diff --git a/.gitattributes b/.gitattributes
index a2b271b9aa8553816255ad30152de476aa73473c..d17a54413e49a934da781aba16a38819b0d295f9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2760,3 +2760,5 @@ dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_orga
 dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/mesh/storage_box_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/storage_box_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.urdf b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d137c38439d95398561e092d77560a1fadfe393e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_007">
+   <link name="jewelry_box_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>5a7f2f2bf7475dbab25e5d6ef9932127</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>embroidered jewelry box</name>
+         <color>green,golden</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>hexagonal green and gold jewelry box with decorative embroidery</description>
+         <min_height>0.1624</min_height>
+         <max_height>0.1624</max_height>
+         <real_height>0.1624</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230714</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0dafb77c3837a0ad158309a66b5c2d53896d1fc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e6745d1c59226ef5bd59d66b7b2b2357f80b4a8c8a2ea12959e5dccee1b3c9
+size 4920150
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bc4598008939aa3076db263a6393bdc010f6d58f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3147bb7ebfba7648195c4a6433083d9eab28f3a191f332c552641cf6247a9b
+size 19857160
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.mtl b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea71b7de268236ce52b2ce7f27be54a96b3c9d93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_007_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/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ad6f653a6af8ae85e1025caf772467f340c8cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.obj
@@ -0,0 +1,116498 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_007_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_collision.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f241fd8c6ee50d08f6eb87b6769644c4c530dac7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_collision.obj
@@ -0,0 +1,7589 @@
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a082c3ff445cea1aab4e80bc5b37e8e7b2301a87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b78902b6bad7cef4d90c10459a15667b83b507276ee97688bbed55ac7183f6
+size 16507063
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material.mtl b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b115e37a5d7f3b3c21c1150f1415cb66219cf6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_007_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material_0.png b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a082c3ff445cea1aab4e80bc5b37e8e7b2301a87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b78902b6bad7cef4d90c10459a15667b83b507276ee97688bbed55ac7183f6
+size 16507063
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/jewelry_box_007.xml b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/jewelry_box_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf202923cbcc61f076c9676b388e72369b6cb424
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/jewelry_box_007.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_007">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_007_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_007_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_007_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_007_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_007_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_007_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_007_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_007_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_007_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_007_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74f55e2bfc7a77faa904c55eab1cd6b025742e6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007.obj
@@ -0,0 +1,116498 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_007_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f951bd5ad79ad716de1a6ad7b64c20422770e8de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision.obj
@@ -0,0 +1,7589 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_0.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fcc067159cabfd8dc8aa080ea473b5ccf0ac14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_1.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780c3643620e876a8a562f4c9eb556d2dc42c56c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_10.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b625c829dbd8e7762417add475bf7d0a8a7cfd5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.03007195 0.14934103 -0.07360802
+v -0.03007195 0.14840053 -0.06427841
+v -0.03007195 0.14911505 -0.07882402
+v -0.04090034 0.14541513 -0.07893409
+v -0.06493178 0.13638221 -0.07893412
+v -0.08714173 0.12734563 -0.07380353
+v -0.03007195 0.13466161 -0.06427847
+v -0.08447095 0.12719251 -0.06427849
+v -0.03007195 0.14906402 -0.07895114
+v -0.06175255 0.13720605 -0.08239691
+v -0.08714173 0.12779402 -0.07893415
+v -0.08714173 0.12614268 -0.06427850
+v -0.03045748 0.13435541 -0.06427847
+v -0.03007195 0.14027534 -0.07893600
+v -0.03007195 0.14473712 -0.08236083
+v -0.04090034 0.14366542 -0.08292626
+v -0.04461597 0.14283431 -0.08233807
+v -0.06321645 0.13438464 -0.08336460
+v -0.08714173 0.12672962 -0.08261514
+v -0.08714173 0.11210120 -0.06427855
+v -0.03460892 0.13236875 -0.06427847
+v -0.03843630 0.13668843 -0.08099092
+v -0.03007195 0.14159128 -0.08193392
+v -0.03007195 0.14459132 -0.08236272
+v -0.04051481 0.13882454 -0.08293007
+v -0.05724351 0.13384879 -0.08366249
+v -0.08714173 0.12294587 -0.08358854
+v -0.06103736 0.12163715 -0.06427851
+v -0.08714173 0.11752537 -0.07907270
+v -0.08169959 0.12019370 -0.08163420
+v -0.05423190 0.13092894 -0.08183529
+v -0.05724351 0.13028008 -0.08263221
+v -0.04206811 0.13614893 -0.08204778
+v -0.03545262 0.14039928 -0.08261699
+v -0.06268565 0.12930682 -0.08320714
+v -0.08447095 0.12294587 -0.08348418
+v -0.08714173 0.11905639 -0.08257153
+v -0.08447095 0.11966514 -0.08225656
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 24
+f 1 24 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 12
+f 2 12 20
+f 2 20 28
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+f 2 21 13
+f 2 13 7
+f 3 9 10
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+f 4 10 5
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+f 7 13 14
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+f 9 17 10
+f 10 18 19
+f 10 19 11
+f 10 17 16
+f 10 16 18
+f 13 21 22
+f 13 22 14
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+f 15 24 16
+f 16 24 25
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+f 18 26 27
+f 18 27 19
+f 20 29 30
+f 20 30 28
+f 21 28 22
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 22 28 30
+f 22 30 31
+f 23 34 24
+f 23 33 34
+f 24 34 25
+f 25 34 32
+f 25 32 35
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 32
+f 30 32 31
+f 32 38 37
+f 32 37 35
+f 32 34 33
+f 35 37 36
+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_11.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da994c7db2239ada28fa8fd20a7dfb8e4944e08f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.12712394 -0.08171990 -0.07367829
+v -0.12632059 -0.08171993 -0.06409950
+v -0.12704084 -0.08171989 -0.07627525
+v -0.12032510 -0.11492110 -0.08255183
+v -0.12023408 -0.11478223 -0.07893567
+v -0.11258836 -0.08171993 -0.06409950
+v -0.11990958 -0.11425807 -0.07623506
+v -0.11460664 -0.11440595 -0.06409962
+v -0.12669654 -0.08171988 -0.07900177
+v -0.11933971 -0.11148044 -0.08577354
+v -0.11569097 -0.11558411 -0.08815169
+v -0.11732538 -0.11707148 -0.08448084
+v -0.11533084 -0.12048525 -0.08285703
+v -0.11558016 -0.12068238 -0.07893569
+v -0.11830286 -0.11750606 -0.07893568
+v -0.12534706 -0.08701523 -0.08161890
+v -0.09034769 -0.09489112 -0.06409955
+v -0.11810894 -0.08171988 -0.07883766
+v -0.11506569 -0.12019855 -0.07562759
+v -0.11470953 -0.11457619 -0.06464665
+v -0.11386660 -0.11494804 -0.06409962
+v -0.12507796 -0.08171988 -0.08017645
+v -0.12534706 -0.08690323 -0.08161890
+v -0.11661305 -0.11148043 -0.08907012
+v -0.11353022 -0.11148042 -0.09173329
+v -0.10984192 -0.11471497 -0.09262871
+v -0.11175730 -0.11696842 -0.08957974
+v -0.11367268 -0.11922187 -0.08640986
+v -0.11179687 -0.12115276 -0.08448374
+v -0.11171376 -0.12197709 -0.07893570
+v -0.08967889 -0.09554967 -0.06409955
+v -0.09781533 -0.09762831 -0.08720729
+v -0.11960881 -0.08171987 -0.08183193
+v -0.11929221 -0.08171987 -0.08120428
+v -0.08669895 -0.12595538 -0.06409966
+v -0.10618922 -0.11883219 -0.06409964
+v -0.11194725 -0.11610835 -0.06409963
+v -0.12213759 -0.08171987 -0.08216303
+v -0.11327299 -0.10602827 -0.09162963
+v -0.11080752 -0.11148042 -0.09301162
+v -0.10626837 -0.11148042 -0.09350970
+v -0.10626837 -0.11480906 -0.09266613
+v -0.10626837 -0.11753738 -0.09030240
+v -0.11003978 -0.12016715 -0.08745785
+v -0.08992425 -0.12589260 -0.08245686
+v -0.08669895 -0.12722315 -0.08037239
+v -0.08669895 -0.12748300 -0.07893572
+v -0.08669895 -0.12732622 -0.07578309
+v -0.08770414 -0.10058070 -0.06409957
+v -0.08669895 -0.11867085 -0.08252018
+v -0.09263903 -0.10328208 -0.08167654
+v -0.09443965 -0.10111376 -0.08377540
+v -0.09675474 -0.10058062 -0.08820635
+v -0.10091002 -0.10084045 -0.09067950
+v -0.10081900 -0.09705039 -0.08788388
+v -0.12045174 -0.08171987 -0.08225516
+v -0.08669895 -0.11126548 -0.06409961
+v -0.10626837 -0.10266380 -0.09255093
+v -0.10949762 -0.10292364 -0.09243865
+v -0.11054633 -0.10602827 -0.09287053
+v -0.10626837 -0.10602827 -0.09339452
+v -0.10190730 -0.10602827 -0.09277839
+v -0.10212495 -0.11148042 -0.09275250
+v -0.10307869 -0.11449994 -0.09243293
+v -0.08669895 -0.12626443 -0.08271886
+v -0.10626837 -0.12031947 -0.08763636
+v -0.08669895 -0.11808397 -0.08157870
+v -0.08669895 -0.12001933 -0.08299235
+v -0.09570998 -0.10602828 -0.08920830
+v -0.09298728 -0.10602830 -0.08521497
+v -0.09918459 -0.10602827 -0.09187147
+v -0.10278188 -0.10283404 -0.09246456
+v -0.09940226 -0.11148042 -0.09163253
+v -0.08669895 -0.12483531 -0.08322846
+v -0.08669895 -0.12210251 -0.08338680
+f 1 2 6
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+f 1 18 34
+f 1 34 33
+f 1 33 56
+f 1 56 38
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+f 1 22 9
+f 1 9 3
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+f 2 37 36
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+f 5 15 7
+f 6 17 18
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+f 9 22 23
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+f 14 19 15
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+f 16 25 24
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+f 17 33 34
+f 17 34 18
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+f 19 37 21
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+f 31 52 32
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+f 32 54 55
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+f 35 75 68
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+f 38 56 58
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+f 38 59 60
+f 38 60 39
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 43 66 44
+f 44 66 65
+f 44 65 45
+f 45 65 46
+f 49 57 67
+f 49 67 50
+f 50 68 69
+f 50 69 53
+f 50 53 70
+f 50 70 51
+f 51 70 52
+f 52 70 53
+f 53 69 71
+f 53 71 54
+f 54 71 72
+f 54 72 56
+f 54 56 55
+f 56 72 58
+f 58 72 61
+f 58 61 59
+f 59 61 60
+f 61 72 62
+f 62 72 71
+f 62 71 63
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+f 63 73 64
+f 64 73 74
+f 64 74 65
+f 68 75 69
+f 69 75 71
+f 71 75 74
+f 71 74 73
+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_12.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5014bab38dc9622dcf235120105784752f5e46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.07899710 -0.11181470 -0.06337582
+v 0.07899710 -0.12888979 -0.06337588
+v 0.07899710 -0.12185029 -0.07931477
+v 0.07400737 -0.11191403 -0.06337582
+v 0.07894941 -0.12891048 -0.06337588
+v 0.07899710 -0.12978365 -0.07320056
+v 0.07899710 -0.12776822 -0.07939129
+v 0.07102069 -0.13026367 -0.08176291
+v 0.06805189 -0.12924976 -0.08249774
+v 0.06260314 -0.12881521 -0.08319231
+v 0.06873150 -0.11217061 -0.06337582
+v 0.06548847 -0.13611125 -0.08092743
+v 0.01809503 -0.15284705 -0.06337597
+v 0.01809503 -0.15398921 -0.07370194
+v 0.07664829 -0.13067340 -0.07646605
+v 0.07899710 -0.12816137 -0.07871081
+v 0.06548847 -0.13611125 -0.08174482
+v 0.06760478 -0.13287914 -0.08240515
+v 0.07102069 -0.13078511 -0.08176291
+v 0.06260314 -0.13328884 -0.08394126
+v 0.05716034 -0.13328884 -0.08357485
+v 0.01809503 -0.14557165 -0.08297695
+v 0.05716034 -0.12982087 -0.08252594
+v 0.02573163 -0.12909671 -0.06337588
+v 0.02249457 -0.15266490 -0.07893639
+v 0.01809503 -0.13390554 -0.06337590
+v 0.01809503 -0.15403473 -0.07493204
+v 0.06260314 -0.13663269 -0.08234879
+v 0.02235149 -0.15260281 -0.08191198
+v 0.02428896 -0.14981352 -0.08291658
+v 0.01809503 -0.14964384 -0.08354471
+v 0.01809503 -0.15408438 -0.07893640
+v 0.01809503 -0.15318633 -0.08240925
+f 1 2 6
+f 1 6 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 24
+f 1 24 26
+f 1 26 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 15 16
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+f 12 25 17
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+f 13 33 32
+f 13 32 27
+f 13 27 14
+f 14 27 25
+f 15 17 16
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+f 17 20 18
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+f 17 29 28
+f 18 20 19
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+f 20 30 31
+f 20 31 22
+f 20 22 21
+f 22 26 24
+f 22 24 23
+f 25 27 32
+f 25 32 29
+f 28 29 33
+f 28 33 30
+f 29 32 33
+f 30 33 31
+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_13.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd8af7b64502b456990dab9ba304fe675ffee1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_13.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01440175 0.15636586 -0.07893487
+v 0.02220588 0.15309572 -0.08182490
+v 0.01440175 0.15633376 -0.07909063
+v 0.01440175 0.15616863 -0.07396731
+v 0.06540540 0.13662108 -0.08130505
+v 0.06540540 0.13662108 -0.08167130
+v 0.01440175 0.15520092 -0.08381402
+v 0.01440175 0.15471008 -0.06336705
+v 0.08336975 0.12758107 -0.06336715
+v 0.08336975 0.12864059 -0.07362852
+v 0.08336975 0.12884241 -0.07801934
+v 0.08336975 0.12854888 -0.07889076
+v 0.08336975 0.12728302 -0.08212810
+v 0.08336975 0.12689317 -0.08272589
+v 0.06260374 0.13710726 -0.08226910
+v 0.01440175 0.15457716 -0.08406239
+v 0.06260374 0.13384628 -0.08385830
+v 0.01440175 0.13555696 -0.06336712
+v 0.08336975 0.10951494 -0.06336722
+v 0.08336975 0.12302677 -0.08300165
+v 0.01440175 0.15020165 -0.08486859
+v 0.08336975 0.12262316 -0.08300165
+v 0.02998301 0.12907168 -0.06336715
+v 0.01440175 0.14558766 -0.08385405
+v 0.08336975 0.11989879 -0.08197657
+v 0.07352682 0.11263374 -0.06336721
+v 0.01440175 0.15016955 -0.08486438
+v 0.08336975 0.12191685 -0.08276590
+v 0.05715570 0.11860075 -0.06336718
+v 0.08168201 0.12022902 -0.08157454
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 21
+f 1 21 27
+f 1 27 24
+f 1 24 18
+f 1 18 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 6 7
+f 4 8 9
+f 4 9 5
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+f 5 10 11
+f 5 11 6
+f 6 11 12
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+f 6 13 14
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+f 8 19 9
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+f 9 22 20
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+f 21 22 27
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+f 22 24 27
+f 23 24 29
+f 24 28 25
+f 24 25 30
+f 24 30 26
+f 24 26 29
+f 25 26 30
+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_14.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984b435201be9fb0bde067422eda6ce4c3453590
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.12551545 -0.08717160 -0.07895259
+v 0.12546536 -0.08717161 -0.07519560
+v 0.12546082 -0.08753868 -0.07893805
+v 0.12536519 -0.08735096 -0.08174066
+v 0.12536519 -0.08717159 -0.08174066
+v 0.12460931 -0.08717164 -0.06878619
+v 0.12022430 -0.11488187 -0.07893815
+v 0.12029717 -0.11497362 -0.08260552
+v 0.11933638 -0.11148219 -0.08611058
+v 0.11661340 -0.11148218 -0.08922808
+v 0.11368551 -0.11148217 -0.09189261
+v 0.12247372 -0.08717159 -0.08268293
+v 0.11328025 -0.10603438 -0.09172303
+v 0.11055271 -0.10603438 -0.09286878
+v 0.10944622 -0.10292257 -0.09243760
+v 0.11655876 -0.11149477 -0.06878628
+v 0.11986914 -0.11433960 -0.07617431
+v 0.11431389 -0.08717164 -0.06878619
+v 0.11829819 -0.11760576 -0.07893816
+v 0.11557520 -0.12073844 -0.07893817
+v 0.11528378 -0.12052152 -0.08295919
+v 0.11727821 -0.11714272 -0.08455790
+v 0.11564351 -0.11567857 -0.08830762
+v 0.10998809 -0.11481091 -0.09267018
+v 0.11096253 -0.11148217 -0.09304321
+v 0.12110769 -0.08717159 -0.08273622
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_15.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70facc6f13da11d1d21e398475246101fc56dfc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_15.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.12461070 -0.08716749 -0.06878619
+v 0.12432048 -0.08716751 -0.06337424
+v 0.11656045 -0.11149699 -0.06878628
+v 0.11431459 -0.08716749 -0.06878619
+v 0.11502006 -0.11284499 -0.06337433
+v 0.11472090 -0.11468762 -0.06438733
+v 0.10636704 -0.08716751 -0.06337424
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+v 0.08508278 -0.09036224 -0.06337425
+v 0.09834358 -0.08727880 -0.06337424
+v 0.11303763 -0.11538841 -0.06337434
+v 0.11522097 -0.11520701 -0.06878629
+v 0.11163565 -0.11759791 -0.06878630
+v 0.07900156 -0.11891703 -0.06878631
+v 0.07900156 -0.11181030 -0.06337433
+v 0.11196158 -0.11599850 -0.06337435
+v 0.10587590 -0.11875629 -0.06337436
+v 0.10771991 -0.11931277 -0.06878631
+v 0.07900156 -0.12927625 -0.06878634
+v 0.07900156 -0.12888878 -0.06337439
+f 1 2 3
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+f 1 15 9
+f 1 9 4
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_16.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798df0fb2ffa2eec278361c8d5f6e68300593a7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_16.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00268395 -0.13638128 -0.06846088
+v 0.00268395 -0.13751855 -0.08426399
+v -0.00276580 -0.13753500 -0.08426399
+v -0.00276580 -0.13640594 -0.06846088
+v 0.01809502 -0.14278598 -0.06846090
+v 0.00659211 -0.14055234 -0.08788776
+v 0.00268395 -0.13974661 -0.08868469
+v 0.01809502 -0.14391778 -0.07893737
+v 0.00759154 -0.13983981 -0.08426399
+v -0.00276580 -0.13977402 -0.08867258
+v -0.03006636 -0.14106759 -0.08182717
+v -0.03006636 -0.13985079 -0.07893735
+v -0.03006636 -0.13875459 -0.07361071
+v -0.03006636 -0.13873814 -0.07351624
+v -0.03006636 -0.13795436 -0.06846089
+v 0.01809502 -0.15320560 -0.06846094
+v 0.00550310 -0.14678985 -0.09230365
+v 0.00268395 -0.14340526 -0.09134924
+v 0.01809502 -0.14557582 -0.08297777
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+v -0.00276580 -0.14343266 -0.09133714
+v -0.03006636 -0.14109499 -0.08187077
+v -0.03006636 -0.14830273 -0.06846092
+v 0.01809502 -0.15398938 -0.07370524
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_17.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d82c2d723b336fa0684efee06a12078dfcc0c12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_17.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00268395 -0.12814607 -0.06337387
+v 0.00808183 -0.12848413 -0.06337387
+v 0.00268395 -0.13638387 -0.06845846
+v -0.00276580 -0.12814927 -0.06337387
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+v 0.01809502 -0.14278468 -0.06845848
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+v -0.00276580 -0.13640620 -0.06845846
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+v -0.03006636 -0.12882857 -0.06337387
+v 0.00514482 -0.15866074 -0.06337398
+v 0.00618668 -0.15831312 -0.06387616
+v 0.00677597 -0.15893500 -0.06845854
+v -0.03006636 -0.14829888 -0.06845850
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+v -0.00319951 -0.15947719 -0.06337399
+v 0.00249066 -0.16072416 -0.06845855
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+f 1 13 18
+f 1 18 22
+f 1 22 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
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+f 2 6 3
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+f 15 20 16
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+f 18 21 22
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+f 19 22 23
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_18.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df0b3c764b59d340bcd68b2e1667f7c6159be1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00305838 0.16239460 -0.07231787
+v 0.00780292 0.15978298 -0.07231788
+v 0.00169595 0.16238799 -0.07231787
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+v 0.00452962 0.15927053 -0.06336493
+v 0.00586593 0.15867217 -0.06336494
+v 0.01440175 0.15470843 -0.06336495
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+v -0.00306600 0.16235163 -0.07231787
+v -0.00310953 0.15986558 -0.06336493
+v 0.01440175 0.13556087 -0.06336502
+v 0.01440175 0.14410656 -0.07231794
+v -0.00406714 0.16190534 -0.07231788
+v -0.03005330 0.14834134 -0.06336498
+v -0.02973120 0.14848349 -0.06336497
+v -0.02970073 0.14849671 -0.06336497
+v 0.01292615 0.12905163 -0.06336505
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+v -0.00276566 0.13806675 -0.07231796
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_19.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31cb92f9f874dfcc22f42e8921edbc743ddc4c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_19.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_2.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c152683553dfcf7e2ba1d20f1bb5a23c68af5bd3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_2.obj
@@ -0,0 +1,1315 @@
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_20.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf688ba297b3e09441d4a852d221c85ed9ccf44f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.10637438 -0.08716750 -0.06337372
+v 0.11783270 -0.08716743 -0.08277624
+v 0.12432252 -0.08716750 -0.06337372
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+v 0.12546698 -0.08716745 -0.07519316
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+v 0.12247485 -0.08716743 -0.08268227
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_21.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4942f5520d550f13554da1dfd0ecb8b8aec28f15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_21.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.08337379 0.12798556 -0.06877338
+v 0.08337379 0.11792276 -0.06877342
+v 0.08337379 0.12757408 -0.06336558
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_22.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b68b4f3f2068b0b1e3eecbbc201e1cd8e4e7fea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.00318025 0.16493557 -0.07844158
+v 0.00533053 0.16380395 -0.07633359
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_23.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e186fecf6f03b23114756a4300d653dd1da5db1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_23.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_3.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5911bfb011f177fa03a152870daee1d92e0d58bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_3.obj
@@ -0,0 +1,1447 @@
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_4.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62401e6694985c7e3aba0e5319d15409cbb9ede5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_4.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_5.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fcde1aaea6b97874105464f308b2e2313448de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_5.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_6.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72275fe0c98417ff590fa7b663964fca4f272ea7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_6.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_7.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b734731a81d8e1c1163d61479d1fae810c3458e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_7.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_8.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5aad1468e2a619d4703430e48fae3042fb07a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_8.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_9.obj b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ee1bd35f7ee5d9eca1586748b3b2d9b1569c59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_collision_9.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a082c3ff445cea1aab4e80bc5b37e8e7b2301a87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mjcf/mesh/jewelry_box_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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