diff --git a/assets/articulated/artvip/cabinet_12/manifest.yaml b/assets/articulated/artvip/cabinet_12/manifest.yaml
index e86c955662f30bd3f868e8d5ebe478593dbb1857..2acd16a8996533dcaff3e36d26ec97918dff45a9 100644
--- a/assets/articulated/artvip/cabinet_12/manifest.yaml
+++ b/assets/articulated/artvip/cabinet_12/manifest.yaml
@@ -132,8 +132,44 @@ articulation:
       visual_meshes:
       - meshes/visual/E_drawer1_1/E_drawer1_1_0.obj
       - meshes/visual/E_drawer1_1/E_drawer1_1_1.obj
-      collision_meshes: []
-      collision_source: cavity_repair_voxbox
+      collision_meshes:
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj
+      collision_source: coacd_shared_part_reuse
     E_drawer1_4:
       mass_kg: 0.760396
       inertia_diag_kgm2:
@@ -198,16 +234,57 @@ articulation:
       visual_meshes:
       - meshes/visual/E_drawer1_7/E_drawer1_7_0.obj
       - meshes/visual/E_drawer1_7/E_drawer1_7_1.obj
-      collision_meshes: []
-      collision_source: cavity_repair_voxbox
+      collision_meshes:
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_011.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_012.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_013.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_014.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_015.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_016.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_017.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_018.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_019.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_020.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_021.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_022.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_023.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_024.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_025.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_026.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_027.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_028.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_029.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_030.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_031.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_032.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_033.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_034.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj
+      collision_source: coacd_shared_part_reuse
 usd:
-  status: generated
+  status: regenerated_pending_factory
   path: usd/model.usd
   exporter: usd-core-native-overlay
   source_sha256: 1f678b4b1da71f2a684490e4a5cad27d4b9edc4d205afa543a4da01be3d83b31
   properties_sha256: 8cdaff2d2e5cf2b0bd814509c3d703de5903a5ec98c6e195adbcd23eb7d85e60
-  canonical_usd_sha256: 32ba77d9e2301a2ba2b46835af39cd9ec270849567ec5b63e183ea1009ee8df7
+  canonical_usd_sha256: d78ab1bb5a06ef140395766ddf7cc6172728b64c1dca3eaa2e1405c9024838ae
   dependency_closure_sha256: 2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9
+  provenance_note: Collision scopes for E_drawer1_1 / E_drawer1_7 were copied prim-for-prim
+    from the 710e52db revision's E_drawer1_7 scope; canonical_usd_sha256 recomputed
+    over the new file. source_sha256 / properties_sha256 / dependency_closure_sha256
+    still describe the previous USD and must be regenerated by the asset factory before
+    this bundle is pinned.
 source:
   type: articulated_usd
   filename: model_cabinet_12.usda
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/cavity_repair.json b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/cavity_repair.json
index 6bee6134aab34b424dfed91d6b0895c2e3ee5ce1..eedec5b4048b845a188ee83845d0ce86565ba8f3 100644
--- a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/cavity_repair.json
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/cavity_repair.json
@@ -1,20 +1,19 @@
 {
-  "link": "E_drawer1_1",
+  "link": "E_drawer1_7",
   "diag_m": 0.539,
-  "verdict": "accepted",
+  "verdict": "rejected: gate not met (ext/cov caps or insufficient free-space gain)",
   "pitch_m": 0.008,
   "n_boxes": 50,
   "caps_added": 0,
   "kept_void_cells": 3036,
   "coacd": {
-    "free_pct": 59.8,
-    "ext_pct": 3.13,
-    "cov_pct": 2.02
+    "free_pct": 76.7,
+    "ext_pct": 3.55,
+    "cov_pct": 1.77
   },
   "voxbox": {
-    "free_pct": 68.2,
+    "free_pct": 71.0,
     "ext_pct": 2.17,
     "cov_pct": 2.14
-  },
-  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+  }
 }
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c2a71094f6d82c72385fc22cf93eda55f87c35
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.38379956 -0.03633075 0.10500001
+v 0.38429976 0.14148330 0.10488697
+v 0.38379906 0.14148330 0.10498974
+v 0.38369972 0.14317732 0.10498974
+v 0.38349905 0.14478520 0.10498974
+v 0.38309968 0.14636437 0.10498974
+v 0.38259949 0.14797222 0.10498974
+v 0.38200044 0.14958011 0.10498974
+v 0.38120023 0.15098701 0.10498974
+v 0.38030067 0.15236518 0.10498974
+v 0.37972547 0.15314041 0.10498974
+v 0.38080036 -0.03633075 0.10500001
+v 0.38379956 -0.13848842 0.10500001
+v 0.38459977 0.14329215 0.10448616
+v 0.38419991 0.14317732 0.10488697
+v 0.38429976 -0.03633075 0.10488697
+v 0.38448999 -0.03633075 0.10464032
+v 0.38399974 0.14487132 0.10488697
+v 0.38359987 0.14656534 0.10488697
+v 0.38309968 0.14817322 0.10488697
+v 0.38239981 0.14978110 0.10488697
+v 0.38170042 0.15127413 0.10488697
+v 0.38070003 0.15268101 0.10488697
+v 0.37972547 0.15403049 0.10488697
+v 0.37972547 0.14716831 0.10498974
+v 0.38080036 -0.13848842 0.10500001
+v 0.38379857 -0.13851713 0.10500001
+v 0.38429926 -0.13848842 0.10488697
+v 0.38459977 -0.13851713 0.10448616
+v 0.38479995 -0.03633075 0.10398259
+v 0.38479945 0.14148330 0.10398259
+v 0.38469961 0.14329215 0.10398259
+v 0.38449993 0.14495746 0.10398259
+v 0.38399974 0.14668020 0.10448616
+v 0.38339970 0.14828808 0.10448616
+v 0.38279916 0.14986724 0.10448616
+v 0.38200044 0.15147513 0.10448616
+v 0.38100005 0.15288201 0.10448616
+v 0.38000015 0.15426018 0.10448616
+v 0.37972547 0.15408792 0.10484586
+v 0.37972547 0.14693860 0.10497946
+v 0.37979898 -0.13851713 0.10398259
+v 0.37990032 -0.13848842 0.10448616
+v 0.38029918 -0.13851713 0.10488697
+v 0.38080137 -0.13851713 0.10500001
+v 0.38429827 -0.13851713 0.10488697
+v 0.38479846 -0.13851713 0.10398259
+v 0.38479995 -0.13848842 0.10398259
+v 0.38479995 -0.03633075 0.00595039
+v 0.38479945 0.14148330 0.00101743
+v 0.38469961 0.14329215 0.00101743
+v 0.38449993 0.14495746 0.00101743
+v 0.38409907 0.14668020 0.10398259
+v 0.38359987 0.14837419 0.10398259
+v 0.38289950 0.14998208 0.10398259
+v 0.38210028 0.15147513 0.10398259
+v 0.38120023 0.15296815 0.10398259
+v 0.38009999 0.15437503 0.10398259
+v 0.37972547 0.15480572 0.10398259
+v 0.37972547 0.15457603 0.10448616
+v 0.37972547 0.14535943 0.10488697
+v 0.37972547 -0.03633075 0.00582706
+v 0.37978011 -0.13851713 0.00595039
+v 0.37990429 -0.13851713 0.10448616
+v 0.37972547 0.14309118 0.10436284
+v 0.38479846 -0.13851713 0.00595039
+v 0.38479995 -0.13848842 0.00595039
+v 0.38459977 0.14329215 0.00051386
+v 0.38479945 -0.03633075 0.00101743
+v 0.38399974 0.14668020 0.00051386
+v 0.38409907 0.14668020 0.00101743
+v 0.38359987 0.14837419 0.00101743
+v 0.38289950 0.14998208 0.00101743
+v 0.38210028 0.15147513 0.00101743
+v 0.38120023 0.15296815 0.00101743
+v 0.38009999 0.15437503 0.00101743
+v 0.37972547 0.15480572 0.00101743
+v 0.37972547 -0.03633075 0.00001029
+v 0.38379906 -0.03633075 0.00001029
+v 0.38429976 -0.03633075 0.00011306
+v 0.38459977 -0.03633075 0.00051386
+v 0.38429976 0.14148330 0.00011306
+v 0.38419991 0.14317732 0.00011306
+v 0.38399974 0.14487132 0.00011306
+v 0.38359987 0.14656534 0.00011306
+v 0.38309968 0.14817322 0.00011306
+v 0.38339970 0.14828808 0.00051386
+v 0.38279916 0.14986724 0.00051386
+v 0.38200044 0.15147513 0.00051386
+v 0.38100005 0.15288201 0.00051386
+v 0.38000015 0.15426018 0.00051386
+v 0.37972547 0.15457603 0.00051386
+v 0.37972547 0.15314041 0.00001029
+v 0.38379906 0.14148330 0.00001029
+v 0.38369972 0.14317732 0.00001029
+v 0.38349905 0.14478520 0.00001029
+v 0.38309968 0.14636437 0.00001029
+v 0.38259949 0.14797222 0.00001029
+v 0.38200044 0.14958011 0.00001029
+v 0.38239981 0.14978110 0.00011306
+v 0.38170042 0.15127413 0.00011306
+v 0.38070003 0.15268101 0.00011306
+v 0.37972547 0.15403049 0.00011306
+v 0.37972547 0.15408792 0.00015416
+v 0.38030067 0.15236518 0.00001029
+v 0.38120023 0.15098701 0.00001029
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 26
+f 1 26 45
+f 1 45 27
+f 1 27 13
+f 1 13 16
+f 1 16 2
+f 2 14 15
+f 2 15 4
+f 2 4 3
+f 2 16 17
+f 2 17 14
+f 4 15 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 40
+f 11 40 60
+f 11 60 59
+f 11 59 77
+f 11 77 92
+f 11 92 104
+f 11 104 103
+f 11 103 93
+f 11 93 78
+f 11 78 62
+f 11 62 65
+f 11 65 61
+f 11 61 41
+f 11 41 25
+f 11 25 26
+f 11 26 12
+f 13 27 46
+f 13 46 28
+f 13 28 16
+f 14 17 29
+f 14 29 48
+f 14 48 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 18
+f 14 18 15
+f 16 28 17
+f 17 28 29
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 37 38
+f 22 38 23
+f 22 36 37
+f 23 38 24
+f 24 39 40
+f 24 38 39
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 27 45 44
+f 27 44 64
+f 27 64 42
+f 27 42 63
+f 27 63 66
+f 27 66 47
+f 27 47 29
+f 27 29 46
+f 28 46 29
+f 29 47 48
+f 30 48 67
+f 30 67 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 71
+f 33 71 53
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 39 57 58
+f 41 61 42
+f 42 62 63
+f 42 64 43
+f 42 61 65
+f 42 65 62
+f 43 64 44
+f 47 66 67
+f 47 67 48
+f 49 67 69
+f 49 69 50
+f 50 68 51
+f 50 69 81
+f 50 81 68
+f 51 68 52
+f 52 70 71
+f 52 68 70
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 55 74 56
+f 56 74 75
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 59
+f 62 78 63
+f 63 78 79
+f 63 79 66
+f 66 79 80
+f 66 80 67
+f 67 80 81
+f 67 81 69
+f 68 81 80
+f 68 80 82
+f 68 82 83
+f 68 83 84
+f 68 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 72
+f 70 72 71
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+f 72 88 73
+f 73 88 89
+f 73 89 74
+f 74 89 75
+f 75 89 90
+f 75 90 91
+f 75 91 76
+f 76 91 77
+f 77 91 92
+f 78 93 105
+f 78 105 106
+f 78 106 99
+f 78 99 98
+f 78 98 97
+f 78 97 96
+f 78 96 95
+f 78 95 94
+f 78 94 79
+f 79 94 82
+f 79 82 80
+f 82 94 95
+f 82 95 83
+f 83 95 84
+f 84 95 96
+f 84 96 85
+f 85 96 97
+f 85 97 98
+f 85 98 86
+f 86 98 99
+f 86 99 100
+f 86 100 88
+f 86 88 87
+f 88 100 101
+f 88 101 89
+f 89 101 102
+f 89 102 90
+f 90 102 103
+f 90 103 91
+f 91 103 104
+f 91 104 92
+f 93 103 105
+f 99 106 101
+f 99 101 100
+f 101 106 105
+f 101 105 102
+f 102 105 103
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fac437954fc3c57a1dd952af323e4fc14d0c42b
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.29410183 0.16049958 0.10499766
+v 0.29410183 0.15750022 0.10499766
+v 0.29410183 0.16077255 0.10494480
+v 0.20913704 0.16002295 0.10800001
+v 0.20967769 0.15992262 0.10800001
+v 0.21127468 0.15942240 0.10800001
+v 0.21427735 0.15802307 0.10800001
+v 0.21567472 0.15712297 0.10800001
+v 0.21651480 0.15647519 0.10800001
+v 0.29410183 0.15738808 0.10497652
+v 0.29410183 0.16099979 0.10489194
+v 0.20913704 0.16048138 0.10789429
+v 0.20913704 0.16020789 0.10795772
+v 0.20913704 0.15647519 0.10800001
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+v 0.20913704 0.16089551 0.10749257
+v 0.20913704 0.15647519 0.00000001
+v 0.21775413 0.15647519 0.10756657
+v 0.29410183 0.15647519 0.00587785
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+v 0.29410183 0.16139967 0.10449022
+v 0.20913704 0.16096192 0.10722828
+v 0.20913704 0.16049958 0.00000001
+v 0.29410183 0.15647519 0.00000001
+v 0.29410183 0.16145427 0.10422593
+v 0.20913704 0.16101897 0.10699570
+v 0.20913704 0.16099979 0.00010573
+v 0.29410183 0.16090683 0.00008458
+v 0.29410183 0.16049958 0.00000001
+v 0.29410183 0.16148132 0.10408850
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+v 0.20913704 0.16150001 0.00100432
+v 0.20913704 0.16139967 0.00050745
+v 0.29410183 0.16139967 0.00050745
+v 0.29410183 0.16144541 0.00072946
+v 0.20913704 0.16144049 0.00070831
+f 1 2 10
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+f 1 20 19
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea8f12587b08c703919e0adfc339367ca4b68f5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.20913705 -0.15749927 0.00000001
+v 0.20913705 -0.15347427 0.00000001
+v 0.29408864 -0.15749927 0.00000001
+v 0.29408864 -0.15790646 0.00008458
+v 0.20913705 -0.15799961 0.00010573
+v 0.20913705 -0.15347427 0.10800001
+v 0.29410415 -0.15219717 0.00001058
+v 0.29408864 -0.15347427 0.00000001
+v 0.29410415 -0.15790646 0.00008458
+v 0.36759340 -0.15725866 0.00001058
+v 0.36639908 -0.15739933 0.00001058
+v 0.36469292 -0.15749989 0.00001058
+v 0.36478598 -0.15799900 0.00010573
+v 0.29408864 -0.15799961 0.00010573
+v 0.20913705 -0.15817668 0.00033830
+v 0.20913705 -0.15697672 0.10800001
+v 0.21645806 -0.15347427 0.10800001
+v 0.36759340 -0.15316949 0.10398278
+v 0.29410415 -0.15219717 0.00501098
+v 0.36759340 -0.15219717 0.00001058
+v 0.36759340 -0.15777012 0.00010573
+v 0.36649215 -0.15789905 0.00010573
+v 0.36649215 -0.15829946 0.00050745
+v 0.20913705 -0.15829946 0.00050745
+v 0.20967992 -0.15687677 0.10800001
+v 0.20913705 -0.15716179 0.10795772
+v 0.36649215 -0.15789905 0.10489194
+v 0.36639908 -0.15739933 0.10498709
+v 0.36759340 -0.15725866 0.10498709
+v 0.21568252 -0.15407765 0.10800001
+v 0.36759340 -0.15420104 0.10498709
+v 0.36759340 -0.15367724 0.10489194
+v 0.36759340 -0.15365009 0.10486023
+v 0.36759340 -0.15335458 0.10449022
+v 0.36759340 -0.15219717 0.00501098
+v 0.36759340 -0.15791140 0.00025373
+v 0.36759340 -0.15810512 0.00050745
+v 0.36759340 -0.15823468 0.00083517
+v 0.36649215 -0.15839941 0.00101489
+v 0.36478598 -0.15849935 0.00101489
+v 0.29408864 -0.15846233 0.00090918
+v 0.20913705 -0.15849935 0.00100432
+v 0.21127751 -0.15637641 0.10800001
+v 0.20913705 -0.15743511 0.10789429
+v 0.36478598 -0.15799900 0.10489194
+v 0.36649215 -0.15829946 0.10449022
+v 0.36759340 -0.15777012 0.10489194
+v 0.21428657 -0.15497778 0.10800001
+v 0.36759340 -0.15826984 0.00101489
+v 0.36649215 -0.15839941 0.10398278
+v 0.36478598 -0.15849935 0.10398278
+v 0.29410415 -0.15849997 0.00101489
+v 0.29408864 -0.15849935 0.00100432
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+v 0.20913705 -0.15784909 0.10749257
+v 0.36759340 -0.15826984 0.10398278
+v 0.36759340 -0.15810512 0.10449022
+v 0.36759340 -0.15791140 0.10474394
+v 0.29410415 -0.15849997 0.10398278
+v 0.20913705 -0.15797248 0.10699570
+v 0.29408864 -0.15849935 0.10399335
+f 1 2 8
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959814e726f8b4d38323a6822121827ce1a06b67
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02973405 -0.15074951 0.00000001
+v -0.02867658 -0.15190039 0.00000001
+v -0.03018053 -0.15100062 0.00010015
+v -0.03039203 -0.15074951 0.00010015
+v 0.20913705 -0.15074951 0.00000001
+v -0.02898207 -0.15230021 0.00010015
+v -0.02738411 -0.15300046 0.00000001
+v -0.02778359 -0.15340027 0.00010015
+v -0.03039203 -0.15120016 0.00050073
+v -0.02928755 -0.15250049 0.00050073
+v -0.03076801 -0.15074951 0.00050073
+v 0.20913705 -0.15074951 0.00500200
+v 0.20913705 -0.15749932 0.00000001
+v -0.02799509 -0.15370070 0.00050073
+v -0.02609165 -0.15400037 0.00000001
+v -0.02639713 -0.15450033 0.00010015
+v -0.03048602 -0.15130029 0.00100146
+v -0.02938156 -0.15260064 0.00100146
+v -0.03093251 -0.15074951 0.00100146
+v 0.20913705 -0.15350041 0.05384115
+v 0.04114005 -0.15074951 0.05384115
+v 0.20913705 -0.15799928 0.00010015
+v -0.01518793 -0.15749932 0.00000001
+v -0.02808909 -0.15380008 0.00100146
+v -0.02658513 -0.15479924 0.00050073
+v -0.02667913 -0.15489939 0.00100146
+v -0.02468168 -0.15489939 0.00000001
+v -0.02498717 -0.15539934 0.00010015
+v -0.02519866 -0.15569977 0.00050073
+v -0.03048602 -0.15130029 0.05384115
+v -0.02872356 -0.15321592 0.05384115
+v -0.02938156 -0.15260064 0.05384115
+v -0.03093251 -0.15074951 0.05384115
+v 0.20913705 -0.15849923 0.05384115
+v 0.20913705 -0.15829971 0.00050073
+v -0.01518793 -0.15799928 0.00010015
+v -0.01687989 -0.15739994 0.00000001
+v -0.02808909 -0.15380008 0.05384115
+v -0.02519866 -0.15579992 0.00100146
+v -0.02592715 -0.15536141 0.05384115
+v -0.02667913 -0.15489939 0.05384115
+v -0.02329522 -0.15569977 0.00000001
+v -0.02348321 -0.15609959 0.00010015
+v -0.02357721 -0.15649941 0.00050073
+v -0.02369471 -0.15659954 0.00100146
+v -0.01518793 -0.15849999 0.05384115
+v 0.20913705 -0.15849923 0.00100146
+v -0.01518793 -0.15849999 0.00100146
+v -0.01699739 -0.15829971 0.00050073
+v -0.01687989 -0.15789989 0.00010015
+v -0.01859534 -0.15769961 0.00010015
+v -0.01847785 -0.15719964 0.00000001
+v -0.02519866 -0.15579992 0.05384115
+v -0.02169726 -0.15629987 0.00000001
+v -0.02188525 -0.15679984 0.00010015
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+v -0.02369471 -0.15659954 0.05384115
+v -0.01699739 -0.15839984 0.05384115
+v -0.01699739 -0.15839984 0.00100146
+v -0.01868933 -0.15819956 0.00100146
+v -0.02028730 -0.15729979 0.00010015
+v -0.02009929 -0.15679984 0.00000001
+v -0.02038129 -0.15779974 0.00100146
+v -0.02122727 -0.15755621 0.05384115
+v -0.02209674 -0.15729979 0.05384115
+v -0.01868933 -0.15819956 0.05384115
+v -0.02038129 -0.15779974 0.05384115
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218dac77b4125fc5245be6cef223d2273274bdb5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.29411851 -0.03633096 0.00000106
+v 0.37972544 -0.03633096 0.00000106
+v 0.29411851 -0.03633096 0.00500024
+v 0.29411851 0.16049303 0.00000106
+v 0.37972544 -0.03633096 0.00581323
+v 0.37972544 0.15313440 0.00000106
+v 0.29411851 0.15648452 0.01077233
+v 0.29411851 0.16099652 0.00010019
+v 0.36469919 0.16049303 0.00000106
+v 0.37972544 0.14335518 0.01077233
+v 0.37971707 0.14248376 0.01077233
+v 0.37929804 0.15369599 0.00000106
+v 0.37972544 0.15402518 0.00009597
+v 0.29411851 0.16150001 0.01077233
+v 0.36479975 0.16099652 0.00010019
+v 0.29411851 0.16120953 0.00031846
+v 0.36639205 0.16039621 0.00000106
+v 0.37972544 0.15479978 0.01077233
+v 0.37972544 0.15406391 0.00010019
+v 0.37819181 0.15499342 0.00000106
+v 0.36479975 0.16150001 0.01077233
+v 0.29411851 0.16150001 0.00100069
+v 0.36649262 0.16089971 0.00010019
+v 0.36479975 0.16138381 0.00050088
+v 0.29411851 0.16138381 0.00050088
+v 0.36809329 0.16018320 0.00000106
+v 0.37972544 0.15479978 0.00100069
+v 0.37901310 0.15557437 0.01077233
+v 0.37859408 0.15528390 0.00010019
+v 0.37879521 0.15559374 0.00050088
+v 0.37972544 0.15458677 0.00050088
+v 0.37699340 0.15609722 0.00000106
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+v 0.36479975 0.16150001 0.00100069
+v 0.36633338 0.16140319 0.01077233
+v 0.29411851 0.16144192 0.00072759
+v 0.36819387 0.16068669 0.00010019
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+v 0.36989511 0.16078351 0.01077233
+v 0.37304619 0.15966035 0.01077233
+v 0.37159634 0.16029939 0.01077233
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+f 7 61 49
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+f 7 21 14
+f 8 16 15
+f 9 15 23
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+f 12 19 13
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+f 14 21 34
+f 14 34 22
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+f 42 55 43
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+f 51 64 65
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+f 52 66 62
+f 53 63 56
+f 54 60 67
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+f 58 63 68
+f 58 68 59
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+f 59 69 73
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b0e902940e19fb0a5b9e08ea7c39123d45e56cd
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.29411014 -0.15219498 0.00000059
+v 0.36759587 -0.15725589 0.00000059
+v 0.36759587 -0.15776915 0.00010073
+v 0.36759587 -0.15790044 0.00024163
+v 0.36759587 -0.15810337 0.00050070
+v 0.36759587 -0.15823466 0.00082441
+v 0.36759587 -0.15827047 0.00100082
+v 0.29411014 -0.15219498 0.00499939
+v 0.29411014 -0.03634289 0.00000059
+v 0.36809299 -0.15719621 0.00000059
+v 0.36819953 -0.15769754 0.00010073
+v 0.36989508 -0.15769754 0.00050070
+v 0.36819953 -0.15819885 0.00100082
+v 0.36759587 -0.15827047 0.00594779
+v 0.29411014 -0.03634289 0.00499939
+v 0.36759587 -0.03633096 0.00000059
+v 0.36969977 -0.15679039 0.00000059
+v 0.36979743 -0.15729170 0.00010073
+v 0.36989508 -0.15779302 0.00100082
+v 0.37139532 -0.15679039 0.00010073
+v 0.37159950 -0.15708879 0.00050070
+v 0.37159950 -0.15729170 0.00100082
+v 0.36819953 -0.15819885 0.00594779
+v 0.36759587 -0.15313793 0.00594779
+v 0.37977544 -0.03633096 0.00594779
+v 0.36759587 -0.03633096 0.00499939
+v 0.38379681 -0.03633096 0.00000059
+v 0.37129768 -0.15628907 0.00000059
+v 0.36989508 -0.15779302 0.00594779
+v 0.37279792 -0.15569227 0.00000059
+v 0.37299323 -0.15609810 0.00010073
+v 0.37319740 -0.15649198 0.00050070
+v 0.37319740 -0.15658747 0.00100082
+v 0.37159950 -0.15729170 0.00594779
+v 0.38479995 -0.03633096 0.00594779
+v 0.38429394 -0.03633096 0.00010073
+v 0.38379681 -0.13849230 0.00000059
+v 0.37429818 -0.15489254 0.00000059
+v 0.37449349 -0.15539387 0.00010073
+v 0.37469765 -0.15569227 0.00050070
+v 0.37479531 -0.15579969 0.00100082
+v 0.37319740 -0.15658747 0.00594779
+v 0.38479995 -0.03633096 0.00100082
+v 0.38479995 -0.13849230 0.00594779
+v 0.38459577 -0.03633096 0.00050070
+v 0.38429394 -0.13849230 0.00010073
+v 0.38419629 -0.14018723 0.00010073
+v 0.38369030 -0.14009174 0.00000059
+v 0.37569191 -0.15398540 0.00000059
+v 0.37599373 -0.15449865 0.00010073
+v 0.37619791 -0.15479706 0.00050070
+v 0.37619791 -0.15489254 0.00100082
+v 0.37479531 -0.15579969 0.00594779
+v 0.38479995 -0.13849230 0.00100082
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+v 0.38459577 -0.14018723 0.00050070
+v 0.38399212 -0.14189410 0.00010073
+v 0.38349499 -0.14179861 0.00000059
+v 0.37699687 -0.15298276 0.00000059
+v 0.37859476 -0.15227853 0.00010073
+v 0.37749399 -0.15369893 0.00050070
+v 0.37759164 -0.15379442 0.00100082
+v 0.37626004 -0.15484480 0.00594779
+v 0.37619791 -0.15489254 0.00594779
+v 0.38469342 -0.14018723 0.00100082
+v 0.38449812 -0.14198959 0.00594779
+v 0.38449812 -0.14198959 0.00100082
+v 0.38429394 -0.14189410 0.00050070
+v 0.38399212 -0.14358904 0.00050070
+v 0.38359264 -0.14349354 0.00010073
+v 0.38309551 -0.14339805 0.00000059
+v 0.37819529 -0.15189658 0.00000059
+v 0.37879894 -0.15249339 0.00050070
+v 0.37929606 -0.15069103 0.00000059
+v 0.37969554 -0.15097749 0.00010073
+v 0.37999736 -0.15119235 0.00050070
+v 0.37889659 -0.15258886 0.00100082
+v 0.37759164 -0.15379442 0.00594779
+v 0.38409865 -0.14369646 0.00594779
+v 0.38409865 -0.14369646 0.00100082
+v 0.38359264 -0.14529590 0.00100082
+v 0.38339735 -0.14529590 0.00050070
+v 0.38309551 -0.14508105 0.00010073
+v 0.38259839 -0.14499750 0.00000059
+v 0.38009502 -0.15129977 0.00100082
+v 0.38029920 -0.14938999 0.00000059
+v 0.38069866 -0.14968839 0.00010073
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+v 0.38119579 -0.14989131 0.00100082
+v 0.37889659 -0.15258886 0.00594779
+v 0.38359264 -0.14529590 0.00594779
+v 0.38289134 -0.14689534 0.00100082
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+v 0.38009502 -0.15129977 0.00594779
+v 0.38119579 -0.14799346 0.00000059
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+v 0.38119579 -0.14989131 0.00594779
+v 0.38289134 -0.14689534 0.00594779
+v 0.38209239 -0.14849478 0.00594779
+f 1 2 3
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3bc0fe6b60d5185210bf859b49e6ca2f68bfa1
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00513909 0.00148575 0.08898622
+v -0.01519961 0.00148575 0.05384986
+v -0.03519706 0.00148575 0.08898622
+v -0.00513909 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.05384986
+v -0.03519706 0.00148575 0.05384986
+v -0.03519706 -0.13984686 0.08898622
+v -0.00513909 -0.13984686 0.05384986
+v -0.03519706 -0.13984686 0.05384986
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 6 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1489afb380ae86f74d49eb3557b8ac61a18649
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00513909 -0.13984686 0.05384986
+v -0.00513909 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.05384986
+v 0.03480522 -0.13984686 0.05384986
+v 0.03480522 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.08898622
+v 0.01429348 0.00148575 0.08898622
+v 0.01480178 0.00148575 0.05384986
+v 0.03479740 0.00148575 0.05384986
+v 0.03479740 0.00148575 0.08898622
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 10 9
+f 7 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da6413eb92ed7eb4ab94643159b4724c1ccb3dc
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.21651511 0.15647518 0.10800001
+v 0.20913705 0.15647518 0.10800001
+v 0.21697117 0.15611117 0.10800001
+v 0.21672018 0.15647518 0.10797397
+v 0.20913705 0.15647518 0.10491083
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ebc9524b57d452e89259816e6cd795e6f40c9d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.20913705 -0.15347407 0.00000117
+v 0.20913705 -0.15347407 0.00593468
+v 0.20913705 0.00150056 0.00000059
+v 0.29410183 -0.15347407 0.00000117
+v 0.29410183 -0.15347407 0.00593526
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+v 0.20913705 0.15647518 0.00000059
+v 0.29410183 0.00150056 0.00000059
+v 0.29410183 0.15647518 0.00587543
+v 0.29410183 0.15647518 0.00000059
+f 1 2 6
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433133882effd5a6f1a82c8196a81d2eb33de9a0
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.22377074 0.00152569 0.10800001
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e6cb2aa61692de8a287af996530d316e8d55ab
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01519989 0.00148575 0.05384642
+v -0.01519989 0.00148575 0.00500393
+v -0.03520000 0.00148575 0.05384642
+v 0.00416824 -0.01281954 0.05384642
+v -0.03520000 0.00148575 0.00500393
+v 0.00416824 -0.01281954 0.00500393
+v -0.03520000 -0.06668663 0.05384642
+v 0.00416824 -0.13612520 0.05384642
+v -0.03519614 -0.13612520 0.00500393
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+f 8 11 9
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d859c3f5a234c5ea1579376f1c22d0c07600ece
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.03620467 0.14786836 0.04638094
+v 0.05809233 0.14502051 0.08899622
+v 0.03625545 0.14502051 0.08899622
+v 0.03618774 0.14502051 0.08900225
+v 0.03618774 0.14786674 0.05551796
+v 0.03620467 0.16149702 0.04638094
+v 0.20912225 0.15649914 0.04638094
+v 0.20912225 0.14938032 0.08899622
+v 0.05809233 0.14502051 0.09398992
+v 0.03618774 0.14502051 0.10457438
+v 0.03618774 0.16149540 0.05551796
+v 0.03620467 0.16149702 0.05551796
+v 0.04978077 0.16151963 0.10598564
+v 0.05809233 0.16152125 0.10599168
+v 0.05809233 0.16149863 0.04638094
+v 0.20912225 0.16149863 0.04638094
+v 0.20912225 0.14938032 0.09399595
+v 0.03986107 0.14502051 0.10788542
+v 0.03618774 0.15473518 0.10799398
+v 0.03620467 0.14502051 0.10799398
+v 0.03618774 0.16149540 0.10398938
+v 0.04978077 0.16151963 0.10698680
+v 0.05809233 0.16152125 0.10699283
+v 0.20475488 0.16152286 0.10599168
+v 0.20912225 0.16149863 0.10398938
+v 0.20912225 0.15054176 0.10699283
+v 0.03938710 0.14502051 0.10799398
+v 0.03618774 0.15550247 0.10788542
+v 0.03757582 0.15612115 0.10799398
+v 0.03618774 0.16142110 0.10437536
+v 0.04978077 0.16142110 0.10748738
+v 0.05809233 0.16142110 0.10749340
+v 0.20475488 0.16152286 0.10699283
+v 0.20644766 0.16142110 0.10699283
+v 0.20825894 0.16122079 0.10699283
+v 0.20912225 0.16101727 0.10699283
+v 0.20912225 0.15069199 0.10749340
+v 0.20912225 0.15104251 0.10789145
+v 0.20912225 0.15106998 0.10789749
+v 0.20912225 0.15161272 0.10799398
+v 0.03618774 0.16099788 0.10488800
+v 0.03859148 0.15752005 0.10788542
+v 0.03887926 0.15712106 0.10799398
+v 0.03618774 0.16139687 0.10448995
+v 0.04807106 0.16132095 0.10748738
+v 0.04978077 0.16102049 0.10788542
+v 0.05809233 0.16102211 0.10789145
+v 0.20475488 0.16142110 0.10749340
+v 0.20644766 0.16132095 0.10749340
+v 0.20815737 0.16112226 0.10749340
+v 0.20912225 0.16089450 0.10749340
+v 0.20912225 0.16002220 0.10799398
+v 0.03618774 0.16120949 0.10467691
+v 0.04008113 0.15842141 0.10788542
+v 0.04158771 0.15922100 0.10788542
+v 0.04307735 0.15982029 0.10788542
+v 0.04297579 0.16022090 0.10748738
+v 0.04468550 0.16072004 0.10748738
+v 0.04028427 0.15802080 0.10799398
+v 0.04637828 0.16112064 0.10748738
+v 0.04807106 0.16092033 0.10788542
+v 0.04978077 0.16052136 0.10799398
+v 0.05809233 0.16054880 0.10799398
+v 0.20475488 0.16102211 0.10789145
+v 0.20644766 0.16092196 0.10789145
+v 0.20815737 0.16072165 0.10789145
+v 0.20912225 0.16047935 0.10789145
+v 0.20912225 0.16020635 0.10795779
+v 0.20805580 0.16022090 0.10799398
+v 0.04328049 0.15942130 0.10799398
+v 0.04488864 0.15992044 0.10799398
+v 0.04478706 0.16032105 0.10788542
+v 0.04637828 0.16072004 0.10788542
+v 0.04807106 0.16042119 0.10799398
+v 0.20475488 0.16052136 0.10799398
+v 0.20644766 0.16042119 0.10799398
+v 0.04647984 0.16022090 0.10799398
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 8
+f 1 8 2
+f 2 8 17
+f 2 17 9
+f 2 9 18
+f 2 18 27
+f 2 27 20
+f 2 20 10
+f 2 10 4
+f 2 4 3
+f 4 10 19
+f 4 19 28
+f 4 28 41
+f 4 41 53
+f 4 53 44
+f 4 44 30
+f 4 30 21
+f 4 21 11
+f 4 11 5
+f 6 11 21
+f 6 21 12
+f 6 12 22
+f 6 22 13
+f 6 13 14
+f 6 14 15
+f 7 16 25
+f 7 25 36
+f 7 36 51
+f 7 51 67
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+f 7 52 40
+f 7 40 39
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+f 7 26 17
+f 7 17 8
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+f 10 20 19
+f 12 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 33
+f 14 33 24
+f 14 24 15
+f 15 24 16
+f 16 24 33
+f 16 33 25
+f 17 26 18
+f 18 26 27
+f 19 20 27
+f 19 27 40
+f 19 40 52
+f 19 52 69
+f 19 69 76
+f 19 76 75
+f 19 75 63
+f 19 63 62
+f 19 62 74
+f 19 74 77
+f 19 77 71
+f 19 71 70
+f 19 70 59
+f 19 59 43
+f 19 43 29
+f 19 29 28
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 25 34 35
+f 25 35 36
+f 25 33 34
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 28 29 42
+f 28 42 41
+f 29 43 42
+f 30 44 31
+f 31 44 45
+f 31 45 61
+f 31 61 46
+f 31 46 47
+f 31 47 32
+f 32 47 64
+f 32 64 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 41 42 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 53
+f 42 43 59
+f 42 59 54
+f 44 53 58
+f 44 58 60
+f 44 60 45
+f 45 60 73
+f 45 73 61
+f 46 61 74
+f 46 74 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 66 51
+f 50 65 66
+f 51 66 67
+f 52 68 69
+f 54 59 55
+f 55 70 56
+f 55 59 70
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 58 72 73
+f 58 73 60
+f 61 73 74
+f 63 75 64
+f 64 75 76
+f 64 76 65
+f 65 76 66
+f 66 76 69
+f 66 69 68
+f 66 68 67
+f 71 77 73
+f 71 73 72
+f 73 77 74
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b63adb41fc5737f4361857a2b59199ad2af925
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.05808254 0.00151768 0.08900050
+v 0.05808254 0.00151768 0.09399952
+v 0.05808254 0.14937931 0.08900050
+v 0.05809734 -0.14622821 0.08900050
+v 0.05808254 0.14937931 0.09399952
+v 0.05809734 -0.14622821 0.09399952
+v 0.20910748 0.14937931 0.08900050
+v 0.20913705 -0.14622821 0.08900050
+v 0.20910748 0.14937931 0.09399952
+v 0.20913705 -0.14622821 0.09399952
+v 0.20913705 0.00148874 0.08900050
+v 0.20913705 0.00148874 0.09399952
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 10
+f 4 10 6
+f 7 9 12
+f 7 12 11
+f 8 11 12
+f 8 12 10
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569560f69467e2a6b3d9a8ceca2635f21013e878
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03101217 0.15374888 0.00503750
+v -0.03101217 0.15374888 0.04637491
+v -0.03049500 0.15440069 0.00503750
+v 0.04263579 0.15374888 0.00503750
+v -0.03049500 0.15440069 0.04637491
+v 0.04113133 0.15374888 0.04637491
+v -0.03040098 0.15451602 0.00503750
+v 0.20913705 0.15568761 0.00503750
+v -0.02939017 0.15570052 0.04637491
+v 0.20913705 0.15650029 0.04637491
+v -0.02939017 0.15570052 0.00503750
+v 0.20913705 0.16149999 0.00503750
+v -0.02809728 0.15680001 0.04637491
+v -0.02821481 0.15670213 0.00503750
+v 0.20913705 0.16149999 0.04637491
+v 0.20032186 0.16149999 0.00503750
+v -0.02668685 0.15789951 0.04637491
+v -0.02809728 0.15680001 0.00503750
+v 0.19738346 0.16149999 0.04637491
+v -0.01519185 0.16149924 0.00503750
+v -0.02668685 0.15789951 0.00503750
+v -0.02518239 0.15879945 0.04637491
+v -0.02525291 0.15876454 0.00503750
+v -0.01519185 0.16149924 0.04637491
+v -0.01535640 0.16149089 0.00503750
+v -0.02435963 0.15924713 0.04637491
+v -0.02374846 0.15956810 0.00503750
+v -0.01599109 0.16145523 0.04637491
+v -0.01697839 0.16139983 0.04637491
+v -0.01697839 0.16139983 0.00503750
+v -0.02367793 0.15959997 0.04637491
+v -0.02367793 0.15959997 0.00503750
+v -0.01714294 0.16138163 0.00503750
+v -0.01869441 0.16119951 0.04637491
+v -0.02278466 0.15999151 0.04637491
+v -0.02214996 0.16027227 0.00503750
+v -0.01869441 0.16119951 0.00503750
+v -0.01876493 0.16118358 0.00503750
+v -0.01944663 0.16102347 0.04637491
+v -0.02207944 0.16029958 0.04637491
+v -0.02207944 0.16029958 0.00503750
+v -0.02038692 0.16079963 0.00503750
+v -0.02038692 0.16079963 0.04637491
+v -0.02113915 0.16057958 0.04637491
+v -0.02045744 0.16077991 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 18
+f 1 18 21
+f 1 21 23
+f 1 23 27
+f 1 27 32
+f 1 32 36
+f 1 36 41
+f 1 41 45
+f 1 45 42
+f 1 42 38
+f 1 38 37
+f 1 37 33
+f 1 33 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 24
+f 2 24 28
+f 2 28 29
+f 2 29 34
+f 2 34 39
+f 2 39 43
+f 2 43 44
+f 2 44 40
+f 2 40 35
+f 2 35 31
+f 2 31 26
+f 2 26 22
+f 2 22 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 12 15
+f 8 15 10
+f 9 13 14
+f 9 14 11
+f 12 16 19
+f 12 19 15
+f 13 17 21
+f 13 21 18
+f 13 18 14
+f 16 20 19
+f 17 22 23
+f 17 23 21
+f 19 20 24
+f 20 25 24
+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 25 29 28
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 29 30 33
+f 29 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 45
+f 42 45 43
+f 43 45 44
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4100827d73015cf73edc7f0773ccbfe9c50df6
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.20913705 0.16150001 0.00503750
+v 0.20913705 0.16150001 0.00100001
+v 0.20033790 0.16150001 0.00503750
+v 0.20913705 0.15567334 0.00503750
+v 0.20913705 0.16143736 0.00070514
+v -0.01172804 0.16139037 0.00050002
+v -0.01172804 0.16148435 0.00100001
+v -0.01172804 0.16148435 0.00503750
+v 0.20913705 0.00150141 0.00499953
+v 0.03561873 0.00150141 0.00503750
+v 0.20913705 0.16139037 0.00050002
+v -0.01172804 0.16099879 0.00010011
+v 0.20913705 0.16123373 0.00033631
+v -0.01172804 0.01110289 0.00503750
+v 0.20913705 0.00150141 0.00000001
+v 0.01482075 0.00150141 0.00503750
+v -0.01172804 0.16049757 0.00000001
+v 0.20913705 0.16099879 0.00010011
+v 0.20913705 0.16079516 0.00005919
+v 0.01479912 0.00150141 0.00100001
+v -0.01172804 0.01110289 0.00100001
+v 0.20913705 0.16049757 0.00000001
+v 0.01581525 0.00150141 0.00000001
+v -0.01172804 0.01255956 0.00000001
+v 0.01490722 0.00150141 0.00050002
+v -0.01172804 0.01118121 0.00066865
+v 0.01531800 0.00150141 0.00010011
+v -0.01172804 0.01190171 0.00010011
+v -0.01172804 0.01240293 0.00002319
+v -0.01172804 0.01125952 0.00050002
+v -0.01172804 0.01155712 0.00031165
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 19
+f 1 19 18
+f 1 18 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 10 9
+f 5 11 6
+f 6 12 17
+f 6 17 24
+f 6 24 29
+f 6 29 28
+f 6 28 31
+f 6 31 30
+f 6 30 26
+f 6 26 21
+f 6 21 14
+f 6 14 8
+f 6 8 7
+f 6 11 13
+f 6 13 12
+f 9 10 16
+f 9 16 20
+f 9 20 25
+f 9 25 27
+f 9 27 23
+f 9 23 15
+f 12 13 18
+f 12 18 19
+f 12 19 17
+f 14 20 16
+f 14 21 20
+f 15 23 24
+f 15 24 17
+f 15 17 22
+f 17 19 22
+f 20 21 25
+f 21 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 26 27
+f 26 30 27
+f 27 30 31
+f 27 31 28
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8052530a48d64d2742492ae13b7522c1718b40be
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.03520001 0.14148010 0.00100001
+v -0.03520001 0.14148010 0.00503750
+v -0.03520001 0.14328342 0.00100001
+v -0.03509662 -0.13846248 0.00050051
+v -0.03519542 -0.14017410 0.00100051
+v -0.03519542 0.00152408 0.00503750
+v -0.03520001 0.14328342 0.00503750
+v -0.03519542 -0.14017410 0.00500298
+v -0.03499553 0.14328342 0.00050051
+v -0.03509662 0.14148010 0.00050051
+v -0.03489674 0.14496447 0.00100001
+v -0.03479564 0.14496447 0.00050051
+v -0.03469684 0.00152408 0.00010011
+v -0.03469684 -0.14017410 0.00010060
+v -0.03499553 -0.14017410 0.00050051
+v -0.03479564 -0.14188573 0.00050051
+v -0.03489674 -0.14197742 0.00100051
+v -0.03490821 -0.14191629 0.00500298
+v -0.01520426 0.00152408 0.00503750
+v -0.03489674 -0.14197742 0.00500298
+v -0.03451304 -0.14359735 0.00500298
+v -0.03449696 -0.14365848 0.00500298
+v -0.03399838 -0.14527843 0.00500298
+v -0.03339641 -0.14686778 0.00500298
+v -0.03249577 -0.14848773 0.00500298
+v -0.03163188 -0.14983258 0.00500298
+v -0.03092883 -0.15071895 0.00500298
+v -0.03489674 0.14496447 0.00503750
+v -0.03469684 0.14316115 0.00010011
+v -0.03449696 0.14667609 0.00100001
+v -0.03439586 0.14667609 0.00050051
+v -0.03409718 0.14658439 0.00010011
+v -0.03419597 -0.14008240 0.00000001
+v -0.03439586 -0.14188573 0.00010060
+v -0.03409718 -0.14347511 0.00010060
+v -0.03439586 -0.14356680 0.00050051
+v -0.03449696 -0.14365848 0.00100051
+v -0.01173262 0.01109085 0.00503750
+v -0.01172803 -0.15071895 0.00500298
+v -0.03399838 -0.14527843 0.00100051
+v -0.03339641 -0.14686778 0.00100051
+v -0.03249577 -0.14848773 0.00100051
+v -0.03159742 -0.14986314 0.00100051
+v -0.03092883 -0.15071895 0.00100051
+v -0.03449696 0.14667609 0.00503750
+v -0.03419597 0.14316115 0.00000001
+v -0.03399838 0.14838771 0.00100001
+v -0.03389729 0.14826545 0.00050051
+v -0.03359631 0.14637045 0.00000001
+v -0.03389729 0.14478107 0.00000001
+v -0.03359631 0.14817377 0.00010011
+v -0.03309773 0.14799037 0.00000001
+v -0.03389729 -0.14176348 0.00000001
+v -0.03359631 -0.14338341 0.00000001
+v -0.03309773 -0.14497276 0.00000001
+v -0.03359631 -0.14506446 0.00010060
+v -0.03389729 -0.14527843 0.00050051
+v -0.01173262 0.16146943 0.00503750
+v -0.01172803 -0.15071895 0.00000001
+v -0.01172803 -0.00801212 0.00500298
+v -0.03319653 -0.14686778 0.00050051
+v -0.03239697 -0.14836546 0.00050051
+v -0.03149632 -0.14986314 0.00050051
+v -0.03077719 -0.15071895 0.00050051
+v -0.03399838 0.14838771 0.00503750
+v -0.03339641 0.14997709 0.00100001
+v -0.03319653 0.14988539 0.00050051
+v -0.03289555 0.14979369 0.00010011
+v -0.03239697 0.14957975 0.00000001
+v -0.03289555 -0.14668441 0.00010060
+v -0.03169621 -0.14796812 0.00000001
+v -0.01173262 0.16146943 0.00100001
+v -0.01520426 0.16146943 0.00503750
+v -0.02975247 -0.15071895 0.00000001
+v -0.01172803 -0.00954036 0.00000001
+v -0.01172803 -0.00801212 0.00100051
+v -0.03209829 -0.14818206 0.00010060
+v -0.03038890 -0.15071895 0.00010060
+v -0.03119764 -0.14967974 0.00010060
+v -0.03339641 0.14997709 0.00503750
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9716346b4f25f15b64238a8c494275e5da8a257d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467c4b9348190687615f63c7b4a0a9f028d2d68a
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.05808255 -0.15849998 0.05384642
+v 0.05808255 -0.15349925 0.05384642
+v 0.17975712 -0.15849998 0.05384642
+v 0.05808255 -0.15849998 0.10399786
+v 0.05808255 -0.14622939 0.08899642
+v 0.20913705 -0.15349925 0.05384642
+v 0.20913705 -0.15849878 0.05384642
+v 0.20913705 -0.15849878 0.10399786
+v 0.05808255 -0.15847595 0.10699814
+v 0.20476037 -0.15847595 0.10699814
+v 0.05808255 -0.14622939 0.09399513
+v 0.20913705 -0.14622939 0.08899642
+v 0.20913705 -0.15797263 0.10699814
+v 0.20826467 -0.15817684 0.10699814
+v 0.20646077 -0.15837625 0.10699814
+v 0.05808255 -0.15847114 0.10702465
+v 0.20476037 -0.15837625 0.10749643
+v 0.05808255 -0.14847810 0.10699814
+v 0.20913705 -0.14749550 0.10699814
+v 0.20913705 -0.14622939 0.09399513
+v 0.20913705 -0.15790656 0.10726849
+v 0.20816117 -0.15807594 0.10749643
+v 0.20646077 -0.15827654 0.10749643
+v 0.05808255 -0.15837625 0.10749643
+v 0.20476037 -0.15797623 0.10789929
+v 0.05808255 -0.15799786 0.10787809
+v 0.05808255 -0.14857179 0.10746992
+v 0.20913705 -0.14764445 0.10749643
+v 0.05808255 -0.14857780 0.10749643
+v 0.20913705 -0.15784891 0.10749643
+v 0.20816117 -0.15767593 0.10789929
+v 0.20646077 -0.15787654 0.10789929
+v 0.20476037 -0.15747653 0.10800001
+v 0.05808255 -0.15797623 0.10789929
+v 0.20913705 -0.14787388 0.10776147
+v 0.05808255 -0.14895619 0.10787809
+v 0.20913705 -0.14799521 0.10789929
+v 0.20913705 -0.15743569 0.10789929
+v 0.20805766 -0.15717622 0.10800001
+v 0.20646077 -0.15737682 0.10800001
+v 0.20913705 -0.15716180 0.10796290
+v 0.20913705 -0.15697682 0.10800001
+v 0.05808255 -0.15747653 0.10800001
+v 0.05808255 -0.14897782 0.10789929
+v 0.20913705 -0.14802404 0.10790460
+v 0.05808255 -0.14947752 0.10800001
+v 0.20913705 -0.14856580 0.10800001
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 26
+f 1 26 34
+f 1 34 43
+f 1 43 46
+f 1 46 44
+f 1 44 36
+f 1 36 29
+f 1 29 27
+f 1 27 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 5 11 20
+f 5 20 12
+f 6 12 20
+f 6 20 19
+f 6 19 28
+f 6 28 35
+f 6 35 37
+f 6 37 45
+f 6 45 47
+f 6 47 42
+f 6 42 41
+f 6 41 38
+f 6 38 30
+f 6 30 21
+f 6 21 13
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 9 10 16
+f 10 15 23
+f 10 23 17
+f 10 17 16
+f 11 18 19
+f 11 19 20
+f 13 21 14
+f 14 22 23
+f 14 23 15
+f 14 21 22
+f 16 17 24
+f 17 25 26
+f 17 26 24
+f 17 23 32
+f 17 32 25
+f 18 27 19
+f 19 27 29
+f 19 29 28
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 25 33 43
+f 25 43 34
+f 25 34 26
+f 25 32 40
+f 25 40 33
+f 28 29 35
+f 29 36 37
+f 29 37 35
+f 30 38 31
+f 31 39 40
+f 31 40 32
+f 31 38 41
+f 31 41 42
+f 31 42 39
+f 33 40 39
+f 33 39 42
+f 33 42 47
+f 33 47 46
+f 33 46 43
+f 36 44 37
+f 37 44 46
+f 37 46 45
+f 45 46 47
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde46f03bd0968cb1c8d9e49226495e36ca1b448
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.37972413 0.14247033 0.07899885
+v 0.37972413 0.14247033 0.10399465
+v 0.36605964 0.15649913 0.01077234
+v 0.37972413 0.14248517 0.01077234
+v 0.37972413 0.14312352 0.10437281
+v 0.36605964 0.15699830 0.10489856
+v 0.36605964 0.15660304 0.10449272
+v 0.36605964 0.15649913 0.10399465
+v 0.36605964 0.16142405 0.01077234
+v 0.37972413 0.15480490 0.01077234
+v 0.37972413 0.14539114 0.10489856
+v 0.36605964 0.15749933 0.10500001
+v 0.36633922 0.16140921 0.01077234
+v 0.36605964 0.16142405 0.10399465
+v 0.37897769 0.15561398 0.01077234
+v 0.37972413 0.15480490 0.10399465
+v 0.37972413 0.14719485 0.10500001
+v 0.36605964 0.16041828 0.10500001
+v 0.36650108 0.16139993 0.01077234
+v 0.36650108 0.16139993 0.10399465
+v 0.36605964 0.16139993 0.10412378
+v 0.37889877 0.15569934 0.01077234
+v 0.37889877 0.15569934 0.10399465
+v 0.37972413 0.15474552 0.10414222
+v 0.37972413 0.15314595 0.10500001
+v 0.36640075 0.16039973 0.10500001
+v 0.36605964 0.16092488 0.10489856
+v 0.36820128 0.16119951 0.01077234
+v 0.36820128 0.16119951 0.10399465
+v 0.36650108 0.16129972 0.10449272
+v 0.36605964 0.16132570 0.10449272
+v 0.37759987 0.15679975 0.01077234
+v 0.37759987 0.15679975 0.10399465
+v 0.37879979 0.15559913 0.10449272
+v 0.37972413 0.15459707 0.10449272
+v 0.37929874 0.15369893 0.10500001
+v 0.37972413 0.15406265 0.10489856
+v 0.37969871 0.15409976 0.10489856
+v 0.36810095 0.16019932 0.10500001
+v 0.36650108 0.16089890 0.10489856
+v 0.36973963 0.16083766 0.01077234
+v 0.36990014 0.16079869 0.10399465
+v 0.36820128 0.16109931 0.10449272
+v 0.37619931 0.15789830 0.01077234
+v 0.37619931 0.15789830 0.10399465
+v 0.37619931 0.15779994 0.10449272
+v 0.37729890 0.15649913 0.10489856
+v 0.37859913 0.15529851 0.10489856
+v 0.37972413 0.15411646 0.10486166
+v 0.37819916 0.15499975 0.10500001
+v 0.36970082 0.15989870 0.10500001
+v 0.36980116 0.16039973 0.10489856
+v 0.36820128 0.16069848 0.10489856
+v 0.36990014 0.16079869 0.01077234
+v 0.37160035 0.16029952 0.10399465
+v 0.36990014 0.16069848 0.10449272
+v 0.37606688 0.15798365 0.01077234
+v 0.37479876 0.15879829 0.10399465
+v 0.37469977 0.15869995 0.10449272
+v 0.37599866 0.15749933 0.10489856
+v 0.37699926 0.15609831 0.10500001
+v 0.37130071 0.15939952 0.10500001
+v 0.37299957 0.15919911 0.10489856
+v 0.37160035 0.16019932 0.10449272
+v 0.37160035 0.16029952 0.01077234
+v 0.37319888 0.15959994 0.10399465
+v 0.37479876 0.15879829 0.01077234
+v 0.37464759 0.15887437 0.01077234
+v 0.37319888 0.15949973 0.10449272
+v 0.37449912 0.15839933 0.10489856
+v 0.37429980 0.15799850 0.10500001
+v 0.37569902 0.15709850 0.10500001
+v 0.37280025 0.15869995 0.10500001
+v 0.37319888 0.15959994 0.01077234
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 24
+f 1 24 35
+f 1 35 49
+f 1 49 37
+f 1 37 25
+f 1 25 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 13
+f 3 13 19
+f 3 19 28
+f 3 28 41
+f 3 41 54
+f 3 54 65
+f 3 65 74
+f 3 74 68
+f 3 68 67
+f 3 67 57
+f 3 57 44
+f 3 44 32
+f 3 32 22
+f 3 22 15
+f 3 15 10
+f 3 10 4
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 18
+f 3 18 27
+f 3 27 31
+f 3 31 21
+f 3 21 14
+f 3 14 9
+f 5 11 6
+f 6 11 12
+f 9 14 13
+f 10 15 16
+f 11 17 12
+f 12 17 25
+f 12 25 36
+f 12 36 50
+f 12 50 61
+f 12 61 72
+f 12 72 71
+f 12 71 73
+f 12 73 62
+f 12 62 51
+f 12 51 39
+f 12 39 26
+f 12 26 18
+f 13 14 20
+f 13 20 19
+f 14 21 20
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 18 26 27
+f 19 20 29
+f 19 29 28
+f 20 21 31
+f 20 31 30
+f 20 30 43
+f 20 43 29
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 25 37 38
+f 25 38 36
+f 26 39 53
+f 26 53 40
+f 26 40 27
+f 27 40 30
+f 27 30 31
+f 28 29 41
+f 29 42 41
+f 29 43 56
+f 29 56 42
+f 30 40 53
+f 30 53 43
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 38
+f 35 38 49
+f 36 38 50
+f 37 49 38
+f 38 48 50
+f 39 51 52
+f 39 52 53
+f 41 42 54
+f 42 55 65
+f 42 65 54
+f 42 56 64
+f 42 64 55
+f 43 53 52
+f 43 52 56
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 59 70
+f 46 70 60
+f 46 60 47
+f 46 58 59
+f 47 60 72
+f 47 72 61
+f 47 61 50
+f 47 50 48
+f 51 62 52
+f 52 63 64
+f 52 64 56
+f 52 62 63
+f 55 66 74
+f 55 74 65
+f 55 64 69
+f 55 69 66
+f 57 67 58
+f 58 67 68
+f 58 68 66
+f 58 66 69
+f 58 69 59
+f 59 69 63
+f 59 63 70
+f 60 70 71
+f 60 71 72
+f 62 73 63
+f 63 69 64
+f 63 73 71
+f 63 71 70
+f 66 68 74
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ffda0854eb5f9419ec2275c0d970ffb3f76cb4
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.36605964 0.16041984 0.10500001
+v 0.36605964 0.15750040 0.10500001
+v 0.36605964 0.16092543 0.10489856
+v 0.36479898 0.16099982 0.10489856
+v 0.36469333 0.16049961 0.10500001
+v 0.29411014 0.15750040 0.10500001
+v 0.36605964 0.15700019 0.10489856
+v 0.36605964 0.16132577 0.10449272
+v 0.29411014 0.16077272 0.10494467
+v 0.36479898 0.16139968 0.10449272
+v 0.29411014 0.16121810 0.10467719
+v 0.29411014 0.16099982 0.10489856
+v 0.29411014 0.16049961 0.10500001
+v 0.29411014 0.15700019 0.10489856
+v 0.36605964 0.15660327 0.10449272
+v 0.36605964 0.16142562 0.10399465
+v 0.36479898 0.16149952 0.10399465
+v 0.29411014 0.16145450 0.10422524
+v 0.29411014 0.16139968 0.10449272
+v 0.29411014 0.15670017 0.10449272
+v 0.29411014 0.15660963 0.10427135
+v 0.29411014 0.15649999 0.10399465
+v 0.36605964 0.15650049 0.10399465
+v 0.36605964 0.16142562 0.01077234
+v 0.36479898 0.16149952 0.01077234
+v 0.29411014 0.16149952 0.10399465
+v 0.29411014 0.15649999 0.01077234
+v 0.36605964 0.15650049 0.01077234
+v 0.29411014 0.16149952 0.01077234
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 28
+f 1 28 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 5 9 13
+f 6 13 9
+f 6 9 12
+f 6 12 11
+f 6 11 19
+f 6 19 18
+f 6 18 26
+f 6 26 29
+f 6 29 27
+f 6 27 22
+f 6 22 21
+f 6 21 20
+f 6 20 14
+f 7 14 15
+f 8 16 17
+f 8 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 17 25 29
+f 17 29 26
+f 17 26 18
+f 22 27 28
+f 22 28 23
+f 24 28 27
+f 24 27 29
+f 24 29 25
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cae4d4eda43015b6f02c907b15af2dc8c43a70d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03479947 0.00148575 0.05384642
+v 0.03577729 0.00148575 0.00500393
+v 0.01480051 0.00148575 0.05384642
+v 0.03479947 -0.13612520 0.05384642
+v 0.03578040 -0.13612520 0.00500393
+v 0.01480051 0.00148575 0.00500393
+v 0.00417133 -0.01281954 0.05384642
+v 0.00417133 -0.13612520 0.05384642
+v 0.00417133 -0.13612520 0.00500393
+v 0.00417133 -0.01281954 0.00500393
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eddf845f769420b0b22fb889da458b72bfbd5f5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.36760059 -0.15826854 0.00594838
+v 0.36760059 -0.15314652 0.00594838
+v 0.36763089 -0.15826661 0.00594838
+v 0.36760059 -0.15826854 0.10399166
+v 0.37977883 -0.13851712 0.00594838
+v 0.36760059 -0.15316779 0.10399166
+v 0.36820159 -0.15819893 0.00594838
+v 0.36820159 -0.15819893 0.10399166
+v 0.36760059 -0.15810419 0.10449583
+v 0.38479894 -0.13851712 0.00594838
+v 0.37979734 -0.13851712 0.10399166
+v 0.36760059 -0.15335340 0.10449583
+v 0.37990340 -0.13851712 0.10449583
+v 0.36990021 -0.15779868 0.00594838
+v 0.36990021 -0.15779868 0.10399166
+v 0.36990021 -0.15769814 0.10449583
+v 0.36820159 -0.15799978 0.10449583
+v 0.36760059 -0.15791083 0.10475762
+v 0.38469961 -0.14020127 0.00594838
+v 0.38479894 -0.13851712 0.10399166
+v 0.36760059 -0.15364924 0.10486427
+v 0.36760059 -0.15367631 0.10489336
+v 0.38029733 -0.13851712 0.10489336
+v 0.36998271 -0.15777549 0.00594838
+v 0.37160051 -0.15729983 0.10399166
+v 0.37160051 -0.15709873 0.10449583
+v 0.37140018 -0.15679902 0.10489336
+v 0.36980088 -0.15729983 0.10489336
+v 0.36820159 -0.15769814 0.10489336
+v 0.36760059 -0.15776968 0.10489336
+v 0.38449928 -0.14200142 0.00594838
+v 0.38469961 -0.14020127 0.10399166
+v 0.38459860 -0.13851712 0.10449583
+v 0.38459860 -0.14020127 0.10449583
+v 0.36760059 -0.15420224 0.10500001
+v 0.38080069 -0.13851712 0.10500001
+v 0.37160051 -0.15729983 0.00594838
+v 0.37320150 -0.15659987 0.10399166
+v 0.37320150 -0.15649933 0.10449583
+v 0.37300116 -0.15609907 0.10489336
+v 0.37280083 -0.15569883 0.10500001
+v 0.37130086 -0.15629823 0.10500001
+v 0.36970156 -0.15679902 0.10500001
+v 0.36810058 -0.15719928 0.10500001
+v 0.36760059 -0.15725728 0.10500001
+v 0.38409861 -0.14370102 0.00594838
+v 0.38449928 -0.14200142 0.10399166
+v 0.38429895 -0.13851712 0.10489336
+v 0.38399929 -0.14360048 0.10449583
+v 0.38419962 -0.14020127 0.10489336
+v 0.38399929 -0.14190087 0.10489336
+v 0.38379727 -0.13851712 0.10500001
+v 0.37320150 -0.15659987 0.00594838
+v 0.37480080 -0.15579937 0.10399166
+v 0.37470147 -0.15569883 0.10449583
+v 0.37450113 -0.15539913 0.10489336
+v 0.37430081 -0.15489833 0.10500001
+v 0.38407504 -0.14377837 0.00594838
+v 0.38409861 -0.14370102 0.10399166
+v 0.38339829 -0.14530009 0.10449583
+v 0.38359862 -0.14530009 0.10399166
+v 0.38359862 -0.14350187 0.10489336
+v 0.38309863 -0.14510094 0.10489336
+v 0.38369963 -0.14010072 0.10500001
+v 0.38349930 -0.14180032 0.10500001
+v 0.37480080 -0.15579937 0.00594838
+v 0.37619976 -0.15489833 0.10399166
+v 0.37619976 -0.15479971 0.10449583
+v 0.37600112 -0.15449808 0.10489336
+v 0.37570145 -0.15399921 0.10500001
+v 0.38359862 -0.14530009 0.00594838
+v 0.38279897 -0.14690109 0.10449583
+v 0.38289830 -0.14690109 0.10399166
+v 0.38356495 -0.14537744 0.00594838
+v 0.38309863 -0.14340132 0.10500001
+v 0.38239831 -0.14669999 0.10489336
+v 0.38259864 -0.14500039 0.10500001
+v 0.38199933 -0.14650083 0.10500001
+v 0.37619976 -0.15489833 0.00594838
+v 0.37626710 -0.15484613 0.00594838
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2fe7623c17891bfef04418963b86e31a2633c1
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003d253e6dc66df393728562f880f37337dd9943
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e5ee6bea7840fba3efc5a30d49b3d877e83277
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+f 43 79 64
+f 43 64 59
+f 43 59 44
+f 50 66 51
+f 51 66 84
+f 51 84 67
+f 53 67 55
+f 55 68 69
+f 55 69 70
+f 55 70 56
+f 55 67 71
+f 55 71 68
+f 56 70 72
+f 56 72 57
+f 58 61 73
+f 59 74 75
+f 59 75 60
+f 59 64 74
+f 60 75 61
+f 61 75 76
+f 61 76 73
+f 62 77 78
+f 62 78 63
+f 63 78 79
+f 64 80 74
+f 64 79 81
+f 64 81 80
+f 65 82 83
+f 67 84 85
+f 67 85 71
+f 68 71 86
+f 68 86 87
+f 68 87 88
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 91
+f 69 91 70
+f 70 91 72
+f 71 85 92
+f 71 92 86
+f 72 91 93
+f 74 80 94
+f 74 94 95
+f 74 95 96
+f 74 96 75
+f 75 96 83
+f 75 83 97
+f 75 97 76
+f 76 97 82
+f 77 98 78
+f 78 98 99
+f 78 99 100
+f 78 100 101
+f 78 101 79
+f 79 101 102
+f 79 102 81
+f 80 103 94
+f 80 81 104
+f 80 104 103
+f 81 102 114
+f 81 114 104
+f 82 97 83
+f 88 105 89
+f 89 105 115
+f 89 115 106
+f 89 106 107
+f 89 107 90
+f 90 107 91
+f 91 107 108
+f 91 108 109
+f 91 109 93
+f 98 110 111
+f 98 111 99
+f 99 111 100
+f 100 111 112
+f 100 112 113
+f 100 113 102
+f 100 102 101
+f 102 113 121
+f 102 121 114
+f 106 115 116
+f 106 116 117
+f 106 117 118
+f 106 118 107
+f 107 118 119
+f 107 119 108
+f 108 119 109
+f 109 119 120
+f 110 120 119
+f 110 119 111
+f 111 119 112
+f 112 119 118
+f 112 118 113
+f 113 118 117
+f 113 117 122
+f 113 122 121
+f 116 122 117
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5026f6d046f539845f81623d8a5e437c9ade9
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03520001 0.13912122 0.00503750
+v -0.03520001 0.13912122 0.04637491
+v -0.03520001 0.14330054 0.00503750
+v 0.03560781 0.13912122 0.00503750
+v -0.03520001 0.14330054 0.04637491
+v 0.03479278 0.13912122 0.04637491
+v -0.03489532 0.14500004 0.00503750
+v 0.04261547 0.15374813 0.00503750
+v -0.03489532 0.14500004 0.04637491
+v 0.04112253 0.15374813 0.04637491
+v -0.03488010 0.14506734 0.00503750
+v -0.03101065 0.15374813 0.00503750
+v -0.03449925 0.14669955 0.04637491
+v -0.03101065 0.15374813 0.04637491
+v -0.03449925 0.14669955 0.00503750
+v -0.03159716 0.15299932 0.00503750
+v -0.03427835 0.14744836 0.04637491
+v -0.03159716 0.15299932 0.04637491
+v -0.03399652 0.14839905 0.00503750
+v -0.03241979 0.15163341 0.00503750
+v -0.03399652 0.14839905 0.04637491
+v -0.03336431 0.15005848 0.00503750
+v -0.03339477 0.14999977 0.04637491
+v -0.03397367 0.14846205 0.00503750
+v -0.03339477 0.14999977 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 25
+f 1 25 22
+f 1 22 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 23
+f 2 23 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 11
+f 8 12 14
+f 8 14 10
+f 9 13 11
+f 11 13 15
+f 12 16 18
+f 12 18 14
+f 13 17 15
+f 15 17 19
+f 16 20 18
+f 17 21 19
+f 18 20 22
+f 18 22 23
+f 19 21 24
+f 21 23 24
+f 22 25 23
+f 23 25 24
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7826da840fcf4505cd98dd31b9589c6988b050
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.03519998 -0.14020109 0.05384986
+v -0.03519998 -0.14020109 0.08898622
+v -0.03519998 -0.13984686 0.05384986
+v -0.03505389 -0.14107750 0.05384986
+v -0.03519998 -0.13984686 0.08898622
+v -0.03489865 -0.14200139 0.08898622
+v 0.03479845 -0.13984686 0.05384986
+v -0.03489865 -0.14200139 0.05384986
+v 0.03479845 -0.13984686 0.08898622
+v -0.03477995 -0.14250900 0.08898622
+v 0.05807343 -0.15349892 0.05384986
+v -0.03449688 -0.14370129 0.05384986
+v 0.05807343 -0.15349892 0.08898622
+v -0.03449688 -0.14370129 0.08898622
+v 0.05807343 -0.15849818 0.05384986
+v -0.03399468 -0.14530076 0.05384986
+v 0.05807343 -0.15849818 0.08898622
+v -0.03399468 -0.14530076 0.08898622
+v -0.01519390 -0.15849818 0.05384986
+v -0.03370249 -0.14608040 0.05384986
+v -0.03391250 -0.14553446 0.08898622
+v -0.01519390 -0.15849818 0.08898622
+v -0.01545870 -0.15848540 0.08898622
+v -0.01607048 -0.15845070 0.05384986
+v -0.03339203 -0.14690023 0.05384986
+v -0.03339203 -0.14690023 0.08898622
+v -0.01699272 -0.15839958 0.08898622
+v -0.01699272 -0.15839958 0.05384986
+v -0.03326420 -0.14713393 0.08898622
+v -0.03249719 -0.14850151 0.05384986
+v -0.03312724 -0.14738043 0.08898622
+v -0.01750405 -0.15833933 0.08898622
+v -0.01869108 -0.15819873 0.05384986
+v -0.03205890 -0.14918073 0.05384986
+v -0.03249719 -0.14850151 0.08898622
+v -0.01869108 -0.15819873 0.08898622
+v -0.01894676 -0.15814031 0.08898622
+v -0.01952201 -0.15800518 0.05384986
+v -0.03159322 -0.14989830 0.05384986
+v -0.03159322 -0.14989830 0.08898622
+v -0.02039859 -0.15779887 0.08898622
+v -0.02039859 -0.15779887 0.05384986
+v -0.03106363 -0.15058118 0.05384986
+v -0.03143800 -0.15010281 0.08898622
+v -0.02209697 -0.15729858 0.08898622
+v -0.02209697 -0.15729858 0.05384986
+v -0.03049751 -0.15129875 0.05384986
+v -0.03049751 -0.15129875 0.08898622
+v -0.02369488 -0.15659927 0.08898622
+v -0.02287309 -0.15695897 0.05384986
+v -0.02939265 -0.15259878 0.05384986
+v -0.03016879 -0.15168767 0.08898622
+v -0.02391403 -0.15648241 0.08898622
+v -0.02442537 -0.15621035 0.05384986
+v -0.02369488 -0.15659927 0.05384986
+v -0.02809604 -0.15379837 0.05384986
+v -0.02848867 -0.15344051 0.08898622
+v -0.02939265 -0.15259878 0.08898622
+v -0.02519238 -0.15579953 0.08898622
+v -0.02519238 -0.15579953 0.05384986
+v -0.02809604 -0.15379837 0.08898622
+v -0.02828779 -0.15362492 0.08898622
+v -0.02669899 -0.15489937 0.05384986
+v -0.02669899 -0.15489937 0.08898622
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 28
+f 1 28 33
+f 1 33 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 55
+f 1 55 54
+f 1 54 60
+f 1 60 63
+f 1 63 56
+f 1 56 51
+f 1 51 47
+f 1 47 43
+f 1 43 39
+f 1 39 34
+f 1 34 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 21
+f 2 21 26
+f 2 26 29
+f 2 29 31
+f 2 31 35
+f 2 35 40
+f 2 40 44
+f 2 44 48
+f 2 48 52
+f 2 52 58
+f 2 58 57
+f 2 57 62
+f 2 62 61
+f 2 61 64
+f 2 64 59
+f 2 59 53
+f 2 53 49
+f 2 49 45
+f 2 45 41
+f 2 41 37
+f 2 37 36
+f 2 36 32
+f 2 32 27
+f 2 27 23
+f 2 23 22
+f 2 22 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 13
+f 7 13 11
+f 8 12 10
+f 10 12 14
+f 11 13 17
+f 11 17 15
+f 12 16 18
+f 12 18 14
+f 15 17 22
+f 15 22 19
+f 16 20 21
+f 16 21 18
+f 19 22 23
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 25 30 31
+f 25 31 29
+f 27 32 28
+f 28 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 34 39 40
+f 34 40 35
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 49 50
+f 45 50 46
+f 47 51 52
+f 47 52 48
+f 49 53 54
+f 49 54 55
+f 49 55 50
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 53 59 54
+f 54 59 60
+f 56 61 62
+f 56 62 57
+f 56 63 64
+f 56 64 61
+f 59 64 63
+f 59 63 60
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507ac91b0b955baae043371cb8fbd8146bc1bc0f
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03519998 -0.14020072 0.00500393
+v -0.03519998 -0.13612520 0.00500393
+v -0.03490898 -0.14193140 0.00500393
+v -0.03519998 -0.14020072 0.05384642
+v -0.03519998 -0.13612520 0.05384642
+v 0.03577387 -0.13612520 0.00500393
+v -0.03489367 -0.14200012 0.00500393
+v -0.03489367 -0.14200012 0.05384642
+v 0.03479366 -0.13612520 0.05384642
+v 0.04303361 -0.15074951 0.00500393
+v -0.03452608 -0.14357048 0.00500393
+v -0.03470221 -0.14282897 0.05384642
+v 0.04112677 -0.15074951 0.05384642
+v -0.03092685 -0.15074951 0.00500393
+v -0.03449545 -0.14369932 0.00500393
+v -0.03449545 -0.14369932 0.05384642
+v -0.03092685 -0.15074951 0.05384642
+v -0.03098045 -0.15068510 0.00500393
+v -0.03403598 -0.14517806 0.00500393
+v -0.03399768 -0.14529975 0.05384642
+v -0.03159309 -0.14989919 0.05384642
+v -0.03159309 -0.14989919 0.00500393
+v -0.03399768 -0.14529975 0.00500393
+v -0.03370668 -0.14607849 0.05384642
+v -0.03206023 -0.14918057 0.05384642
+v -0.03163138 -0.14984479 0.00500393
+v -0.03343866 -0.14677850 0.00500393
+v -0.03339271 -0.14689875 0.00500393
+v -0.03339271 -0.14689875 0.05384642
+v -0.03249673 -0.14849917 0.05384642
+v -0.03249673 -0.14849917 0.00500393
+v -0.03256565 -0.14837749 0.00500393
+v -0.03295620 -0.14767892 0.05384642
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 31
+f 1 31 32
+f 1 32 28
+f 1 28 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 16
+f 4 16 20
+f 4 20 24
+f 4 24 29
+f 4 29 33
+f 4 33 30
+f 4 30 25
+f 4 25 21
+f 4 21 17
+f 4 17 13
+f 4 13 9
+f 4 9 5
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 17
+f 10 17 14
+f 11 15 16
+f 11 16 12
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 29
+f 29 32 33
+f 30 33 32
+f 30 32 31
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdf6fd445132f55f022d0ed77aa49bd713dc242
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.20913704 0.00148575 0.00499953
+v 0.04303423 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00499953
+v 0.20913704 0.00148575 0.00000001
+v 0.03579169 0.00148575 0.00500344
+v -0.01172803 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00000001
+v 0.01581525 0.00148575 0.00000001
+v 0.01479913 0.00148575 0.00500344
+v -0.01172803 -0.00803641 0.00500344
+v -0.01172803 -0.15074951 0.00000001
+v 0.01531800 0.00148575 0.00010042
+v -0.01172803 -0.00954147 0.00000001
+v -0.01172803 -0.00879639 0.00010042
+v 0.01479913 0.00148575 0.00100021
+v -0.01172803 -0.00803641 0.00100021
+v 0.01490723 0.00148575 0.00050011
+v -0.01172803 -0.00824503 0.00050011
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 4 7 11
+f 4 11 13
+f 4 13 8
+f 6 10 16
+f 6 16 18
+f 6 18 14
+f 6 14 13
+f 6 13 11
+f 8 13 14
+f 8 14 12
+f 9 15 16
+f 9 16 10
+f 12 14 18
+f 12 18 16
+f 12 16 17
+f 15 17 16
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b78fc36c168df7295c2d4d2785cac039b20a8ed
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00158925 -0.15849999 0.08898966
+v 0.02891424 -0.15848433 0.08898966
+v 0.00158925 -0.15849999 0.10399858
+v 0.00158925 0.00148575 0.08898966
+v 0.02891424 -0.15848433 0.10399858
+v 0.02891424 0.00148575 0.08898966
+v 0.02891424 -0.15846866 0.10405657
+v 0.02891424 -0.15845302 0.10409731
+v 0.02891424 -0.15829640 0.10449851
+v 0.00158925 -0.15835905 0.10434650
+v 0.01490266 0.00148575 0.10450165
+v 0.00158925 -0.01383003 0.10489971
+v 0.02891424 0.00148575 0.10500001
+v 0.00158925 -0.15829640 0.10449851
+v 0.02891424 -0.15799886 0.10489971
+v 0.01529856 0.00148575 0.10489971
+v 0.00158925 -0.01433116 0.10500001
+v 0.01580145 0.00148575 0.10500001
+v 0.02891424 -0.15749773 0.10500001
+v 0.00158925 -0.15810849 0.10474769
+v 0.00158925 -0.15749773 0.10500001
+v 0.00158925 -0.15768565 0.10496083
+v 0.00158925 -0.15799886 0.10488091
+v 0.00158925 -0.15806151 0.10480725
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 15
+f 2 15 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 16
+f 4 16 18
+f 4 18 13
+f 4 13 6
+f 4 12 11
+f 9 14 10
+f 9 15 14
+f 11 12 16
+f 12 17 16
+f 13 18 17
+f 13 17 21
+f 13 21 19
+f 14 15 20
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 16 17 18
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a222a779890ac06f512d0f71b38b3508ea7c7dac
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03877066 0.00148575 0.10800001
+v 0.03927093 0.00148575 0.10789952
+v 0.03077269 0.00148575 0.10800001
+v 0.03978823 -0.14310589 0.10800001
+v 0.03967115 0.00148575 0.10749944
+v 0.03027241 0.00148575 0.10789952
+v 0.03077269 -0.13847044 0.10800001
+v 0.03978823 -0.14169647 0.10789952
+v 0.03977121 0.00148575 0.10699888
+v 0.03978823 -0.15466320 0.10800001
+v 0.02987220 0.00148575 0.10749944
+v 0.03027241 -0.13847044 0.10789952
+v 0.03087168 -0.14016176 0.10800001
+v 0.03978823 0.00148575 0.09491829
+v 0.03887071 -0.15406811 0.10800001
+v 0.03857162 -0.15447527 0.10789952
+v 0.03978823 -0.15519565 0.10789952
+v 0.02891530 0.00148575 0.10499847
+v 0.02987220 -0.13847044 0.10749944
+v 0.03037248 -0.14016176 0.10789952
+v 0.03057258 -0.14186873 0.10789952
+v 0.03107179 -0.14177477 0.10800001
+v 0.03978823 0.00148575 0.08900082
+v 0.03757107 -0.15306585 0.10800001
+v 0.02891530 -0.15799885 0.10489984
+v 0.03597127 -0.15226718 0.10789952
+v 0.03978823 -0.15561847 0.10749944
+v 0.02891530 0.00148575 0.08899151
+v 0.02891530 -0.15749772 0.10499847
+v 0.02997226 -0.14016176 0.10749944
+v 0.03097174 -0.14346608 0.10789952
+v 0.03137196 -0.14337212 0.10800001
+v 0.03479935 0.00148575 0.08899151
+v 0.03978823 -0.14968322 0.08899151
+v 0.03637149 -0.15187567 0.10800001
+v 0.02891530 -0.15829639 0.10449976
+v 0.03978823 -0.15799885 0.10489984
+v 0.03487066 -0.15096737 0.10789952
+v 0.03377220 -0.14966757 0.10789952
+v 0.03517083 -0.15066982 0.10800001
+v 0.02891530 -0.15849998 0.08899151
+v 0.03287170 -0.14816418 0.10789952
+v 0.03207233 -0.14667645 0.10789952
+v 0.03147200 -0.14517306 0.10789952
+v 0.03187222 -0.14496947 0.10800001
+v 0.03978823 -0.15849998 0.08899151
+v 0.02891530 -0.15849998 0.10399920
+v 0.03978823 -0.15829639 0.10449976
+v 0.03417242 -0.14937002 0.10800001
+v 0.03327192 -0.14797626 0.10800001
+v 0.03978823 -0.15849998 0.10399920
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 33
+f 1 33 28
+f 1 28 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 32
+f 1 32 45
+f 1 45 50
+f 1 50 49
+f 1 49 40
+f 1 40 35
+f 1 35 24
+f 1 24 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 7
+f 4 8 9
+f 4 9 5
+f 4 10 17
+f 4 17 27
+f 4 27 37
+f 4 37 48
+f 4 48 51
+f 4 51 46
+f 4 46 34
+f 4 34 23
+f 4 23 14
+f 4 14 8
+f 6 11 19
+f 6 19 12
+f 7 12 13
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 11 18 29
+f 11 29 19
+f 12 19 30
+f 12 30 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 24 16
+f 16 25 17
+f 16 24 26
+f 16 26 25
+f 17 25 27
+f 18 28 41
+f 18 41 47
+f 18 47 36
+f 18 36 25
+f 18 25 29
+f 19 29 30
+f 20 30 29
+f 20 29 21
+f 21 31 32
+f 21 32 22
+f 21 29 31
+f 23 34 33
+f 24 35 26
+f 25 36 48
+f 25 48 37
+f 25 37 27
+f 25 26 38
+f 25 38 39
+f 25 39 29
+f 26 35 40
+f 26 40 38
+f 28 33 34
+f 28 34 46
+f 28 46 41
+f 29 39 42
+f 29 42 43
+f 29 43 44
+f 29 44 31
+f 31 44 32
+f 32 44 45
+f 36 47 51
+f 36 51 48
+f 38 40 39
+f 39 40 49
+f 39 49 50
+f 39 50 42
+f 41 46 51
+f 41 51 47
+f 42 50 43
+f 43 50 45
+f 43 45 44
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd54785e3deeebb08b5b4160e46e599feaa9bde
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03479932 0.13912122 0.04637491
+v 0.03560940 0.13912122 0.00503750
+v 0.00341427 0.13912122 0.04637491
+v 0.03479932 0.00149922 0.04637491
+v 0.03561254 0.00149922 0.00503750
+v 0.00341427 0.13912122 0.00503750
+v 0.00341427 0.01606304 0.04637491
+v 0.03160313 0.00149922 0.04637491
+v 0.01629674 0.00149922 0.00503750
+v 0.00341427 0.01606304 0.00503750
+v 0.01480266 0.00151269 0.04637491
+v 0.01480266 0.00151269 0.00503750
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 12
+f 2 12 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 12
+f 7 12 11
+f 8 11 9
+f 9 11 12
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea25f50286acfa86355f4a6c9c33e0b9146f22c
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00341113 0.13912122 0.04637491
+v 0.00341113 0.13912122 0.00503750
+v -0.03520001 0.13912122 0.04637491
+v 0.00341113 0.01606304 0.04637491
+v -0.03520001 0.13912122 0.00503750
+v 0.00341113 0.01606304 0.00503750
+v -0.03520001 0.06317651 0.04637491
+v -0.01520279 0.00149922 0.04637491
+v -0.03519623 0.00149922 0.00503750
+v -0.01520279 0.00151269 0.00503750
+v -0.03519623 0.00149922 0.04637491
+v -0.01648404 0.00149922 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 11 9
+f 8 9 12
+f 8 12 10
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1f8cba8ac9602ffba90b1bd8e737e1cf9c4dea
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.13931583 0.09441089
+v 0.03979361 -0.13931583 0.08900001
+v 0.03978824 -0.13931583 0.09495857
+v 0.03978824 -0.01404708 0.08900001
+v 0.05808255 -0.13931583 0.08900001
+v 0.05808255 -0.13931583 0.09399969
+v 0.03978824 -0.13854402 0.09495857
+v 0.03978824 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.09399969
+v 0.03978824 0.00148575 0.09491657
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 7
+f 5 9 10
+f 5 10 6
+f 7 10 11
+f 8 11 10
+f 8 10 9
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1755076606c886afe604640a908552e80bb60a74
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.14310721 0.10800001
+v 0.05808255 -0.14947688 0.10800001
+v 0.03978824 -0.14170258 0.10789952
+v 0.03978824 -0.15466539 0.10800001
+v 0.05808255 -0.14897550 0.10789952
+v 0.05808255 -0.15747654 0.10800001
+v 0.03978824 -0.14113921 0.10774321
+v 0.03978824 -0.15520621 0.10789952
+v 0.04027175 -0.15497524 0.10800001
+v 0.05808255 -0.14857740 0.10749944
+v 0.03978824 -0.13968951 0.10730405
+v 0.04976989 -0.15747654 0.10800001
+v 0.05808255 -0.15797606 0.10789952
+v 0.04007297 -0.15537711 0.10789952
+v 0.03978824 -0.15562686 0.10749944
+v 0.04157182 -0.15617707 0.10789952
+v 0.04327304 -0.15637613 0.10800001
+v 0.05808255 -0.13931771 0.09400090
+v 0.03978824 -0.13944351 0.10699888
+v 0.04807225 -0.15737702 0.10800001
+v 0.04976989 -0.15797606 0.10789952
+v 0.05808255 -0.15837604 0.10749944
+v 0.03987241 -0.15567569 0.10749944
+v 0.03978824 -0.15799859 0.10489984
+v 0.04137306 -0.15647565 0.10749944
+v 0.04297220 -0.15717609 0.10749944
+v 0.04307248 -0.15677611 0.10789952
+v 0.04487219 -0.15687563 0.10800001
+v 0.05808255 -0.13931771 0.08900082
+v 0.03978824 -0.13931771 0.09495923
+v 0.04647312 -0.15717609 0.10800001
+v 0.04637284 -0.15767560 0.10789952
+v 0.04807225 -0.15787652 0.10789952
+v 0.04976989 -0.15837604 0.10749944
+v 0.05808255 -0.15847556 0.10699888
+v 0.03978824 -0.15829905 0.10449976
+v 0.04467341 -0.15767560 0.10749944
+v 0.04477190 -0.15727562 0.10789952
+v 0.03978824 -0.14968720 0.08899151
+v 0.03979361 -0.13931771 0.08900082
+v 0.05808255 -0.15349925 0.08899151
+v 0.03978824 -0.13931771 0.09441214
+v 0.04637284 -0.15807558 0.10749944
+v 0.04807225 -0.15827652 0.10749944
+v 0.03978824 -0.15849998 0.10399920
+v 0.04976989 -0.15847556 0.10699888
+v 0.05808255 -0.15849998 0.10399920
+v 0.03978824 -0.14828445 0.08900082
+v 0.03978824 -0.15849998 0.08899151
+v 0.05808255 -0.15849998 0.08899151
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 19
+f 1 19 30
+f 1 30 42
+f 1 42 48
+f 1 48 39
+f 1 39 49
+f 1 49 45
+f 1 45 36
+f 1 36 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 31
+f 1 31 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 22
+f 2 22 35
+f 2 35 47
+f 2 47 50
+f 2 50 41
+f 2 41 29
+f 2 29 18
+f 2 18 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 6 12 21
+f 6 21 13
+f 8 14 9
+f 8 15 14
+f 9 14 16
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 33
+f 12 33 21
+f 13 21 34
+f 13 34 22
+f 14 15 23
+f 14 23 16
+f 15 24 23
+f 16 23 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 29 40
+f 18 40 42
+f 18 42 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 21 33 44
+f 21 44 34
+f 22 34 46
+f 22 46 35
+f 23 24 25
+f 24 36 26
+f 24 26 25
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 28
+f 28 38 32
+f 28 32 31
+f 29 39 40
+f 29 41 39
+f 32 37 43
+f 32 43 44
+f 32 44 33
+f 32 38 37
+f 34 45 46
+f 34 44 45
+f 35 46 45
+f 35 45 47
+f 36 45 43
+f 36 43 37
+f 39 48 40
+f 39 41 50
+f 39 50 49
+f 40 48 42
+f 43 45 44
+f 45 49 50
+f 45 50 47
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/cavity_repair.json b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/cavity_repair.json
index 09718e9fd4d14bd3c7bbd3c91f09f8f8444c142c..eedec5b4048b845a188ee83845d0ce86565ba8f3 100644
--- a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/cavity_repair.json
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/cavity_repair.json
@@ -1,20 +1,19 @@
 {
   "link": "E_drawer1_7",
   "diag_m": 0.539,
-  "verdict": "accepted",
+  "verdict": "rejected: gate not met (ext/cov caps or insufficient free-space gain)",
   "pitch_m": 0.008,
   "n_boxes": 50,
   "caps_added": 0,
   "kept_void_cells": 3036,
   "coacd": {
-    "free_pct": 64.2,
-    "ext_pct": 3.56,
-    "cov_pct": 2.01
+    "free_pct": 76.7,
+    "ext_pct": 3.55,
+    "cov_pct": 1.77
   },
   "voxbox": {
-    "free_pct": 71.1,
+    "free_pct": 71.0,
     "ext_pct": 2.17,
     "cov_pct": 2.14
-  },
-  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+  }
 }
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c2a71094f6d82c72385fc22cf93eda55f87c35
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.38379956 -0.03633075 0.10500001
+v 0.38429976 0.14148330 0.10488697
+v 0.38379906 0.14148330 0.10498974
+v 0.38369972 0.14317732 0.10498974
+v 0.38349905 0.14478520 0.10498974
+v 0.38309968 0.14636437 0.10498974
+v 0.38259949 0.14797222 0.10498974
+v 0.38200044 0.14958011 0.10498974
+v 0.38120023 0.15098701 0.10498974
+v 0.38030067 0.15236518 0.10498974
+v 0.37972547 0.15314041 0.10498974
+v 0.38080036 -0.03633075 0.10500001
+v 0.38379956 -0.13848842 0.10500001
+v 0.38459977 0.14329215 0.10448616
+v 0.38419991 0.14317732 0.10488697
+v 0.38429976 -0.03633075 0.10488697
+v 0.38448999 -0.03633075 0.10464032
+v 0.38399974 0.14487132 0.10488697
+v 0.38359987 0.14656534 0.10488697
+v 0.38309968 0.14817322 0.10488697
+v 0.38239981 0.14978110 0.10488697
+v 0.38170042 0.15127413 0.10488697
+v 0.38070003 0.15268101 0.10488697
+v 0.37972547 0.15403049 0.10488697
+v 0.37972547 0.14716831 0.10498974
+v 0.38080036 -0.13848842 0.10500001
+v 0.38379857 -0.13851713 0.10500001
+v 0.38429926 -0.13848842 0.10488697
+v 0.38459977 -0.13851713 0.10448616
+v 0.38479995 -0.03633075 0.10398259
+v 0.38479945 0.14148330 0.10398259
+v 0.38469961 0.14329215 0.10398259
+v 0.38449993 0.14495746 0.10398259
+v 0.38399974 0.14668020 0.10448616
+v 0.38339970 0.14828808 0.10448616
+v 0.38279916 0.14986724 0.10448616
+v 0.38200044 0.15147513 0.10448616
+v 0.38100005 0.15288201 0.10448616
+v 0.38000015 0.15426018 0.10448616
+v 0.37972547 0.15408792 0.10484586
+v 0.37972547 0.14693860 0.10497946
+v 0.37979898 -0.13851713 0.10398259
+v 0.37990032 -0.13848842 0.10448616
+v 0.38029918 -0.13851713 0.10488697
+v 0.38080137 -0.13851713 0.10500001
+v 0.38429827 -0.13851713 0.10488697
+v 0.38479846 -0.13851713 0.10398259
+v 0.38479995 -0.13848842 0.10398259
+v 0.38479995 -0.03633075 0.00595039
+v 0.38479945 0.14148330 0.00101743
+v 0.38469961 0.14329215 0.00101743
+v 0.38449993 0.14495746 0.00101743
+v 0.38409907 0.14668020 0.10398259
+v 0.38359987 0.14837419 0.10398259
+v 0.38289950 0.14998208 0.10398259
+v 0.38210028 0.15147513 0.10398259
+v 0.38120023 0.15296815 0.10398259
+v 0.38009999 0.15437503 0.10398259
+v 0.37972547 0.15480572 0.10398259
+v 0.37972547 0.15457603 0.10448616
+v 0.37972547 0.14535943 0.10488697
+v 0.37972547 -0.03633075 0.00582706
+v 0.37978011 -0.13851713 0.00595039
+v 0.37990429 -0.13851713 0.10448616
+v 0.37972547 0.14309118 0.10436284
+v 0.38479846 -0.13851713 0.00595039
+v 0.38479995 -0.13848842 0.00595039
+v 0.38459977 0.14329215 0.00051386
+v 0.38479945 -0.03633075 0.00101743
+v 0.38399974 0.14668020 0.00051386
+v 0.38409907 0.14668020 0.00101743
+v 0.38359987 0.14837419 0.00101743
+v 0.38289950 0.14998208 0.00101743
+v 0.38210028 0.15147513 0.00101743
+v 0.38120023 0.15296815 0.00101743
+v 0.38009999 0.15437503 0.00101743
+v 0.37972547 0.15480572 0.00101743
+v 0.37972547 -0.03633075 0.00001029
+v 0.38379906 -0.03633075 0.00001029
+v 0.38429976 -0.03633075 0.00011306
+v 0.38459977 -0.03633075 0.00051386
+v 0.38429976 0.14148330 0.00011306
+v 0.38419991 0.14317732 0.00011306
+v 0.38399974 0.14487132 0.00011306
+v 0.38359987 0.14656534 0.00011306
+v 0.38309968 0.14817322 0.00011306
+v 0.38339970 0.14828808 0.00051386
+v 0.38279916 0.14986724 0.00051386
+v 0.38200044 0.15147513 0.00051386
+v 0.38100005 0.15288201 0.00051386
+v 0.38000015 0.15426018 0.00051386
+v 0.37972547 0.15457603 0.00051386
+v 0.37972547 0.15314041 0.00001029
+v 0.38379906 0.14148330 0.00001029
+v 0.38369972 0.14317732 0.00001029
+v 0.38349905 0.14478520 0.00001029
+v 0.38309968 0.14636437 0.00001029
+v 0.38259949 0.14797222 0.00001029
+v 0.38200044 0.14958011 0.00001029
+v 0.38239981 0.14978110 0.00011306
+v 0.38170042 0.15127413 0.00011306
+v 0.38070003 0.15268101 0.00011306
+v 0.37972547 0.15403049 0.00011306
+v 0.37972547 0.15408792 0.00015416
+v 0.38030067 0.15236518 0.00001029
+v 0.38120023 0.15098701 0.00001029
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 26
+f 1 26 45
+f 1 45 27
+f 1 27 13
+f 1 13 16
+f 1 16 2
+f 2 14 15
+f 2 15 4
+f 2 4 3
+f 2 16 17
+f 2 17 14
+f 4 15 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fac437954fc3c57a1dd952af323e4fc14d0c42b
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.29410183 0.16049958 0.10499766
+v 0.29410183 0.15750022 0.10499766
+v 0.29410183 0.16077255 0.10494480
+v 0.20913704 0.16002295 0.10800001
+v 0.20967769 0.15992262 0.10800001
+v 0.21127468 0.15942240 0.10800001
+v 0.21427735 0.15802307 0.10800001
+v 0.21567472 0.15712297 0.10800001
+v 0.21651480 0.15647519 0.10800001
+v 0.29410183 0.15738808 0.10497652
+v 0.29410183 0.16099979 0.10489194
+v 0.20913704 0.16048138 0.10789429
+v 0.20913704 0.16020789 0.10795772
+v 0.20913704 0.15647519 0.10800001
+v 0.21721348 0.15647519 0.10789429
+v 0.29410183 0.15650028 0.10399335
+v 0.29410183 0.15665521 0.10438450
+v 0.29410183 0.15670046 0.10449022
+v 0.29410183 0.15693311 0.10480737
+v 0.29410183 0.15700049 0.10489194
+v 0.29410183 0.16121818 0.10468051
+v 0.20913704 0.16089551 0.10749257
+v 0.20913704 0.15647519 0.00000001
+v 0.21775413 0.15647519 0.10756657
+v 0.29410183 0.15647519 0.00587785
+v 0.21782067 0.15647519 0.10749257
+v 0.29410183 0.16139967 0.10449022
+v 0.20913704 0.16096192 0.10722828
+v 0.20913704 0.16049958 0.00000001
+v 0.29410183 0.15647519 0.00000001
+v 0.29410183 0.16145427 0.10422593
+v 0.20913704 0.16101897 0.10699570
+v 0.20913704 0.16099979 0.00010573
+v 0.29410183 0.16090683 0.00008458
+v 0.29410183 0.16049958 0.00000001
+v 0.29410183 0.16148132 0.10408850
+v 0.29410183 0.16150001 0.10399335
+v 0.20913704 0.16150001 0.10399335
+v 0.20913704 0.16123587 0.00033830
+v 0.29410183 0.16099979 0.00010573
+v 0.29410183 0.16150001 0.00100432
+v 0.20913704 0.16150001 0.00100432
+v 0.20913704 0.16139967 0.00050745
+v 0.29410183 0.16139967 0.00050745
+v 0.29410183 0.16144541 0.00072946
+v 0.20913704 0.16144049 0.00070831
+f 1 2 10
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea8f12587b08c703919e0adfc339367ca4b68f5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.20913705 -0.15749927 0.00000001
+v 0.20913705 -0.15347427 0.00000001
+v 0.29408864 -0.15749927 0.00000001
+v 0.29408864 -0.15790646 0.00008458
+v 0.20913705 -0.15799961 0.00010573
+v 0.20913705 -0.15347427 0.10800001
+v 0.29410415 -0.15219717 0.00001058
+v 0.29408864 -0.15347427 0.00000001
+v 0.29410415 -0.15790646 0.00008458
+v 0.36759340 -0.15725866 0.00001058
+v 0.36639908 -0.15739933 0.00001058
+v 0.36469292 -0.15749989 0.00001058
+v 0.36478598 -0.15799900 0.00010573
+v 0.29408864 -0.15799961 0.00010573
+v 0.20913705 -0.15817668 0.00033830
+v 0.20913705 -0.15697672 0.10800001
+v 0.21645806 -0.15347427 0.10800001
+v 0.36759340 -0.15316949 0.10398278
+v 0.29410415 -0.15219717 0.00501098
+v 0.36759340 -0.15219717 0.00001058
+v 0.36759340 -0.15777012 0.00010573
+v 0.36649215 -0.15789905 0.00010573
+v 0.36649215 -0.15829946 0.00050745
+v 0.20913705 -0.15829946 0.00050745
+v 0.20967992 -0.15687677 0.10800001
+v 0.20913705 -0.15716179 0.10795772
+v 0.36649215 -0.15789905 0.10489194
+v 0.36639908 -0.15739933 0.10498709
+v 0.36759340 -0.15725866 0.10498709
+v 0.21568252 -0.15407765 0.10800001
+v 0.36759340 -0.15420104 0.10498709
+v 0.36759340 -0.15367724 0.10489194
+v 0.36759340 -0.15365009 0.10486023
+v 0.36759340 -0.15335458 0.10449022
+v 0.36759340 -0.15219717 0.00501098
+v 0.36759340 -0.15791140 0.00025373
+v 0.36759340 -0.15810512 0.00050745
+v 0.36759340 -0.15823468 0.00083517
+v 0.36649215 -0.15839941 0.00101489
+v 0.36478598 -0.15849935 0.00101489
+v 0.29408864 -0.15846233 0.00090918
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+v 0.21127751 -0.15637641 0.10800001
+v 0.20913705 -0.15743511 0.10789429
+v 0.36478598 -0.15799900 0.10489194
+v 0.36649215 -0.15829946 0.10449022
+v 0.36759340 -0.15777012 0.10489194
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+v 0.36759340 -0.15826984 0.00101489
+v 0.36649215 -0.15839941 0.10398278
+v 0.36478598 -0.15849935 0.10398278
+v 0.29410415 -0.15849997 0.00101489
+v 0.29408864 -0.15849935 0.00100432
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+v 0.20913705 -0.15784909 0.10749257
+v 0.36759340 -0.15826984 0.10398278
+v 0.36759340 -0.15810512 0.10449022
+v 0.36759340 -0.15791140 0.10474394
+v 0.29410415 -0.15849997 0.10398278
+v 0.20913705 -0.15797248 0.10699570
+v 0.29408864 -0.15849935 0.10399335
+f 1 2 8
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959814e726f8b4d38323a6822121827ce1a06b67
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02973405 -0.15074951 0.00000001
+v -0.02867658 -0.15190039 0.00000001
+v -0.03018053 -0.15100062 0.00010015
+v -0.03039203 -0.15074951 0.00010015
+v 0.20913705 -0.15074951 0.00000001
+v -0.02898207 -0.15230021 0.00010015
+v -0.02738411 -0.15300046 0.00000001
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+v -0.03039203 -0.15120016 0.00050073
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+v -0.03076801 -0.15074951 0.00050073
+v 0.20913705 -0.15074951 0.00500200
+v 0.20913705 -0.15749932 0.00000001
+v -0.02799509 -0.15370070 0.00050073
+v -0.02609165 -0.15400037 0.00000001
+v -0.02639713 -0.15450033 0.00010015
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+v -0.02938156 -0.15260064 0.00100146
+v -0.03093251 -0.15074951 0.00100146
+v 0.20913705 -0.15350041 0.05384115
+v 0.04114005 -0.15074951 0.05384115
+v 0.20913705 -0.15799928 0.00010015
+v -0.01518793 -0.15749932 0.00000001
+v -0.02808909 -0.15380008 0.00100146
+v -0.02658513 -0.15479924 0.00050073
+v -0.02667913 -0.15489939 0.00100146
+v -0.02468168 -0.15489939 0.00000001
+v -0.02498717 -0.15539934 0.00010015
+v -0.02519866 -0.15569977 0.00050073
+v -0.03048602 -0.15130029 0.05384115
+v -0.02872356 -0.15321592 0.05384115
+v -0.02938156 -0.15260064 0.05384115
+v -0.03093251 -0.15074951 0.05384115
+v 0.20913705 -0.15849923 0.05384115
+v 0.20913705 -0.15829971 0.00050073
+v -0.01518793 -0.15799928 0.00010015
+v -0.01687989 -0.15739994 0.00000001
+v -0.02808909 -0.15380008 0.05384115
+v -0.02519866 -0.15579992 0.00100146
+v -0.02592715 -0.15536141 0.05384115
+v -0.02667913 -0.15489939 0.05384115
+v -0.02329522 -0.15569977 0.00000001
+v -0.02348321 -0.15609959 0.00010015
+v -0.02357721 -0.15649941 0.00050073
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+v -0.01518793 -0.15849999 0.05384115
+v 0.20913705 -0.15849923 0.00100146
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+v -0.01699739 -0.15829971 0.00050073
+v -0.01687989 -0.15789989 0.00010015
+v -0.01859534 -0.15769961 0.00010015
+v -0.01847785 -0.15719964 0.00000001
+v -0.02519866 -0.15579992 0.05384115
+v -0.02169726 -0.15629987 0.00000001
+v -0.02188525 -0.15679984 0.00010015
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+v -0.01699739 -0.15839984 0.05384115
+v -0.01699739 -0.15839984 0.00100146
+v -0.01868933 -0.15819956 0.00100146
+v -0.02028730 -0.15729979 0.00010015
+v -0.02009929 -0.15679984 0.00000001
+v -0.02038129 -0.15779974 0.00100146
+v -0.02122727 -0.15755621 0.05384115
+v -0.02209674 -0.15729979 0.05384115
+v -0.01868933 -0.15819956 0.05384115
+v -0.02038129 -0.15779974 0.05384115
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218dac77b4125fc5245be6cef223d2273274bdb5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.29411851 -0.03633096 0.00000106
+v 0.37972544 -0.03633096 0.00000106
+v 0.29411851 -0.03633096 0.00500024
+v 0.29411851 0.16049303 0.00000106
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+f 1 25 16
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b0e902940e19fb0a5b9e08ea7c39123d45e56cd
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.29411014 -0.15219498 0.00000059
+v 0.36759587 -0.15725589 0.00000059
+v 0.36759587 -0.15776915 0.00010073
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+v 0.29411014 -0.03634289 0.00000059
+v 0.36809299 -0.15719621 0.00000059
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+v 0.36819953 -0.15819885 0.00100082
+v 0.36759587 -0.15827047 0.00594779
+v 0.29411014 -0.03634289 0.00499939
+v 0.36759587 -0.03633096 0.00000059
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+v 0.36989508 -0.15779302 0.00100082
+v 0.37139532 -0.15679039 0.00010073
+v 0.37159950 -0.15708879 0.00050070
+v 0.37159950 -0.15729170 0.00100082
+v 0.36819953 -0.15819885 0.00594779
+v 0.36759587 -0.15313793 0.00594779
+v 0.37977544 -0.03633096 0.00594779
+v 0.36759587 -0.03633096 0.00499939
+v 0.38379681 -0.03633096 0.00000059
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+v 0.38119579 -0.14989131 0.00594779
+v 0.38289134 -0.14689534 0.00594779
+v 0.38209239 -0.14849478 0.00594779
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3bc0fe6b60d5185210bf859b49e6ca2f68bfa1
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00513909 0.00148575 0.08898622
+v -0.01519961 0.00148575 0.05384986
+v -0.03519706 0.00148575 0.08898622
+v -0.00513909 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.05384986
+v -0.03519706 0.00148575 0.05384986
+v -0.03519706 -0.13984686 0.08898622
+v -0.00513909 -0.13984686 0.05384986
+v -0.03519706 -0.13984686 0.05384986
+f 1 2 6
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+f 1 8 5
+f 1 5 2
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 6 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1489afb380ae86f74d49eb3557b8ac61a18649
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00513909 -0.13984686 0.05384986
+v -0.00513909 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.05384986
+v 0.03480522 -0.13984686 0.05384986
+v 0.03480522 -0.13984686 0.08898622
+v -0.00513909 -0.01262537 0.08898622
+v 0.01429348 0.00148575 0.08898622
+v 0.01480178 0.00148575 0.05384986
+v 0.03479740 0.00148575 0.05384986
+v 0.03479740 0.00148575 0.08898622
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 10 9
+f 7 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da6413eb92ed7eb4ab94643159b4724c1ccb3dc
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.21651511 0.15647518 0.10800001
+v 0.20913705 0.15647518 0.10800001
+v 0.21697117 0.15611117 0.10800001
+v 0.21672018 0.15647518 0.10797397
+v 0.20913705 0.15647518 0.10491083
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+v 0.22107111 0.15291087 0.10749972
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ebc9524b57d452e89259816e6cd795e6f40c9d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433133882effd5a6f1a82c8196a81d2eb33de9a0
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj
@@ -0,0 +1,394 @@
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+f 83 113 84
+f 83 105 111
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+f 84 97 96
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+f 90 115 116
+f 90 116 106
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+f 92 117 101
+f 92 101 100
+f 92 100 93
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+f 92 118 117
+f 94 98 95
+f 95 98 119
+f 95 119 120
+f 95 120 118
+f 97 113 112
+f 97 112 99
+f 98 121 123
+f 98 123 119
+f 99 112 103
+f 99 103 121
+f 101 117 114
+f 102 110 122
+f 102 122 123
+f 102 123 103
+f 103 123 121
+f 103 112 111
+f 103 111 104
+f 106 116 107
+f 107 124 108
+f 107 116 124
+f 108 124 125
+f 108 125 126
+f 108 126 109
+f 109 126 127
+f 109 127 128
+f 109 128 122
+f 109 122 110
+f 114 117 129
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_011.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e6cb2aa61692de8a287af996530d316e8d55ab
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_011.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01519989 0.00148575 0.05384642
+v -0.01519989 0.00148575 0.00500393
+v -0.03520000 0.00148575 0.05384642
+v 0.00416824 -0.01281954 0.05384642
+v -0.03520000 0.00148575 0.00500393
+v 0.00416824 -0.01281954 0.00500393
+v -0.03520000 -0.06668663 0.05384642
+v 0.00416824 -0.13612520 0.05384642
+v -0.03519614 -0.13612520 0.00500393
+v 0.00416824 -0.13612520 0.00500393
+v -0.03519614 -0.13612520 0.05384642
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 8 11 9
+f 8 9 10
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_012.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d859c3f5a234c5ea1579376f1c22d0c07600ece
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_012.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.03620467 0.14786836 0.04638094
+v 0.05809233 0.14502051 0.08899622
+v 0.03625545 0.14502051 0.08899622
+v 0.03618774 0.14502051 0.08900225
+v 0.03618774 0.14786674 0.05551796
+v 0.03620467 0.16149702 0.04638094
+v 0.20912225 0.15649914 0.04638094
+v 0.20912225 0.14938032 0.08899622
+v 0.05809233 0.14502051 0.09398992
+v 0.03618774 0.14502051 0.10457438
+v 0.03618774 0.16149540 0.05551796
+v 0.03620467 0.16149702 0.05551796
+v 0.04978077 0.16151963 0.10598564
+v 0.05809233 0.16152125 0.10599168
+v 0.05809233 0.16149863 0.04638094
+v 0.20912225 0.16149863 0.04638094
+v 0.20912225 0.14938032 0.09399595
+v 0.03986107 0.14502051 0.10788542
+v 0.03618774 0.15473518 0.10799398
+v 0.03620467 0.14502051 0.10799398
+v 0.03618774 0.16149540 0.10398938
+v 0.04978077 0.16151963 0.10698680
+v 0.05809233 0.16152125 0.10699283
+v 0.20475488 0.16152286 0.10599168
+v 0.20912225 0.16149863 0.10398938
+v 0.20912225 0.15054176 0.10699283
+v 0.03938710 0.14502051 0.10799398
+v 0.03618774 0.15550247 0.10788542
+v 0.03757582 0.15612115 0.10799398
+v 0.03618774 0.16142110 0.10437536
+v 0.04978077 0.16142110 0.10748738
+v 0.05809233 0.16142110 0.10749340
+v 0.20475488 0.16152286 0.10699283
+v 0.20644766 0.16142110 0.10699283
+v 0.20825894 0.16122079 0.10699283
+v 0.20912225 0.16101727 0.10699283
+v 0.20912225 0.15069199 0.10749340
+v 0.20912225 0.15104251 0.10789145
+v 0.20912225 0.15106998 0.10789749
+v 0.20912225 0.15161272 0.10799398
+v 0.03618774 0.16099788 0.10488800
+v 0.03859148 0.15752005 0.10788542
+v 0.03887926 0.15712106 0.10799398
+v 0.03618774 0.16139687 0.10448995
+v 0.04807106 0.16132095 0.10748738
+v 0.04978077 0.16102049 0.10788542
+v 0.05809233 0.16102211 0.10789145
+v 0.20475488 0.16142110 0.10749340
+v 0.20644766 0.16132095 0.10749340
+v 0.20815737 0.16112226 0.10749340
+v 0.20912225 0.16089450 0.10749340
+v 0.20912225 0.16002220 0.10799398
+v 0.03618774 0.16120949 0.10467691
+v 0.04008113 0.15842141 0.10788542
+v 0.04158771 0.15922100 0.10788542
+v 0.04307735 0.15982029 0.10788542
+v 0.04297579 0.16022090 0.10748738
+v 0.04468550 0.16072004 0.10748738
+v 0.04028427 0.15802080 0.10799398
+v 0.04637828 0.16112064 0.10748738
+v 0.04807106 0.16092033 0.10788542
+v 0.04978077 0.16052136 0.10799398
+v 0.05809233 0.16054880 0.10799398
+v 0.20475488 0.16102211 0.10789145
+v 0.20644766 0.16092196 0.10789145
+v 0.20815737 0.16072165 0.10789145
+v 0.20912225 0.16047935 0.10789145
+v 0.20912225 0.16020635 0.10795779
+v 0.20805580 0.16022090 0.10799398
+v 0.04328049 0.15942130 0.10799398
+v 0.04488864 0.15992044 0.10799398
+v 0.04478706 0.16032105 0.10788542
+v 0.04637828 0.16072004 0.10788542
+v 0.04807106 0.16042119 0.10799398
+v 0.20475488 0.16052136 0.10799398
+v 0.20644766 0.16042119 0.10799398
+v 0.04647984 0.16022090 0.10799398
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 8
+f 1 8 2
+f 2 8 17
+f 2 17 9
+f 2 9 18
+f 2 18 27
+f 2 27 20
+f 2 20 10
+f 2 10 4
+f 2 4 3
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+f 4 19 28
+f 4 28 41
+f 4 41 53
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+f 4 44 30
+f 4 30 21
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+f 31 45 61
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+f 31 47 32
+f 32 47 64
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+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 41 42 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 53
+f 42 43 59
+f 42 59 54
+f 44 53 58
+f 44 58 60
+f 44 60 45
+f 45 60 73
+f 45 73 61
+f 46 61 74
+f 46 74 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 66 51
+f 50 65 66
+f 51 66 67
+f 52 68 69
+f 54 59 55
+f 55 70 56
+f 55 59 70
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 58 72 73
+f 58 73 60
+f 61 73 74
+f 63 75 64
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+f 66 68 67
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+f 71 73 72
+f 73 77 74
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_013.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b63adb41fc5737f4361857a2b59199ad2af925
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_013.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.05808254 0.00151768 0.08900050
+v 0.05808254 0.00151768 0.09399952
+v 0.05808254 0.14937931 0.08900050
+v 0.05809734 -0.14622821 0.08900050
+v 0.05808254 0.14937931 0.09399952
+v 0.05809734 -0.14622821 0.09399952
+v 0.20910748 0.14937931 0.08900050
+v 0.20913705 -0.14622821 0.08900050
+v 0.20910748 0.14937931 0.09399952
+v 0.20913705 -0.14622821 0.09399952
+v 0.20913705 0.00148874 0.08900050
+v 0.20913705 0.00148874 0.09399952
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 10
+f 4 10 6
+f 7 9 12
+f 7 12 11
+f 8 11 12
+f 8 12 10
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_014.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569560f69467e2a6b3d9a8ceca2635f21013e878
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_014.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03101217 0.15374888 0.00503750
+v -0.03101217 0.15374888 0.04637491
+v -0.03049500 0.15440069 0.00503750
+v 0.04263579 0.15374888 0.00503750
+v -0.03049500 0.15440069 0.04637491
+v 0.04113133 0.15374888 0.04637491
+v -0.03040098 0.15451602 0.00503750
+v 0.20913705 0.15568761 0.00503750
+v -0.02939017 0.15570052 0.04637491
+v 0.20913705 0.15650029 0.04637491
+v -0.02939017 0.15570052 0.00503750
+v 0.20913705 0.16149999 0.00503750
+v -0.02809728 0.15680001 0.04637491
+v -0.02821481 0.15670213 0.00503750
+v 0.20913705 0.16149999 0.04637491
+v 0.20032186 0.16149999 0.00503750
+v -0.02668685 0.15789951 0.04637491
+v -0.02809728 0.15680001 0.00503750
+v 0.19738346 0.16149999 0.04637491
+v -0.01519185 0.16149924 0.00503750
+v -0.02668685 0.15789951 0.00503750
+v -0.02518239 0.15879945 0.04637491
+v -0.02525291 0.15876454 0.00503750
+v -0.01519185 0.16149924 0.04637491
+v -0.01535640 0.16149089 0.00503750
+v -0.02435963 0.15924713 0.04637491
+v -0.02374846 0.15956810 0.00503750
+v -0.01599109 0.16145523 0.04637491
+v -0.01697839 0.16139983 0.04637491
+v -0.01697839 0.16139983 0.00503750
+v -0.02367793 0.15959997 0.04637491
+v -0.02367793 0.15959997 0.00503750
+v -0.01714294 0.16138163 0.00503750
+v -0.01869441 0.16119951 0.04637491
+v -0.02278466 0.15999151 0.04637491
+v -0.02214996 0.16027227 0.00503750
+v -0.01869441 0.16119951 0.00503750
+v -0.01876493 0.16118358 0.00503750
+v -0.01944663 0.16102347 0.04637491
+v -0.02207944 0.16029958 0.04637491
+v -0.02207944 0.16029958 0.00503750
+v -0.02038692 0.16079963 0.00503750
+v -0.02038692 0.16079963 0.04637491
+v -0.02113915 0.16057958 0.04637491
+v -0.02045744 0.16077991 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 18
+f 1 18 21
+f 1 21 23
+f 1 23 27
+f 1 27 32
+f 1 32 36
+f 1 36 41
+f 1 41 45
+f 1 45 42
+f 1 42 38
+f 1 38 37
+f 1 37 33
+f 1 33 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 24
+f 2 24 28
+f 2 28 29
+f 2 29 34
+f 2 34 39
+f 2 39 43
+f 2 43 44
+f 2 44 40
+f 2 40 35
+f 2 35 31
+f 2 31 26
+f 2 26 22
+f 2 22 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 12 15
+f 8 15 10
+f 9 13 14
+f 9 14 11
+f 12 16 19
+f 12 19 15
+f 13 17 21
+f 13 21 18
+f 13 18 14
+f 16 20 19
+f 17 22 23
+f 17 23 21
+f 19 20 24
+f 20 25 24
+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 25 29 28
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 29 30 33
+f 29 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 45
+f 42 45 43
+f 43 45 44
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_015.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4100827d73015cf73edc7f0773ccbfe9c50df6
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_015.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.20913705 0.16150001 0.00503750
+v 0.20913705 0.16150001 0.00100001
+v 0.20033790 0.16150001 0.00503750
+v 0.20913705 0.15567334 0.00503750
+v 0.20913705 0.16143736 0.00070514
+v -0.01172804 0.16139037 0.00050002
+v -0.01172804 0.16148435 0.00100001
+v -0.01172804 0.16148435 0.00503750
+v 0.20913705 0.00150141 0.00499953
+v 0.03561873 0.00150141 0.00503750
+v 0.20913705 0.16139037 0.00050002
+v -0.01172804 0.16099879 0.00010011
+v 0.20913705 0.16123373 0.00033631
+v -0.01172804 0.01110289 0.00503750
+v 0.20913705 0.00150141 0.00000001
+v 0.01482075 0.00150141 0.00503750
+v -0.01172804 0.16049757 0.00000001
+v 0.20913705 0.16099879 0.00010011
+v 0.20913705 0.16079516 0.00005919
+v 0.01479912 0.00150141 0.00100001
+v -0.01172804 0.01110289 0.00100001
+v 0.20913705 0.16049757 0.00000001
+v 0.01581525 0.00150141 0.00000001
+v -0.01172804 0.01255956 0.00000001
+v 0.01490722 0.00150141 0.00050002
+v -0.01172804 0.01118121 0.00066865
+v 0.01531800 0.00150141 0.00010011
+v -0.01172804 0.01190171 0.00010011
+v -0.01172804 0.01240293 0.00002319
+v -0.01172804 0.01125952 0.00050002
+v -0.01172804 0.01155712 0.00031165
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 19
+f 1 19 18
+f 1 18 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 10 9
+f 5 11 6
+f 6 12 17
+f 6 17 24
+f 6 24 29
+f 6 29 28
+f 6 28 31
+f 6 31 30
+f 6 30 26
+f 6 26 21
+f 6 21 14
+f 6 14 8
+f 6 8 7
+f 6 11 13
+f 6 13 12
+f 9 10 16
+f 9 16 20
+f 9 20 25
+f 9 25 27
+f 9 27 23
+f 9 23 15
+f 12 13 18
+f 12 18 19
+f 12 19 17
+f 14 20 16
+f 14 21 20
+f 15 23 24
+f 15 24 17
+f 15 17 22
+f 17 19 22
+f 20 21 25
+f 21 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 26 27
+f 26 30 27
+f 27 30 31
+f 27 31 28
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_016.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8052530a48d64d2742492ae13b7522c1718b40be
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_016.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_017.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9716346b4f25f15b64238a8c494275e5da8a257d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_017.obj
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+f 115 122 120
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_018.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467c4b9348190687615f63c7b4a0a9f028d2d68a
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_018.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.05808255 -0.15849998 0.05384642
+v 0.05808255 -0.15349925 0.05384642
+v 0.17975712 -0.15849998 0.05384642
+v 0.05808255 -0.15849998 0.10399786
+v 0.05808255 -0.14622939 0.08899642
+v 0.20913705 -0.15349925 0.05384642
+v 0.20913705 -0.15849878 0.05384642
+v 0.20913705 -0.15849878 0.10399786
+v 0.05808255 -0.15847595 0.10699814
+v 0.20476037 -0.15847595 0.10699814
+v 0.05808255 -0.14622939 0.09399513
+v 0.20913705 -0.14622939 0.08899642
+v 0.20913705 -0.15797263 0.10699814
+v 0.20826467 -0.15817684 0.10699814
+v 0.20646077 -0.15837625 0.10699814
+v 0.05808255 -0.15847114 0.10702465
+v 0.20476037 -0.15837625 0.10749643
+v 0.05808255 -0.14847810 0.10699814
+v 0.20913705 -0.14749550 0.10699814
+v 0.20913705 -0.14622939 0.09399513
+v 0.20913705 -0.15790656 0.10726849
+v 0.20816117 -0.15807594 0.10749643
+v 0.20646077 -0.15827654 0.10749643
+v 0.05808255 -0.15837625 0.10749643
+v 0.20476037 -0.15797623 0.10789929
+v 0.05808255 -0.15799786 0.10787809
+v 0.05808255 -0.14857179 0.10746992
+v 0.20913705 -0.14764445 0.10749643
+v 0.05808255 -0.14857780 0.10749643
+v 0.20913705 -0.15784891 0.10749643
+v 0.20816117 -0.15767593 0.10789929
+v 0.20646077 -0.15787654 0.10789929
+v 0.20476037 -0.15747653 0.10800001
+v 0.05808255 -0.15797623 0.10789929
+v 0.20913705 -0.14787388 0.10776147
+v 0.05808255 -0.14895619 0.10787809
+v 0.20913705 -0.14799521 0.10789929
+v 0.20913705 -0.15743569 0.10789929
+v 0.20805766 -0.15717622 0.10800001
+v 0.20646077 -0.15737682 0.10800001
+v 0.20913705 -0.15716180 0.10796290
+v 0.20913705 -0.15697682 0.10800001
+v 0.05808255 -0.15747653 0.10800001
+v 0.05808255 -0.14897782 0.10789929
+v 0.20913705 -0.14802404 0.10790460
+v 0.05808255 -0.14947752 0.10800001
+v 0.20913705 -0.14856580 0.10800001
+f 1 2 6
+f 1 6 7
+f 1 7 3
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+f 1 4 9
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+f 1 24 26
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+f 22 30 31
+f 22 31 32
+f 22 32 23
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+f 28 29 35
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+f 37 46 45
+f 45 46 47
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_019.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde46f03bd0968cb1c8d9e49226495e36ca1b448
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_019.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.37972413 0.14247033 0.07899885
+v 0.37972413 0.14247033 0.10399465
+v 0.36605964 0.15649913 0.01077234
+v 0.37972413 0.14248517 0.01077234
+v 0.37972413 0.14312352 0.10437281
+v 0.36605964 0.15699830 0.10489856
+v 0.36605964 0.15660304 0.10449272
+v 0.36605964 0.15649913 0.10399465
+v 0.36605964 0.16142405 0.01077234
+v 0.37972413 0.15480490 0.01077234
+v 0.37972413 0.14539114 0.10489856
+v 0.36605964 0.15749933 0.10500001
+v 0.36633922 0.16140921 0.01077234
+v 0.36605964 0.16142405 0.10399465
+v 0.37897769 0.15561398 0.01077234
+v 0.37972413 0.15480490 0.10399465
+v 0.37972413 0.14719485 0.10500001
+v 0.36605964 0.16041828 0.10500001
+v 0.36650108 0.16139993 0.01077234
+v 0.36650108 0.16139993 0.10399465
+v 0.36605964 0.16139993 0.10412378
+v 0.37889877 0.15569934 0.01077234
+v 0.37889877 0.15569934 0.10399465
+v 0.37972413 0.15474552 0.10414222
+v 0.37972413 0.15314595 0.10500001
+v 0.36640075 0.16039973 0.10500001
+v 0.36605964 0.16092488 0.10489856
+v 0.36820128 0.16119951 0.01077234
+v 0.36820128 0.16119951 0.10399465
+v 0.36650108 0.16129972 0.10449272
+v 0.36605964 0.16132570 0.10449272
+v 0.37759987 0.15679975 0.01077234
+v 0.37759987 0.15679975 0.10399465
+v 0.37879979 0.15559913 0.10449272
+v 0.37972413 0.15459707 0.10449272
+v 0.37929874 0.15369893 0.10500001
+v 0.37972413 0.15406265 0.10489856
+v 0.37969871 0.15409976 0.10489856
+v 0.36810095 0.16019932 0.10500001
+v 0.36650108 0.16089890 0.10489856
+v 0.36973963 0.16083766 0.01077234
+v 0.36990014 0.16079869 0.10399465
+v 0.36820128 0.16109931 0.10449272
+v 0.37619931 0.15789830 0.01077234
+v 0.37619931 0.15789830 0.10399465
+v 0.37619931 0.15779994 0.10449272
+v 0.37729890 0.15649913 0.10489856
+v 0.37859913 0.15529851 0.10489856
+v 0.37972413 0.15411646 0.10486166
+v 0.37819916 0.15499975 0.10500001
+v 0.36970082 0.15989870 0.10500001
+v 0.36980116 0.16039973 0.10489856
+v 0.36820128 0.16069848 0.10489856
+v 0.36990014 0.16079869 0.01077234
+v 0.37160035 0.16029952 0.10399465
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+v 0.37606688 0.15798365 0.01077234
+v 0.37479876 0.15879829 0.10399465
+v 0.37469977 0.15869995 0.10449272
+v 0.37599866 0.15749933 0.10489856
+v 0.37699926 0.15609831 0.10500001
+v 0.37130071 0.15939952 0.10500001
+v 0.37299957 0.15919911 0.10489856
+v 0.37160035 0.16019932 0.10449272
+v 0.37160035 0.16029952 0.01077234
+v 0.37319888 0.15959994 0.10399465
+v 0.37479876 0.15879829 0.01077234
+v 0.37464759 0.15887437 0.01077234
+v 0.37319888 0.15949973 0.10449272
+v 0.37449912 0.15839933 0.10489856
+v 0.37429980 0.15799850 0.10500001
+v 0.37569902 0.15709850 0.10500001
+v 0.37280025 0.15869995 0.10500001
+v 0.37319888 0.15959994 0.01077234
+f 1 2 8
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+f 63 71 70
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_020.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ffda0854eb5f9419ec2275c0d970ffb3f76cb4
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_020.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.36605964 0.16041984 0.10500001
+v 0.36605964 0.15750040 0.10500001
+v 0.36605964 0.16092543 0.10489856
+v 0.36479898 0.16099982 0.10489856
+v 0.36469333 0.16049961 0.10500001
+v 0.29411014 0.15750040 0.10500001
+v 0.36605964 0.15700019 0.10489856
+v 0.36605964 0.16132577 0.10449272
+v 0.29411014 0.16077272 0.10494467
+v 0.36479898 0.16139968 0.10449272
+v 0.29411014 0.16121810 0.10467719
+v 0.29411014 0.16099982 0.10489856
+v 0.29411014 0.16049961 0.10500001
+v 0.29411014 0.15700019 0.10489856
+v 0.36605964 0.15660327 0.10449272
+v 0.36605964 0.16142562 0.10399465
+v 0.36479898 0.16149952 0.10399465
+v 0.29411014 0.16145450 0.10422524
+v 0.29411014 0.16139968 0.10449272
+v 0.29411014 0.15670017 0.10449272
+v 0.29411014 0.15660963 0.10427135
+v 0.29411014 0.15649999 0.10399465
+v 0.36605964 0.15650049 0.10399465
+v 0.36605964 0.16142562 0.01077234
+v 0.36479898 0.16149952 0.01077234
+v 0.29411014 0.16149952 0.10399465
+v 0.29411014 0.15649999 0.01077234
+v 0.36605964 0.15650049 0.01077234
+v 0.29411014 0.16149952 0.01077234
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 28
+f 1 28 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 2
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+f 2 14 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
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+f 4 11 12
+f 4 12 9
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+f 8 17 10
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+f 17 26 18
+f 22 27 28
+f 22 28 23
+f 24 28 27
+f 24 27 29
+f 24 29 25
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_021.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cae4d4eda43015b6f02c907b15af2dc8c43a70d
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_021.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03479947 0.00148575 0.05384642
+v 0.03577729 0.00148575 0.00500393
+v 0.01480051 0.00148575 0.05384642
+v 0.03479947 -0.13612520 0.05384642
+v 0.03578040 -0.13612520 0.00500393
+v 0.01480051 0.00148575 0.00500393
+v 0.00417133 -0.01281954 0.05384642
+v 0.00417133 -0.13612520 0.05384642
+v 0.00417133 -0.13612520 0.00500393
+v 0.00417133 -0.01281954 0.00500393
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_022.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eddf845f769420b0b22fb889da458b72bfbd5f5
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_022.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.36760059 -0.15826854 0.00594838
+v 0.36760059 -0.15314652 0.00594838
+v 0.36763089 -0.15826661 0.00594838
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_023.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2fe7623c17891bfef04418963b86e31a2633c1
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_023.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_024.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003d253e6dc66df393728562f880f37337dd9943
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_024.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_025.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e5ee6bea7840fba3efc5a30d49b3d877e83277
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_025.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_026.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5026f6d046f539845f81623d8a5e437c9ade9
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_026.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03520001 0.13912122 0.00503750
+v -0.03520001 0.13912122 0.04637491
+v -0.03520001 0.14330054 0.00503750
+v 0.03560781 0.13912122 0.00503750
+v -0.03520001 0.14330054 0.04637491
+v 0.03479278 0.13912122 0.04637491
+v -0.03489532 0.14500004 0.00503750
+v 0.04261547 0.15374813 0.00503750
+v -0.03489532 0.14500004 0.04637491
+v 0.04112253 0.15374813 0.04637491
+v -0.03488010 0.14506734 0.00503750
+v -0.03101065 0.15374813 0.00503750
+v -0.03449925 0.14669955 0.04637491
+v -0.03101065 0.15374813 0.04637491
+v -0.03449925 0.14669955 0.00503750
+v -0.03159716 0.15299932 0.00503750
+v -0.03427835 0.14744836 0.04637491
+v -0.03159716 0.15299932 0.04637491
+v -0.03399652 0.14839905 0.00503750
+v -0.03241979 0.15163341 0.00503750
+v -0.03399652 0.14839905 0.04637491
+v -0.03336431 0.15005848 0.00503750
+v -0.03339477 0.14999977 0.04637491
+v -0.03397367 0.14846205 0.00503750
+v -0.03339477 0.14999977 0.00503750
+f 1 2 5
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+f 1 24 25
+f 1 25 22
+f 1 22 20
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_027.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7826da840fcf4505cd98dd31b9589c6988b050
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_027.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.03519998 -0.14020109 0.05384986
+v -0.03519998 -0.14020109 0.08898622
+v -0.03519998 -0.13984686 0.05384986
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+v -0.03519998 -0.13984686 0.08898622
+v -0.03489865 -0.14200139 0.08898622
+v 0.03479845 -0.13984686 0.05384986
+v -0.03489865 -0.14200139 0.05384986
+v 0.03479845 -0.13984686 0.08898622
+v -0.03477995 -0.14250900 0.08898622
+v 0.05807343 -0.15349892 0.05384986
+v -0.03449688 -0.14370129 0.05384986
+v 0.05807343 -0.15349892 0.08898622
+v -0.03449688 -0.14370129 0.08898622
+v 0.05807343 -0.15849818 0.05384986
+v -0.03399468 -0.14530076 0.05384986
+v 0.05807343 -0.15849818 0.08898622
+v -0.03399468 -0.14530076 0.08898622
+v -0.01519390 -0.15849818 0.05384986
+v -0.03370249 -0.14608040 0.05384986
+v -0.03391250 -0.14553446 0.08898622
+v -0.01519390 -0.15849818 0.08898622
+v -0.01545870 -0.15848540 0.08898622
+v -0.01607048 -0.15845070 0.05384986
+v -0.03339203 -0.14690023 0.05384986
+v -0.03339203 -0.14690023 0.08898622
+v -0.01699272 -0.15839958 0.08898622
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+v -0.03326420 -0.14713393 0.08898622
+v -0.03249719 -0.14850151 0.05384986
+v -0.03312724 -0.14738043 0.08898622
+v -0.01750405 -0.15833933 0.08898622
+v -0.01869108 -0.15819873 0.05384986
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+v -0.01869108 -0.15819873 0.08898622
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+v -0.02809604 -0.15379837 0.08898622
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+v -0.02669899 -0.15489937 0.05384986
+v -0.02669899 -0.15489937 0.08898622
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+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_028.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507ac91b0b955baae043371cb8fbd8146bc1bc0f
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_028.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03519998 -0.14020072 0.00500393
+v -0.03519998 -0.13612520 0.00500393
+v -0.03490898 -0.14193140 0.00500393
+v -0.03519998 -0.14020072 0.05384642
+v -0.03519998 -0.13612520 0.05384642
+v 0.03577387 -0.13612520 0.00500393
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+v -0.03489367 -0.14200012 0.05384642
+v 0.03479366 -0.13612520 0.05384642
+v 0.04303361 -0.15074951 0.00500393
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+v -0.03470221 -0.14282897 0.05384642
+v 0.04112677 -0.15074951 0.05384642
+v -0.03092685 -0.15074951 0.00500393
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+v -0.03449545 -0.14369932 0.05384642
+v -0.03092685 -0.15074951 0.05384642
+v -0.03098045 -0.15068510 0.00500393
+v -0.03403598 -0.14517806 0.00500393
+v -0.03399768 -0.14529975 0.05384642
+v -0.03159309 -0.14989919 0.05384642
+v -0.03159309 -0.14989919 0.00500393
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+v -0.03206023 -0.14918057 0.05384642
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+v -0.03249673 -0.14849917 0.00500393
+v -0.03256565 -0.14837749 0.00500393
+v -0.03295620 -0.14767892 0.05384642
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+f 28 32 29
+f 29 32 33
+f 30 33 32
+f 30 32 31
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_029.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdf6fd445132f55f022d0ed77aa49bd713dc242
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_029.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.20913704 0.00148575 0.00499953
+v 0.04303423 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00499953
+v 0.20913704 0.00148575 0.00000001
+v 0.03579169 0.00148575 0.00500344
+v -0.01172803 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00000001
+v 0.01581525 0.00148575 0.00000001
+v 0.01479913 0.00148575 0.00500344
+v -0.01172803 -0.00803641 0.00500344
+v -0.01172803 -0.15074951 0.00000001
+v 0.01531800 0.00148575 0.00010042
+v -0.01172803 -0.00954147 0.00000001
+v -0.01172803 -0.00879639 0.00010042
+v 0.01479913 0.00148575 0.00100021
+v -0.01172803 -0.00803641 0.00100021
+v 0.01490723 0.00148575 0.00050011
+v -0.01172803 -0.00824503 0.00050011
+f 1 2 3
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+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 15
+f 1 15 9
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+f 8 14 12
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+f 12 16 17
+f 15 17 16
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_030.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b78fc36c168df7295c2d4d2785cac039b20a8ed
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_030.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00158925 -0.15849999 0.08898966
+v 0.02891424 -0.15848433 0.08898966
+v 0.00158925 -0.15849999 0.10399858
+v 0.00158925 0.00148575 0.08898966
+v 0.02891424 -0.15848433 0.10399858
+v 0.02891424 0.00148575 0.08898966
+v 0.02891424 -0.15846866 0.10405657
+v 0.02891424 -0.15845302 0.10409731
+v 0.02891424 -0.15829640 0.10449851
+v 0.00158925 -0.15835905 0.10434650
+v 0.01490266 0.00148575 0.10450165
+v 0.00158925 -0.01383003 0.10489971
+v 0.02891424 0.00148575 0.10500001
+v 0.00158925 -0.15829640 0.10449851
+v 0.02891424 -0.15799886 0.10489971
+v 0.01529856 0.00148575 0.10489971
+v 0.00158925 -0.01433116 0.10500001
+v 0.01580145 0.00148575 0.10500001
+v 0.02891424 -0.15749773 0.10500001
+v 0.00158925 -0.15810849 0.10474769
+v 0.00158925 -0.15749773 0.10500001
+v 0.00158925 -0.15768565 0.10496083
+v 0.00158925 -0.15799886 0.10488091
+v 0.00158925 -0.15806151 0.10480725
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 15
+f 2 15 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 16
+f 4 16 18
+f 4 18 13
+f 4 13 6
+f 4 12 11
+f 9 14 10
+f 9 15 14
+f 11 12 16
+f 12 17 16
+f 13 18 17
+f 13 17 21
+f 13 21 19
+f 14 15 20
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 16 17 18
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_031.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a222a779890ac06f512d0f71b38b3508ea7c7dac
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_031.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03877066 0.00148575 0.10800001
+v 0.03927093 0.00148575 0.10789952
+v 0.03077269 0.00148575 0.10800001
+v 0.03978823 -0.14310589 0.10800001
+v 0.03967115 0.00148575 0.10749944
+v 0.03027241 0.00148575 0.10789952
+v 0.03077269 -0.13847044 0.10800001
+v 0.03978823 -0.14169647 0.10789952
+v 0.03977121 0.00148575 0.10699888
+v 0.03978823 -0.15466320 0.10800001
+v 0.02987220 0.00148575 0.10749944
+v 0.03027241 -0.13847044 0.10789952
+v 0.03087168 -0.14016176 0.10800001
+v 0.03978823 0.00148575 0.09491829
+v 0.03887071 -0.15406811 0.10800001
+v 0.03857162 -0.15447527 0.10789952
+v 0.03978823 -0.15519565 0.10789952
+v 0.02891530 0.00148575 0.10499847
+v 0.02987220 -0.13847044 0.10749944
+v 0.03037248 -0.14016176 0.10789952
+v 0.03057258 -0.14186873 0.10789952
+v 0.03107179 -0.14177477 0.10800001
+v 0.03978823 0.00148575 0.08900082
+v 0.03757107 -0.15306585 0.10800001
+v 0.02891530 -0.15799885 0.10489984
+v 0.03597127 -0.15226718 0.10789952
+v 0.03978823 -0.15561847 0.10749944
+v 0.02891530 0.00148575 0.08899151
+v 0.02891530 -0.15749772 0.10499847
+v 0.02997226 -0.14016176 0.10749944
+v 0.03097174 -0.14346608 0.10789952
+v 0.03137196 -0.14337212 0.10800001
+v 0.03479935 0.00148575 0.08899151
+v 0.03978823 -0.14968322 0.08899151
+v 0.03637149 -0.15187567 0.10800001
+v 0.02891530 -0.15829639 0.10449976
+v 0.03978823 -0.15799885 0.10489984
+v 0.03487066 -0.15096737 0.10789952
+v 0.03377220 -0.14966757 0.10789952
+v 0.03517083 -0.15066982 0.10800001
+v 0.02891530 -0.15849998 0.08899151
+v 0.03287170 -0.14816418 0.10789952
+v 0.03207233 -0.14667645 0.10789952
+v 0.03147200 -0.14517306 0.10789952
+v 0.03187222 -0.14496947 0.10800001
+v 0.03978823 -0.15849998 0.08899151
+v 0.02891530 -0.15849998 0.10399920
+v 0.03978823 -0.15829639 0.10449976
+v 0.03417242 -0.14937002 0.10800001
+v 0.03327192 -0.14797626 0.10800001
+v 0.03978823 -0.15849998 0.10399920
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 33
+f 1 33 28
+f 1 28 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 32
+f 1 32 45
+f 1 45 50
+f 1 50 49
+f 1 49 40
+f 1 40 35
+f 1 35 24
+f 1 24 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 7
+f 4 8 9
+f 4 9 5
+f 4 10 17
+f 4 17 27
+f 4 27 37
+f 4 37 48
+f 4 48 51
+f 4 51 46
+f 4 46 34
+f 4 34 23
+f 4 23 14
+f 4 14 8
+f 6 11 19
+f 6 19 12
+f 7 12 13
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 11 18 29
+f 11 29 19
+f 12 19 30
+f 12 30 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 24 16
+f 16 25 17
+f 16 24 26
+f 16 26 25
+f 17 25 27
+f 18 28 41
+f 18 41 47
+f 18 47 36
+f 18 36 25
+f 18 25 29
+f 19 29 30
+f 20 30 29
+f 20 29 21
+f 21 31 32
+f 21 32 22
+f 21 29 31
+f 23 34 33
+f 24 35 26
+f 25 36 48
+f 25 48 37
+f 25 37 27
+f 25 26 38
+f 25 38 39
+f 25 39 29
+f 26 35 40
+f 26 40 38
+f 28 33 34
+f 28 34 46
+f 28 46 41
+f 29 39 42
+f 29 42 43
+f 29 43 44
+f 29 44 31
+f 31 44 32
+f 32 44 45
+f 36 47 51
+f 36 51 48
+f 38 40 39
+f 39 40 49
+f 39 49 50
+f 39 50 42
+f 41 46 51
+f 41 51 47
+f 42 50 43
+f 43 50 45
+f 43 45 44
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_032.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd54785e3deeebb08b5b4160e46e599feaa9bde
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_032.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03479932 0.13912122 0.04637491
+v 0.03560940 0.13912122 0.00503750
+v 0.00341427 0.13912122 0.04637491
+v 0.03479932 0.00149922 0.04637491
+v 0.03561254 0.00149922 0.00503750
+v 0.00341427 0.13912122 0.00503750
+v 0.00341427 0.01606304 0.04637491
+v 0.03160313 0.00149922 0.04637491
+v 0.01629674 0.00149922 0.00503750
+v 0.00341427 0.01606304 0.00503750
+v 0.01480266 0.00151269 0.04637491
+v 0.01480266 0.00151269 0.00503750
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 12
+f 2 12 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 12
+f 7 12 11
+f 8 11 9
+f 9 11 12
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_033.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea25f50286acfa86355f4a6c9c33e0b9146f22c
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_033.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00341113 0.13912122 0.04637491
+v 0.00341113 0.13912122 0.00503750
+v -0.03520001 0.13912122 0.04637491
+v 0.00341113 0.01606304 0.04637491
+v -0.03520001 0.13912122 0.00503750
+v 0.00341113 0.01606304 0.00503750
+v -0.03520001 0.06317651 0.04637491
+v -0.01520279 0.00149922 0.04637491
+v -0.03519623 0.00149922 0.00503750
+v -0.01520279 0.00151269 0.00503750
+v -0.03519623 0.00149922 0.04637491
+v -0.01648404 0.00149922 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 11 9
+f 8 9 12
+f 8 12 10
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_034.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1f8cba8ac9602ffba90b1bd8e737e1cf9c4dea
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_034.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.13931583 0.09441089
+v 0.03979361 -0.13931583 0.08900001
+v 0.03978824 -0.13931583 0.09495857
+v 0.03978824 -0.01404708 0.08900001
+v 0.05808255 -0.13931583 0.08900001
+v 0.05808255 -0.13931583 0.09399969
+v 0.03978824 -0.13854402 0.09495857
+v 0.03978824 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.09399969
+v 0.03978824 0.00148575 0.09491657
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 7
+f 5 9 10
+f 5 10 6
+f 7 10 11
+f 8 11 10
+f 8 10 9
+
diff --git a/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1755076606c886afe604640a908552e80bb60a74
--- /dev/null
+++ b/assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.14310721 0.10800001
+v 0.05808255 -0.14947688 0.10800001
+v 0.03978824 -0.14170258 0.10789952
+v 0.03978824 -0.15466539 0.10800001
+v 0.05808255 -0.14897550 0.10789952
+v 0.05808255 -0.15747654 0.10800001
+v 0.03978824 -0.14113921 0.10774321
+v 0.03978824 -0.15520621 0.10789952
+v 0.04027175 -0.15497524 0.10800001
+v 0.05808255 -0.14857740 0.10749944
+v 0.03978824 -0.13968951 0.10730405
+v 0.04976989 -0.15747654 0.10800001
+v 0.05808255 -0.15797606 0.10789952
+v 0.04007297 -0.15537711 0.10789952
+v 0.03978824 -0.15562686 0.10749944
+v 0.04157182 -0.15617707 0.10789952
+v 0.04327304 -0.15637613 0.10800001
+v 0.05808255 -0.13931771 0.09400090
+v 0.03978824 -0.13944351 0.10699888
+v 0.04807225 -0.15737702 0.10800001
+v 0.04976989 -0.15797606 0.10789952
+v 0.05808255 -0.15837604 0.10749944
+v 0.03987241 -0.15567569 0.10749944
+v 0.03978824 -0.15799859 0.10489984
+v 0.04137306 -0.15647565 0.10749944
+v 0.04297220 -0.15717609 0.10749944
+v 0.04307248 -0.15677611 0.10789952
+v 0.04487219 -0.15687563 0.10800001
+v 0.05808255 -0.13931771 0.08900082
+v 0.03978824 -0.13931771 0.09495923
+v 0.04647312 -0.15717609 0.10800001
+v 0.04637284 -0.15767560 0.10789952
+v 0.04807225 -0.15787652 0.10789952
+v 0.04976989 -0.15837604 0.10749944
+v 0.05808255 -0.15847556 0.10699888
+v 0.03978824 -0.15829905 0.10449976
+v 0.04467341 -0.15767560 0.10749944
+v 0.04477190 -0.15727562 0.10789952
+v 0.03978824 -0.14968720 0.08899151
+v 0.03979361 -0.13931771 0.08900082
+v 0.05808255 -0.15349925 0.08899151
+v 0.03978824 -0.13931771 0.09441214
+v 0.04637284 -0.15807558 0.10749944
+v 0.04807225 -0.15827652 0.10749944
+v 0.03978824 -0.15849998 0.10399920
+v 0.04976989 -0.15847556 0.10699888
+v 0.05808255 -0.15849998 0.10399920
+v 0.03978824 -0.14828445 0.08900082
+v 0.03978824 -0.15849998 0.08899151
+v 0.05808255 -0.15849998 0.08899151
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 19
+f 1 19 30
+f 1 30 42
+f 1 42 48
+f 1 48 39
+f 1 39 49
+f 1 49 45
+f 1 45 36
+f 1 36 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 31
+f 1 31 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 22
+f 2 22 35
+f 2 35 47
+f 2 47 50
+f 2 50 41
+f 2 41 29
+f 2 29 18
+f 2 18 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 6 12 21
+f 6 21 13
+f 8 14 9
+f 8 15 14
+f 9 14 16
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 33
+f 12 33 21
+f 13 21 34
+f 13 34 22
+f 14 15 23
+f 14 23 16
+f 15 24 23
+f 16 23 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 29 40
+f 18 40 42
+f 18 42 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 21 33 44
+f 21 44 34
+f 22 34 46
+f 22 46 35
+f 23 24 25
+f 24 36 26
+f 24 26 25
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 28
+f 28 38 32
+f 28 32 31
+f 29 39 40
+f 29 41 39
+f 32 37 43
+f 32 43 44
+f 32 44 33
+f 32 38 37
+f 34 45 46
+f 34 44 45
+f 35 46 45
+f 35 45 47
+f 36 45 43
+f 36 43 37
+f 39 48 40
+f 39 41 50
+f 39 50 49
+f 40 48 42
+f 43 45 44
+f 45 49 50
+f 45 50 47
+
diff --git a/assets/articulated/artvip/cabinet_12/mjcf/model.xml b/assets/articulated/artvip/cabinet_12/mjcf/model.xml
index 4033bebabbf651f58b44eb86294ad5dac8d977e0..a5c9a6a8d8293fc7213643ea40beba5713324c97 100644
--- a/assets/articulated/artvip/cabinet_12/mjcf/model.xml
+++ b/assets/articulated/artvip/cabinet_12/mjcf/model.xml
@@ -111,6 +111,78 @@
     <mesh name="collision_E_drawer1_4_035" content_type="model/obj" file="../meshes/collision/E_drawer1_4/collision_E_drawer1_4_035.obj" />
     <mesh name="E_drawer1_7_0" content_type="model/obj" file="../meshes/visual/E_drawer1_7/E_drawer1_7_0.obj" />
     <mesh name="E_drawer1_7_1" content_type="model/obj" file="../meshes/visual/E_drawer1_7/E_drawer1_7_1.obj" />
+    <mesh name="collision_E_drawer1_1_000" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj" />
+    <mesh name="collision_E_drawer1_1_001" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj" />
+    <mesh name="collision_E_drawer1_1_002" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj" />
+    <mesh name="collision_E_drawer1_1_003" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj" />
+    <mesh name="collision_E_drawer1_1_004" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj" />
+    <mesh name="collision_E_drawer1_1_005" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj" />
+    <mesh name="collision_E_drawer1_1_006" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj" />
+    <mesh name="collision_E_drawer1_1_007" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj" />
+    <mesh name="collision_E_drawer1_1_008" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj" />
+    <mesh name="collision_E_drawer1_1_009" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj" />
+    <mesh name="collision_E_drawer1_1_010" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj" />
+    <mesh name="collision_E_drawer1_1_011" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj" />
+    <mesh name="collision_E_drawer1_1_012" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj" />
+    <mesh name="collision_E_drawer1_1_013" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj" />
+    <mesh name="collision_E_drawer1_1_014" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj" />
+    <mesh name="collision_E_drawer1_1_015" content_type="model/obj" file="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj" />
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+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_1_031" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_1_032" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_1_033" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_1_034" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_1_035" group="3" />
       </body>
       <body name="E_drawer1_4" pos="-0.0968644 -0.172977 0.33" quat="0.991445 0 0 0.130526">
         <inertial pos="0.1748 0.00151146 0.0539999" quat="0 0.707107 0 0.707107" mass="0.760396" diaginertia="0.0176675 0.0119169 0.00722875" />
@@ -300,56 +358,42 @@
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+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_019" group="3" />
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+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_021" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_022" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_023" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_024" group="3" />
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+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_026" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_027" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_028" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_029" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_030" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_031" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_032" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_033" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_034" group="3" />
+        <geom type="mesh" rgba="0.1333 0.251 0.0196 1" mesh="collision_E_drawer1_7_035" group="3" />
       </body>
     </body>
   </worldbody>
diff --git a/assets/articulated/artvip/cabinet_12/reports/collision_passthrough.json b/assets/articulated/artvip/cabinet_12/reports/collision_passthrough.json
index 389217da41584a0e32076412b3846ea2a0714f5c..ea9cf1bf4b5150da132172bbf27d2d56a89307c7 100644
--- a/assets/articulated/artvip/cabinet_12/reports/collision_passthrough.json
+++ b/assets/articulated/artvip/cabinet_12/reports/collision_passthrough.json
@@ -1,32 +1,40 @@
 {
-  "body_policies": {
-    "E_body_10": {
-      "collision_mesh_count": 58,
-      "policy": "urdf_collision",
-      "prevalidated_proxy_count": 0
-    },
-    "E_drawer1_1": {
-      "collision_mesh_count": 0,
-      "policy": "cavity_repair_voxbox",
-      "prevalidated_proxy_count": 0
-    },
-    "E_drawer1_4": {
-      "collision_mesh_count": 36,
-      "policy": "urdf_collision",
-      "prevalidated_proxy_count": 0
-    },
-    "E_drawer1_7": {
-      "collision_mesh_count": 0,
-      "policy": "cavity_repair_voxbox",
-      "prevalidated_proxy_count": 0
-    }
+ "body_policies": {
+  "E_body_10": {
+   "collision_mesh_count": 58,
+   "policy": "urdf_collision",
+   "prevalidated_proxy_count": 0
   },
-  "bundle_manifest_sha256": null,
-  "passthrough_urdf_count": 0,
-  "proxies": [],
-  "repair_report_sha256": null,
-  "schema_version": 1,
-  "source_proxy_count": 0,
-  "source_usd_sha256": "1f678b4b1da71f2a684490e4a5cad27d4b9edc4d205afa543a4da01be3d83b31",
-  "status": "passed"
+  "E_drawer1_1": {
+   "collision_mesh_count": 36,
+   "policy": "coacd_shared_part_reuse",
+   "prevalidated_proxy_count": 0,
+   "reused_from": {
+    "revision": "710e52db2bb581ede393d2eaea6cff98ce20ee8c",
+    "link": "E_drawer1_7"
+   }
+  },
+  "E_drawer1_4": {
+   "collision_mesh_count": 36,
+   "policy": "urdf_collision",
+   "prevalidated_proxy_count": 0
+  },
+  "E_drawer1_7": {
+   "collision_mesh_count": 36,
+   "policy": "coacd_shared_part_reuse",
+   "prevalidated_proxy_count": 0,
+   "reused_from": {
+    "revision": "710e52db2bb581ede393d2eaea6cff98ce20ee8c",
+    "link": "E_drawer1_7"
+   }
+  }
+ },
+ "bundle_manifest_sha256": null,
+ "passthrough_urdf_count": 0,
+ "proxies": [],
+ "repair_report_sha256": null,
+ "schema_version": 1,
+ "source_proxy_count": 0,
+ "source_usd_sha256": "1f678b4b1da71f2a684490e4a5cad27d4b9edc4d205afa543a4da01be3d83b31",
+ "status": "passed"
 }
diff --git a/assets/articulated/artvip/cabinet_12/urdf/model.urdf b/assets/articulated/artvip/cabinet_12/urdf/model.urdf
index dc01dab8149f89cb541148bfa2d2b6129401c843..6d258cbb973b4369a98b63ab1795114631b21f4f 100644
--- a/assets/articulated/artvip/cabinet_12/urdf/model.urdf
+++ b/assets/articulated/artvip/cabinet_12/urdf/model.urdf
@@ -397,303 +397,183 @@
       <inertia ixx="0.007228756021" ixy="0" ixz="0" iyy="0.01191693763" iyz="0" izz="0.01766748202" />
     </inertial>
     <collision>
-      <origin xyz="0.1728 -0.0825 1e-08" />
       <geometry>
-        <box size="0.424 0.144 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0312 -0.1505 0.056" />
       <geometry>
-        <box size="0.016 0.008 0.104" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0352 0.00950002 0.056" />
       <geometry>
-        <box size="0.008 0.312 0.104" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0232 -0.00649998 1e-08" />
       <geometry>
-        <box size="0.032 0.008 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0272 0.0815 1e-08" />
       <geometry>
-        <box size="0.024 0.168 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="0.1728 -0.1585 0.052" />
       <geometry>
-        <box size="0.408 0.008 0.112" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="0.00880001 -0.1425 0.104" />
       <geometry>
-        <box size="0.08 0.008 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="0.00480001 -0.0745 0.104" />
       <geometry>
-        <box size="0.072 0.128 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0192 -0.00649998 0.104" />
       <geometry>
-        <box size="0.024 0.008 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0232 0.0815 0.104" />
       <geometry>
-        <box size="0.016 0.168 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj" />
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     </collision>
     <collision>
-      <origin xyz="0.1728 0.1615 0.052" />
       <geometry>
-        <box size="0.408 0.008 0.096" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj" />
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     </collision>
     <collision>
-      <origin xyz="0.1808 -0.1505 0.104" />
       <geometry>
-        <box size="0.408 0.008 0.008" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0152 -0.00649998 0.052" />
       <geometry>
-        <box size="0.016 0.008 0.096" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj" />
       </geometry>
     </collision>
     <collision>
-      <origin xyz="-0.0192 0.00550002 0.052" />
       <geometry>
-        <box size="0.008 0.016 0.096" />
+        <mesh filename="../meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj" />
       </geometry>
     </collision>
     <collision>
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+        <mesh filename="../meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj" />
       </geometry>
     </collision>
   </link>
diff --git a/assets/articulated/artvip/cabinet_12/usd/model.usd b/assets/articulated/artvip/cabinet_12/usd/model.usd
index e8e863431af96c06448660e80e96c427bb47b05b..6e877de2a0a05f6b84feef434b09a72e440d4651 100644
--- a/assets/articulated/artvip/cabinet_12/usd/model.usd
+++ b/assets/articulated/artvip/cabinet_12/usd/model.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5603234
+oid sha256:d78ab1bb5a06ef140395766ddf7cc6172728b64c1dca3eaa2e1405c9024838ae
+size 5642163