05649772 -0.02640676
+v 0.02851645 0.05254496 -0.02641509
+v 0.03624152 0.05971837 -0.02490275
+v 0.03621004 0.05971837 -0.02490275
+v 0.01327542 0.05974613 -0.02463685
+v 0.01327542 0.06016843 -0.02273954
+v 0.01327542 0.05841930 -0.02604946
+v 0.03621004 0.05867210 -0.02598574
+v 0.03624152 0.05867210 -0.02598574
+v 0.03624152 0.05863703 -0.02599405
+v 0.01327542 0.05795754 -0.02613532
+v 0.03624152 0.05970230 -0.02495261
+v 0.03544563 0.05946265 -0.02568661
+v 0.01327542 0.05940858 -0.02562013
+v 0.03624152 0.05872179 -0.02596913
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 20
+f 1 20 24
+f 1 24 28
+f 1 28 35
+f 1 35 43
+f 1 43 55
+f 1 55 65
+f 1 65 64
+f 1 64 70
+f 1 70 67
+f 1 67 58
+f 1 58 47
+f 1 47 46
+f 1 46 37
+f 1 37 30
+f 1 30 25
+f 1 25 23
+f 1 23 19
+f 1 19 14
+f 1 14 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 4 13 9
+f 4 14 15
+f 4 15 13
+f 5 12 6
+f 6 12 16
+f 6 16 7
+f 7 16 8
+f 9 13 10
+f 10 13 17
+f 10 17 21
+f 10 21 26
+f 10 26 34
+f 10 34 40
+f 10 40 50
+f 10 50 61
+f 10 61 60
+f 10 60 69
+f 10 69 62
+f 10 62 66
+f 10 66 56
+f 10 56 44
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+f 10 36 29
+f 10 29 27
+f 10 27 22
+f 10 22 18
+f 10 18 12
+f 10 12 11
+f 12 18 16
+f 13 15 19
+f 13 19 17
+f 14 19 15
+f 16 18 20
+f 17 19 21
+f 18 22 20
+f 19 23 21
+f 20 22 24
+f 21 23 25
+f 21 25 26
+f 22 27 24
+f 24 27 29
+f 24 29 28
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 28 29 36
+f 28 36 45
+f 28 45 51
+f 28 51 42
+f 28 42 35
+f 30 37 31
+f 31 38 39
+f 31 39 32
+f 31 37 38
+f 32 39 41
+f 32 41 33
+f 33 40 34
+f 33 41 40
+f 35 42 43
+f 36 44 45
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 41
+f 40 41 50
+f 41 49 50
+f 42 51 43
+f 43 51 52
+f 43 52 57
+f 43 57 53
+f 43 53 54
+f 43 54 55
+f 44 56 57
+f 44 57 51
+f 44 51 45
+f 47 58 48
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 51 57 52
+f 53 57 56
+f 53 56 54
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 54 56 66
+f 54 66 62
+f 58 67 59
+f 59 67 68
+f 59 68 60
+f 60 68 69
+f 62 69 68
+f 62 68 70
+f 62 70 63
+f 63 70 64
+f 67 70 68
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_38.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fadcc536e9e9add17f0f0e6e67a9e2a00e903a14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_38.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02876287 0.01479568 -0.00847752
+v 0.02907055 0.02314757 -0.00878315
+v 0.02065967 0.02322369 -0.00878315
+v 0.02304379 0.01479568 -0.00847752
+v 0.02878143 0.00903457 -0.00847754
+v 0.02907055 0.00706018 -0.00873402
+v 0.02907055 0.02662487 -0.01005855
+v 0.02262170 0.02662487 -0.00962815
+v 0.02065967 0.02662486 -0.00951923
+v 0.02047259 0.02322369 -0.00878315
+v 0.01327542 0.02320159 -0.00878315
+v 0.02278095 0.01095494 -0.00847753
+v 0.02878452 0.00706018 -0.00847754
+v 0.02907055 0.00335450 -0.00872526
+v 0.02907055 0.00508087 -0.00872876
+v 0.02907055 0.02662493 -0.02642104
+v 0.01327542 0.02662487 -0.00984072
+v 0.01327542 0.01637470 -0.00878318
+v 0.02256758 0.00158884 -0.00847756
+v 0.02257377 0.00310402 -0.00847756
+v 0.02258614 0.00508087 -0.00847755
+v 0.02260778 0.00706018 -0.00847754
+v 0.02266499 0.00903457 -0.00847754
+v 0.02878761 0.00310402 -0.00847756
+v 0.02907055 0.00173619 -0.00872350
+v 0.02851549 0.02662493 -0.02642104
+v 0.02907055 0.01479575 -0.02642285
+v 0.01327542 0.02662493 -0.02641402
+v 0.01327542 0.00153727 -0.00916796
+v 0.02256758 0.00153727 -0.00847756
+v 0.02878761 0.00153727 -0.00847756
+v 0.02907055 0.00153727 -0.00872350
+v 0.02655193 0.01479575 -0.02642285
+v 0.02907055 0.00452349 -0.02642288
+v 0.01327542 0.00706025 -0.02641760
+v 0.01327542 0.00153734 -0.02641762
+v 0.02907055 0.00153734 -0.02641938
+v 0.02655193 0.00153734 -0.02642289
+v 0.02851549 0.00153734 -0.02642289
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 30
+f 1 30 31
+f 1 31 24
+f 1 24 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 15
+f 2 15 14
+f 2 14 25
+f 2 25 32
+f 2 32 37
+f 2 37 34
+f 2 34 27
+f 2 27 16
+f 2 16 7
+f 3 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 26
+f 7 26 28
+f 7 28 17
+f 7 17 9
+f 7 9 8
+f 9 17 11
+f 9 11 10
+f 11 18 30
+f 11 30 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 11 17 28
+f 11 28 35
+f 11 35 36
+f 11 36 29
+f 11 29 18
+f 13 24 25
+f 13 25 14
+f 16 27 33
+f 16 33 26
+f 18 29 30
+f 24 31 32
+f 24 32 25
+f 26 33 28
+f 27 34 39
+f 27 39 38
+f 27 38 33
+f 28 33 35
+f 29 36 38
+f 29 38 39
+f 29 39 37
+f 29 37 32
+f 29 32 31
+f 29 31 30
+f 33 38 36
+f 33 36 35
+f 34 37 39
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_39.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d5c61b13075c5d4c96c49df52ac7c6b74ac602
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_39.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00158914 0.02024620 0.00187523
+v -0.00487626 0.02122810 0.00177409
+v -0.00683924 0.02122315 0.00177409
+v -0.00487626 0.02023984 0.00187420
+v -0.00158914 0.01978883 0.00187523
+v -0.00158914 0.02123517 0.00177307
+v -0.01020991 0.02278119 0.00076878
+v -0.01020991 0.02119982 0.00176796
+v -0.00880392 0.02022853 0.00187216
+v -0.00487626 0.01979378 0.00187420
+v -0.01020991 0.01910101 0.00165353
+v -0.00158914 0.01879987 0.00151867
+v -0.00158914 0.02251539 0.00078921
+v -0.01020991 0.02346477 -0.00110289
+v -0.01020991 0.02021086 0.00187012
+v -0.00880392 0.01980156 0.00187216
+v -0.00683924 0.01979732 0.00187318
+v -0.01020991 0.01882037 0.00155136
+v -0.01020991 0.01980933 0.00187012
+v -0.01020991 0.01758470 0.00086071
+v -0.01020991 0.01717682 0.00053991
+v -0.00158914 0.01839836 0.00119787
+v -0.00158914 0.02315655 -0.00110289
+v -0.01020991 0.02352486 -0.00306959
+v -0.01020991 0.01674843 -0.00078723
+v -0.00158914 0.01757339 0.00053480
+v -0.00158914 0.02317565 -0.00306959
+v -0.01020991 0.02355457 -0.00856203
+v -0.01020991 0.01667350 -0.00110292
+v -0.00158914 0.01745039 0.00000047
+v -0.00158914 0.02319758 -0.00856203
+v -0.01020991 0.01633350 -0.00856206
+v -0.00158914 0.01719661 -0.00110292
+v -0.00158914 0.01682410 -0.00856206
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 12
+f 1 12 22
+f 1 22 26
+f 1 26 30
+f 1 30 33
+f 1 33 34
+f 1 34 31
+f 1 31 27
+f 1 27 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 16
+f 4 16 10
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 24
+f 7 24 28
+f 7 28 32
+f 7 32 29
+f 7 29 25
+f 7 25 21
+f 7 21 20
+f 7 20 18
+f 7 18 11
+f 7 11 19
+f 7 19 15
+f 7 15 8
+f 8 15 9
+f 9 15 19
+f 9 19 16
+f 10 16 17
+f 10 17 11
+f 11 18 12
+f 11 17 16
+f 11 16 19
+f 12 18 20
+f 12 20 21
+f 12 21 22
+f 13 23 14
+f 14 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 34
+f 28 34 32
+f 29 33 30
+f 29 32 34
+f 29 34 33
+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_4.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabc50431182fab2d79c671a20d4c7caeca87de7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01076746 -0.05988282 -0.02274119
+v -0.01435042 -0.05982986 -0.02274119
+v -0.01435042 -0.05952928 -0.02428821
+v -0.01435042 -0.05946201 -0.02462340
+v -0.01273186 -0.05946344 -0.02464059
+v -0.00150255 -0.05945915 -0.02463486
+v -0.00150255 -0.05987566 -0.02274119
+v -0.01076746 -0.05985283 -0.00307106
+v -0.01435042 -0.05981419 -0.00307106
+v -0.01435042 -0.05912709 -0.02560605
+v -0.01273186 -0.05913997 -0.02562324
+v -0.00150255 -0.05913711 -0.02561751
+v -0.00150255 -0.05983852 -0.00307106
+v -0.00150255 -0.05981705 -0.00165868
+v -0.00150255 -0.05980848 -0.00110290
+v -0.01076746 -0.05981563 -0.00110290
+v -0.01435042 -0.05980703 -0.00272441
+v -0.01435042 -0.05831268 -0.02597561
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_40.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee0406d5d6a67836febf8bac2416cc6ed29b3a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_41.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309e0ee4d030a5cc6b2411f77bdf7aace3fb5ddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_41.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_42.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e90c378e30a9a5e5cee293b48bdea132d958c0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_42.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00887464 0.01495730 0.00151923
+v 0.01053241 0.01495731 0.00076676
+v 0.00738533 0.01495731 0.00063724
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_43.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ab3980939b8b332be0ca1500dbdc878bdbc48a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_5.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e175120a25210b05aaf4edf9a82d476ee9980b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_5.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_6.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026f6d63e713cd8c5cc43b1990f0db2e47779a3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_6.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_7.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7244be48559201c60a4e19bc1ab8e341633f949a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_8.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63848b28ce6fa442849a51ceed5145b13751c51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_8.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_9.obj b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb88659a35b9311c275949940b535a1dc7c8423
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_collision_9.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e42e8c9d88238a0a32f74e4cca7e203ae24aeb09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/mjcf/mesh/jewelry_box_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12183128
diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/textures/material_0.png b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/video.mp4 b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7037f92e4e1f610379d095bc0455cc90074e1f0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/video.mp4
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