diff --git a/.gitattributes b/.gitattributes
index 7c89880c295bbd61a52b9484c30b1b1c2def2c09..56ec592f82b260546c1608a4c1f108f7c59fd8e3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2791,3 +2791,4 @@ dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/jewelry_box_03
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/mesh/jewelry_box_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.urdf b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..870fb0269e312fe403915e714d059ada4d2f5ba1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="box">
+   <link name="box">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/box.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/box_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.468504</scale>
+         <version>v0.1.5</version>
+         <category>box</category>
+         <description>brown cardboard box with open flaps on top</description>
+         <min_height>0.3</min_height>
+         <max_height>0.4</max_height>
+         <real_height>0.35</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20251012012447</generate_time>
+         <gs_model>mesh/box_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.543377041816711</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd
new file mode 100644
index 0000000000000000000000000000000000000000..87b84fc6e26f5e3c6675838f65947c8199a56e4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334bdc4df8e2237f7a666284bbaa1a3ba5e41aa1e49ad3eba397de26566527fa
+size 685241
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.glb b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.glb
new file mode 100644
index 0000000000000000000000000000000000000000..81cf7d7dd98bba438708001602807fe645ae0a1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3201a964a450cd1ec4abada3120dcac9461cc06143854af27bd9cdf4ed6a405a
+size 1280408
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e9ecd78a16bda7858ab18388dd37134df1f11b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box.obj
@@ -0,0 +1,42258 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_collision.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c889d201c4a5ae76eda1331056c17184005b80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_gs.ply b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..074c9f0ada67ec7593511b518baed8b0292fbf46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/box_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e2c55ace317ac54aec4204b65c9a032ecf17270b3d2cc1cb7614da4451c65b
+size 43818346
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material.mtl b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material_0.png b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cae5cdde10edb52131bbedcd615f6ecb2a5e002d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c9203410a42ab9eb45b08547a199c9d0588326bece66361f260b83d626a492
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/855d2342d4205a288c869c2cd5f1c388.xml b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/855d2342d4205a288c869c2cd5f1c388.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15ee8d2a1c57310a58508cbf3d3d3bfc59f50529
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/855d2342d4205a288c869c2cd5f1c388.xml
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+    <mesh name="collision_mesh_0_4" file="mesh/box_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/box_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/box_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/box_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/box_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/box_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/box_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/box_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/box_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/box_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/box_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/box_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/box_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/box_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/box_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/box_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/box_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/box_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/box_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/box_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/box_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/box_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/box_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/box_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/box_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/box_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/box_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/box_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/box_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/box_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/box_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/box_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/box_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/box_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/box_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/box_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/box_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/box_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/box_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/box_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/box_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/box_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/box_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/box_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/box_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="box">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0dae82778ada2f95cdce46f73be5f034c0f5f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box.obj
@@ -0,0 +1,42258 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66245a5dd177cfbe9d08350500d12876f67e7fe6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_0.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a615ca9e1985b7ef540d97f03993347932df779b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_1.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16da7a42522e7cfa5751f451c849d6c86307a4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_10.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f982e3b6e68b61efc494b6518f2926f534eb977
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_11.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb99cf3ac6112fd3f1f0872c098def6cf22de0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_11.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_12.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340e3e7169cb2f7a34f006fd3c49e80146bc7022
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_13.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f160f409d50863acef0489d79440daf970e72eb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.15807237 -0.20503897 0.16412294
+v -0.15807237 -0.21619301 0.16213073
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+v -0.09869718 -0.21602896 0.16190133
+v -0.15807237 -0.19940042 0.15687869
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+v -0.15807237 -0.19668324 0.04104267
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+v -0.15807237 -0.19458540 0.14263163
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+v 0.07538184 -0.18802753 0.11954654
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_14.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..719504a387bd8c8cea8231d49249a41d5d521778
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_14.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.10190090 -0.18128342 0.04104889
+v 0.10190090 -0.19712148 0.04104884
+v 0.10190090 -0.18128342 0.04187621
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+v 0.10190090 -0.19683831 0.10411600
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_15.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad208ccf9864c62995178829b5d16273a9688c16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.10190433 0.19741134 0.04105196
+v 0.10651602 0.19756368 0.04105196
+v 0.10190433 0.18180388 0.04105190
+v 0.10190433 0.20137705 0.12117471
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+v 0.10800277 0.17491684 0.04105187
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+v 0.10190433 0.18188404 0.04648754
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+v 0.12739595 0.17491684 0.04105187
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+v 0.10831595 0.17491675 0.06568088
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+v 0.11599063 0.17491658 0.11184852
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+v 0.13196978 0.17492990 0.12117461
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+v 0.10190433 0.18442539 0.10415396
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+v 0.12604341 0.18683355 0.04105192
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 22
+f 1 22 39
+f 1 39 49
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+f 1 48 47
+f 1 47 40
+f 1 40 23
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+f 1 30 29
+f 1 29 44
+f 1 44 43
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+f 1 18 10
+f 1 10 4
+f 1 4 2
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+f 8 16 14
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+f 10 19 17
+f 11 12 20
+f 12 21 22
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+f 15 28 29
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+f 15 30 31
+f 15 31 32
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+f 17 33 34
+f 17 19 33
+f 18 35 36
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+f 21 38 22
+f 22 38 39
+f 23 40 38
+f 23 38 24
+f 26 34 27
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+f 35 46 45
+f 38 40 47
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+f 38 48 49
+f 38 49 39
+f 41 46 42
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_16.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32bd45a0c557442347c5c3ddc7b57e0afe274929
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.18690200 0.17310377 -0.17051018
+v -0.18690200 0.17345079 -0.17042683
+v -0.18144195 0.17310377 -0.17155210
+v -0.18690200 0.17310370 -0.15285982
+v -0.18144195 0.17445354 -0.17117702
+v -0.18690200 0.17512727 -0.16950992
+v -0.17999213 0.17310377 -0.17163547
+v -0.17792453 0.17310299 0.04104403
+v -0.18690200 0.18441704 0.04104407
+v -0.17365719 0.17448507 -0.17140624
+v -0.17365719 0.17310377 -0.17184385
+v -0.18690200 0.18097469 -0.16586314
+v -0.18144195 0.17832477 -0.16861383
+v -0.16594384 0.17310299 0.04104403
+v -0.18690200 0.19564997 0.04104411
+v -0.15042073 0.17448733 -0.17136457
+v -0.17365719 0.17835631 -0.16859300
+v -0.15042073 0.17835857 -0.16859300
+v -0.15663425 0.17310377 -0.17178134
+v -0.15042073 0.17312181 -0.17178134
+v -0.18690200 0.18479860 -0.16192460
+v -0.18144195 0.18204052 -0.16477951
+v -0.15042073 0.18141108 0.04104406
+v -0.15042073 0.17310370 -0.15367253
+v -0.18690200 0.19565223 0.04027308
+v -0.15042073 0.19612093 0.04104411
+v -0.15042073 0.17841040 -0.16855133
+v -0.15042073 0.17310377 -0.17144792
+v -0.15042073 0.18205403 -0.16469616
+v -0.18690200 0.18595231 -0.16069512
+v -0.18690200 0.19590047 -0.05975255
+v -0.15042073 0.19609435 -0.08821818
+v -0.18690200 0.19595918 -0.09592849
+v -0.18690200 0.19595240 -0.08821818
+v -0.18690200 0.19592756 -0.07283924
+v -0.18690200 0.19591853 -0.06744202
+v -0.15809479 0.18587795 -0.16063260
+v -0.15042073 0.18591401 -0.16054925
+v -0.18690200 0.18826874 -0.15800693
+v -0.16587956 0.18927599 -0.15679827
+v -0.15809479 0.18926247 -0.15677744
+v -0.15042073 0.19607862 -0.09592849
+v -0.18144195 0.19595702 -0.11901774
+v -0.18690200 0.19594125 -0.11901774
+v -0.18690200 0.19595247 -0.10591022
+v -0.15042073 0.18918811 -0.15675661
+v -0.18690200 0.18926922 -0.15683994
+v -0.16587956 0.19314497 -0.15138021
+v -0.15809479 0.19313370 -0.15135936
+v -0.15042073 0.19605386 -0.10361796
+v -0.17365719 0.19597054 -0.11901774
+v -0.18690200 0.19590973 -0.12670721
+v -0.15042073 0.19305934 -0.15125518
+v -0.18690200 0.19313820 -0.15138021
+v -0.18690200 0.19438429 -0.14869201
+v -0.18690200 0.19491382 -0.14754589
+v -0.16587956 0.19491382 -0.14752504
+v -0.15809479 0.19490030 -0.14750421
+v -0.15042073 0.19487101 -0.14740002
+v -0.15042073 0.19602684 -0.11130743
+v -0.17365719 0.19592550 -0.12670721
+v -0.15042073 0.19598857 -0.11901774
+v -0.18690200 0.19583989 -0.13439668
+v -0.18690200 0.19567092 -0.14210699
+v -0.17365719 0.19567994 -0.14210699
+v -0.16587956 0.19568444 -0.14210699
+v -0.15809479 0.19567318 -0.14210699
+v -0.15042073 0.19565064 -0.14210699
+v -0.15042073 0.19593677 -0.12660301
+v -0.15042073 0.19587370 -0.13439668
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 19
+f 1 19 28
+f 1 28 24
+f 1 24 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 31
+f 1 31 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 45
+f 1 45 44
+f 1 44 52
+f 1 52 63
+f 1 63 64
+f 1 64 56
+f 1 56 55
+f 1 55 54
+f 1 54 47
+f 1 47 39
+f 1 39 30
+f 1 30 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
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+f 5 11 7
+f 5 6 12
+f 5 12 13
+f 5 13 10
+f 8 14 23
+f 8 23 26
+f 8 26 15
+f 8 15 9
+f 10 16 11
+f 10 13 17
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+f 10 18 16
+f 11 16 20
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+f 13 22 17
+f 14 24 23
+f 15 26 25
+f 16 18 27
+f 16 27 29
+f 16 29 38
+f 16 38 46
+f 16 46 53
+f 16 53 59
+f 16 59 68
+f 16 68 70
+f 16 70 69
+f 16 69 62
+f 16 62 60
+f 16 60 50
+f 16 50 42
+f 16 42 32
+f 16 32 26
+f 16 26 23
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+f 16 28 20
+f 17 27 18
+f 17 22 27
+f 19 20 28
+f 21 29 27
+f 21 27 22
+f 21 30 29
+f 25 26 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 31
+f 29 30 37
+f 29 37 38
+f 30 39 40
+f 30 40 41
+f 30 41 37
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 37 41 38
+f 38 41 46
+f 39 47 40
+f 40 47 48
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+f 40 49 41
+f 41 49 46
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 43 52 44
+f 46 49 53
+f 47 54 48
+f 48 54 55
+f 48 55 56
+f 48 56 57
+f 48 57 49
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+f 49 58 59
+f 49 59 53
+f 50 60 51
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+f 52 61 63
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+f 58 67 68
+f 58 68 59
+f 61 62 69
+f 61 69 70
+f 61 70 63
+f 63 70 64
+f 64 70 65
+f 65 70 66
+f 66 70 67
+f 67 70 68
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_17.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d878c5e1251ef89d17e51fe03686426cadf0794
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_17.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.12865062 0.17491772 -0.12671874
+v 0.12828645 0.15168991 -0.13441648
+v 0.12827673 0.15944414 -0.13441645
+v 0.12824273 0.17491774 -0.13441640
+v 0.12790284 0.17862931 -0.13441638
+v 0.12816505 0.17862929 -0.12671872
+v 0.12816505 0.17862929 -0.12663408
+v 0.12863605 0.17500485 -0.12663410
+v 0.12864577 0.17491772 -0.12663410
+v 0.12864577 0.00063054 -0.12663474
+v 0.12864577 0.00063054 -0.12671938
+v 0.12837384 0.00063056 -0.13441704
+v 0.12836898 0.01237517 -0.13441699
+v 0.12694625 0.15168993 -0.13967365
+v 0.12701909 0.01237519 -0.13975879
+v 0.12689769 0.17491776 -0.13954190
+v 0.12676659 0.17862933 -0.13933499
+v 0.12693168 0.15944416 -0.13965010
+v 0.10572168 0.17862929 -0.12663408
+v 0.10743578 0.00063054 -0.12663474
+v 0.12701909 0.00063058 -0.13975415
+v 0.12700938 0.02011199 -0.13976348
+v 0.08317150 0.02011212 -0.17307924
+v 0.08317150 0.02784892 -0.17306981
+v 0.08711924 0.13621642 -0.16908656
+v 0.08707554 0.14045077 -0.16905363
+v 0.08672592 0.16718107 -0.16878551
+v 0.08650741 0.17491787 -0.16866792
+v 0.08317150 0.07430458 -0.17274518
+v 0.08317150 0.08204139 -0.17266521
+v 0.09095044 0.17862943 -0.16513647
+v 0.08317150 0.03558573 -0.17301805
+v 0.08446799 0.17862935 -0.14352943
+v 0.07904410 0.00063063 -0.15261022
+v 0.07904410 0.17862936 -0.14800130
+v 0.08317150 0.00063071 -0.17302289
+v 0.08317150 0.01237532 -0.17306045
+v 0.07904410 0.02011212 -0.17466861
+v 0.07904410 0.02420705 -0.17466390
+v 0.07904410 0.02784892 -0.17465918
+v 0.07904410 0.03196128 -0.17464506
+v 0.08317150 0.12072541 -0.17214311
+v 0.08317150 0.12847964 -0.17203493
+v 0.08317150 0.13621643 -0.17191265
+v 0.08283645 0.16718108 -0.17127772
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+v 0.08186044 0.17862945 -0.17043127
+v 0.07904410 0.03969808 -0.17459330
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+v 0.07904410 0.08204140 -0.17426869
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+v 0.07904410 0.00063071 -0.17461226
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+v 0.07939857 0.00063071 -0.17447589
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+v 0.07904410 0.08976078 -0.17416522
+v 0.07904410 0.09751501 -0.17404763
+v 0.07904410 0.10525181 -0.17392534
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+v 0.07904410 0.13621644 -0.17336565
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+v 0.07904410 0.14031138 -0.17325748
+v 0.07904410 0.15169006 -0.17293298
+v 0.07904410 0.15944428 -0.17268373
+v 0.07904410 0.16718108 -0.17239217
+v 0.07904410 0.17491788 -0.17150340
+v 0.08036487 0.17862945 -0.17038894
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 10
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+f 1 11 12
+f 1 12 13
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+f 5 31 47
+f 5 47 67
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+f 29 32 48
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+f 34 35 53
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+f 34 56 51
+f 34 51 50
+f 34 50 49
+f 34 49 48
+f 34 48 41
+f 34 41 40
+f 34 40 39
+f 34 39 38
+f 34 38 55
+f 34 55 52
+f 36 54 37
+f 37 54 52
+f 37 52 55
+f 37 55 38
+f 42 51 43
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+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
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+f 45 60 62
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+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 47
+f 47 66 67
+f 53 67 66
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_18.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388e6622b54c891ef5fe631712d1e5aaacb1bffe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_18.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.19879085 0.18131929 0.13885671
+v -0.20721508 0.09197054 0.15802433
+v -0.20718794 0.09750264 0.15802435
+v -0.20684956 0.13622736 0.15802449
+v -0.20608074 0.18131922 0.15802466
+v -0.19879085 0.18131919 0.16513867
+v -0.19879085 0.09197061 0.13903134
+v -0.20405927 0.04329503 0.15033382
+v -0.20400692 0.08974382 0.15033399
+v -0.20722478 0.08974379 0.15802432
+v -0.20868198 0.03964171 0.16186803
+v -0.20416689 0.18131919 0.16513867
+v -0.20868198 0.03964171 0.16187575
+v -0.19879085 0.09197051 0.16477042
+v -0.20144736 -0.17412713 0.16512708
+v -0.20144736 -0.17412706 0.14629361
+v -0.20388476 -0.01860190 0.15033359
+v -0.20727616 -0.01860193 0.15798276
+v -0.20731980 0.03553614 0.15799840
+v -0.20868877 0.03553613 0.16184743
+v -0.20868877 0.03553613 0.16188859
+v -0.20479030 0.02781204 0.16487053
+v -0.20479030 -0.02632603 0.16490891
+v -0.20461577 -0.09598182 0.16501158
+v -0.20460705 -0.13470654 0.16502431
+v -0.20417368 -0.17339647 0.16512708
+v -0.20416689 -0.17412713 0.16512708
+v -0.20320027 -0.17412707 0.15033302
+v -0.20682921 -0.13470651 0.15802350
+v -0.20340872 -0.13470648 0.15033317
+v -0.20724514 -0.02632600 0.15798016
+v -0.20869071 -0.03178853 0.16184203
+v -0.20869459 -0.02632601 0.16182661
+v -0.20869459 -0.01860194 0.16182921
+v -0.20868973 0.02781206 0.16184225
+v -0.20868973 0.02781206 0.16189370
+v -0.20869459 -0.02632601 0.16190637
+v -0.20869071 -0.03178853 0.16189348
+v -0.20598185 -0.17412710 0.15866658
+v -0.20615927 -0.17412710 0.15802335
+v -0.20671675 -0.14243058 0.15802347
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 14
+f 1 14 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
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+f 5 13 12
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+f 6 15 14
+f 7 14 15
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+f 8 19 9
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+f 12 24 25
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+f 15 27 39
+f 15 39 40
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+f 15 28 16
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+f 16 29 30
+f 16 30 17
+f 17 30 29
+f 17 29 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 23
+f 23 36 37
+f 23 37 25
+f 23 25 24
+f 25 37 38
+f 25 38 26
+f 26 38 27
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+f 28 40 41
+f 28 41 29
+f 29 41 32
+f 29 32 31
+f 32 41 40
+f 32 40 38
+f 32 38 37
+f 32 37 33
+f 33 37 34
+f 34 37 36
+f 34 36 35
+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_19.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531095a6496774681a468052222876bdacd496c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_19.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.17365927 0.15943371 -0.11690826
+v -0.17804588 0.15943371 -0.11590327
+v -0.17804062 0.16718227 -0.11588779
+v -0.17365927 0.16718227 -0.11684640
+v -0.16900162 0.17310133 -0.11608877
+v -0.16906871 0.16718227 -0.11613518
+v -0.16904372 0.15943371 -0.11616612
+v -0.16857927 0.01237237 -0.11664596
+v -0.17337903 0.01237237 -0.11664596
+v -0.17341060 0.00462379 -0.11659960
+v -0.17801693 0.15170308 -0.11585692
+v -0.17862875 0.15943369 -0.11131128
+v -0.17865244 0.16718225 -0.11131126
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_2.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ed6e2276e62ba4ecbd78046662bdb6b273144c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_2.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_20.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8599feb9e8c8d9f59d500dda6c7a599cafe97bef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_20.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_21.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3630a578ebef6ea4272191b4e4e1b7af8e6a326
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_22.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86205c0a307223097600ecee0fcda8970a7683c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_23.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a67b54639c30cae43be0d54daf6da31ab8853b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_23.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.21863289 -0.01013782 -0.14980639
+v -0.21883663 -0.15794282 -0.14980693
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+v -0.21851402 -0.01013782 -0.15025721
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_24.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a305ee687c0f739123074145f4f90d65115eddf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.09336771 0.19814695 0.15273078
+v 0.05203026 0.19375230 0.14022395
+v 0.10108335 0.19814695 0.15266518
+v -0.15910241 0.19814695 0.15249026
+v -0.15910241 0.19803658 0.15219509
+v -0.15910241 0.19735136 0.15032561
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+v 0.10190090 0.19814695 0.15265426
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+v -0.15910241 0.19391372 0.13992877
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_25.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d979d97b64702a043166d118ef9bc77a38c726b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.07904410 0.00063063 -0.15261352
+v -0.04547684 0.00063064 -0.15625768
+v 0.07904410 0.00063071 -0.17461322
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+v -0.04547684 0.00827582 -0.15626968
+v -0.04547684 0.00063070 -0.17053608
+v 0.07537527 0.00063072 -0.17602519
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+v -0.04547684 0.16716174 -0.15656496
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+v -0.04547684 0.15943513 -0.17362884
+v -0.04547684 0.16354298 -0.17367933
+v -0.04547684 0.16716180 -0.17371781
+v 0.07537527 0.01236745 -0.17605642
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_26.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38501431e2339b11e4f57acd1927978b46c3980f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.10572374 0.17862929 -0.12662938
+v 0.10561541 0.17862909 -0.07284455
+v 0.12816373 0.17862929 -0.12662938
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+v 0.12758378 0.17862882 0.00050437
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+v 0.12864891 0.17491772 -0.12662940
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_27.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97e2ad10760cef6b07fcff4384557d5ff41cdbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.16125845 -0.17993312 -0.12356576
+v -0.15969896 -0.17993314 -0.11694340
+v -0.16602322 -0.17993312 -0.12193837
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+v -0.17688416 -0.01013795 -0.11441306
+v -0.16329463 -0.17993372 0.04104273
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+v -0.17796081 -0.01013799 -0.10361748
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_28.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf3f0a9037391c454e15de0617f8c4a26d12c1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_28.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_29.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50343322f96d097b8afeceb99ac0dcf3a60e2edf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_29.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_3.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfce2b9084ea42df28ebff8625f81f3c55c9ebe4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v 0.12672569 0.18281086 0.04104406
+v 0.12744697 0.17864619 0.01576838
+v 0.12753353 0.17864622 0.00815049
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+v 0.11429558 0.19724068 -0.05747095
+v 0.11429558 0.19718344 -0.10361301
+v 0.11429558 0.19717236 -0.11131370
+v 0.10651054 0.19733161 -0.11131370
+v 0.10651054 0.19731867 -0.11901440
+v 0.07904410 0.19696858 -0.09185496
+v 0.07904410 0.19656874 -0.13439507
+v 0.10651054 0.19724463 -0.12671508
+v 0.11429558 0.19710761 -0.12671508
+v 0.11429558 0.19715942 -0.11901440
+v 0.12616790 0.18620712 0.04104407
+v 0.12709114 0.18190915 0.00409315
+v 0.12758161 0.17864625 0.00051190
+v 0.12702863 0.18201098 0.01179384
+v 0.07904410 0.19684276 -0.11901440
+v 0.07904410 0.19686866 -0.11493633
+v 0.07904410 0.19688717 -0.11131370
+v 0.07904410 0.19695749 -0.09593302
+v 0.07904410 0.19676131 -0.12671508
+v 0.07904410 0.19680759 -0.12263703
+f 1 2 3
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+f 1 4 12
+f 1 12 23
+f 1 23 36
+f 1 36 51
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+f 1 68 54
+f 1 54 53
+f 1 53 38
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+f 5 13 14
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+f 39 58 59
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+f 41 62 42
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+f 43 63 64
+f 43 64 44
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+f 44 58 57
+f 44 57 56
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+f 45 55 46
+f 48 50 66
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+f 58 65 60
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+f 63 74 75
+f 63 75 70
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_30.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c960bc5795b61a80351864ac793ce2e43a75792
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_30.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.08617819 -0.17993304 -0.14345583
+v -0.09396343 -0.17993304 -0.14346175
+v -0.04547684 -0.17993304 -0.14346175
+v -0.04547684 -0.16362341 -0.15674029
+v -0.17501111 -0.16362341 -0.15676395
+v -0.09584001 -0.17993304 -0.14347062
+v -0.04547684 -0.17993296 -0.16662609
+v -0.04547684 -0.16362335 -0.17361289
+v -0.17501111 -0.16362335 -0.17309820
+v -0.17501111 -0.17993303 -0.14709421
+v -0.17365440 -0.17993303 -0.14655289
+v -0.16586916 -0.17993304 -0.14510641
+v -0.15808392 -0.17993304 -0.14405927
+v -0.15031136 -0.17993304 -0.14383445
+v -0.14805440 -0.17993304 -0.14379305
+v -0.13258534 -0.17993304 -0.14368952
+v -0.04547684 -0.17763539 -0.16947466
+v -0.17501111 -0.17993296 -0.16720882
+v -0.04547684 -0.16568778 -0.17367502
+v -0.17365440 -0.16362335 -0.17315144
+v -0.17501111 -0.16568778 -0.17313370
+v -0.04547684 -0.17342827 -0.17183812
+v -0.17501111 -0.17778547 -0.16959002
+v -0.04547684 -0.16932971 -0.17281129
+v -0.17501111 -0.17342827 -0.17166654
+v -0.17365440 -0.16568778 -0.17318694
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 22
+f 3 22 24
+f 3 24 19
+f 3 19 8
+f 3 8 4
+f 4 8 20
+f 4 20 9
+f 4 9 5
+f 5 9 21
+f 5 21 25
+f 5 25 23
+f 5 23 18
+f 5 18 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 18 17
+f 8 19 20
+f 9 20 26
+f 9 26 21
+f 17 18 23
+f 17 23 22
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 26 25
+f 22 23 25
+f 22 25 24
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_31.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b43d0fc8fef38f247d06a242ef0aaf6b0a652b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_31.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.23303258 -0.17412705 0.13493602
+v -0.23228213 -0.17752885 0.13493601
+v -0.23226020 -0.17750274 0.13901552
+v -0.23302771 -0.17412705 0.13563516
+v -0.23242344 -0.17412703 0.13040603
+v -0.23213350 -0.17740239 0.13088173
+v -0.22813756 -0.17842801 0.13493600
+v -0.22813756 -0.17843478 0.12788696
+v -0.22813756 -0.17774672 0.13948040
+v -0.22884171 -0.17412707 0.14088589
+v -0.23264760 -0.17412706 0.13937591
+v -0.22011888 -0.17412693 0.10416675
+v -0.22458019 -0.17768029 0.11492408
+v -0.21836944 -0.17908465 0.10416673
+v -0.22294771 -0.17819970 0.13493601
+v -0.22376395 -0.17769290 0.13948040
+v -0.22035766 -0.17911396 0.11954776
+v -0.22813756 -0.17412707 0.14097959
+v -0.20814326 -0.17412693 0.10416675
+v -0.21206854 -0.17946396 0.10416673
+v -0.21397392 -0.17908363 0.11185364
+v -0.22296233 -0.17412707 0.14042101
+v -0.21558691 -0.17809254 0.11954777
+v -0.21640558 -0.17736683 0.12354077
+v -0.21131320 -0.17922676 0.10416673
+v -0.21614000 -0.17412701 0.12425073
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 18
+f 1 18 22
+f 1 22 26
+f 1 26 19
+f 1 19 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 7 15 16
+f 7 16 9
+f 7 8 17
+f 7 17 15
+f 8 14 17
+f 9 16 18
+f 9 18 10
+f 12 19 25
+f 12 25 20
+f 12 20 14
+f 12 14 13
+f 14 20 17
+f 15 17 21
+f 15 21 16
+f 16 22 18
+f 16 21 23
+f 16 23 24
+f 16 24 22
+f 17 20 21
+f 19 26 24
+f 19 24 25
+f 20 25 21
+f 21 25 23
+f 22 24 26
+f 23 25 24
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_32.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65844c390990244372eb95eb263c0da0538efbda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.22011500 -0.17412691 0.10416674
+v -0.21673560 -0.19309061 0.07798035
+v -0.21836567 -0.17908531 0.10416672
+v -0.20814001 -0.17412691 0.10416674
+v -0.21829145 -0.17412668 0.04104275
+v -0.21815627 -0.18117132 0.04104272
+v -0.21748835 -0.18735496 0.04104270
+v -0.21727895 -0.18905486 0.04104270
+v -0.21731606 -0.18891138 0.04259362
+v -0.21751485 -0.18891149 0.07337088
+v -0.21681777 -0.19318772 0.07337086
+v -0.21257166 -0.19474411 0.07337085
+v -0.21270418 -0.19410834 0.08075469
+v -0.20996621 -0.19358294 0.08876259
+v -0.20887685 -0.19296923 0.09287776
+v -0.20180530 -0.19352339 0.10267136
+v -0.19894275 -0.19437334 0.10416667
+v -0.19304272 -0.19307303 0.10416667
+v -0.19304272 -0.18630877 0.10415434
+v -0.20742172 -0.17412691 0.10333259
+v -0.20471291 -0.17412668 0.04104275
+v -0.21663488 -0.19223390 0.04104268
+v -0.21650766 -0.19283878 0.04104268
+v -0.21272009 -0.19444155 0.04104268
+v -0.21257166 -0.19451220 0.04259360
+v -0.20479243 -0.19607533 0.07337085
+v -0.20479243 -0.19585018 0.08106363
+v -0.20479243 -0.19635779 0.04104267
+v -0.20479243 -0.19634897 0.04259359
+v -0.20479243 -0.19630484 0.05028636
+v -0.20479243 -0.19625630 0.05798531
+v -0.20479243 -0.19618348 0.06567808
+v -0.20479243 -0.19510182 0.08876258
+v -0.19820856 -0.19467579 0.10416666
+v -0.19304272 -0.19574650 0.10416666
+v -0.19304272 -0.18221350 0.08839190
+v -0.20228504 -0.17412686 0.08876266
+v -0.20422521 -0.17412688 0.09536793
+v -0.20711957 -0.17412691 0.10288152
+v -0.19304272 -0.18587363 0.04104271
+v -0.20261901 -0.17412683 0.08106371
+v -0.19304272 -0.18212738 0.08075473
+v -0.19304272 -0.19606660 0.10037897
+v -0.19857168 -0.19658960 0.04104267
+v -0.19700788 -0.19663818 0.04259359
+v -0.19700788 -0.19658742 0.05028636
+v -0.19700788 -0.19651902 0.05798531
+v -0.19700788 -0.19642853 0.06567808
+v -0.19766787 -0.19479941 0.10416666
+v -0.19304272 -0.18199493 0.08462274
+v -0.20231155 -0.17412685 0.08773078
+v -0.19304272 -0.19668011 0.04104267
+v -0.19304272 -0.19653005 0.05798531
+v -0.19700788 -0.19664700 0.04104267
+v -0.19304272 -0.19667570 0.04183358
+v -0.19304272 -0.19667129 0.04259359
+v -0.19304272 -0.19660729 0.05028636
+f 1 2 3
+f 1 3 17
+f 1 17 34
+f 1 34 49
+f 1 49 35
+f 1 35 18
+f 1 18 4
+f 1 4 20
+f 1 20 39
+f 1 39 38
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+f 1 51 41
+f 1 41 21
+f 1 21 5
+f 1 5 6
+f 1 6 7
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+f 19 39 20
+f 21 41 42
+f 21 42 40
+f 24 28 25
+f 26 43 27
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+f 27 43 35
+f 27 35 33
+f 28 44 29
+f 29 44 30
+f 30 44 45
+f 30 45 31
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+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 43
+f 33 35 49
+f 33 49 34
+f 36 50 37
+f 37 50 51
+f 41 51 42
+f 42 51 50
+f 43 48 47
+f 43 47 53
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 57 47
+f 46 56 57
+f 47 57 53
+f 52 55 54
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_33.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa6e49e1a6206790d6d3ec0339733292568c01c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_33.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.10190547 -0.18442988 0.10411604
+v 0.10353986 -0.18825646 0.10411603
+v 0.10190547 -0.18825646 0.10412984
+v 0.10190547 -0.18471668 0.10584182
+v 0.11406961 -0.17389484 0.10411608
+v 0.12770791 -0.18825646 0.10411603
+v 0.10190547 -0.18825652 0.11955136
+v 0.11407876 -0.17389484 0.10415750
+v 0.10190547 -0.18732025 0.11612053
+v 0.12833053 -0.17389484 0.10411608
+v 0.12844957 -0.18116984 0.10411605
+v 0.12887533 -0.18825646 0.10412294
+v 0.11997542 -0.17389491 0.12131171
+v 0.11917425 -0.17389490 0.11913723
+v 0.11908268 -0.17389490 0.11887491
+v 0.11701336 -0.17389487 0.11288302
+v 0.13126513 -0.18825662 0.14663913
+v 0.14571376 -0.18823842 0.16535343
+v 0.14542535 -0.18770704 0.17194589
+v 0.13937303 -0.18763392 0.16571930
+v 0.14037564 -0.18672300 0.17106230
+v 0.13979421 -0.18117009 0.17178713
+v 0.13985373 -0.17389509 0.17170433
+v 0.13706564 -0.17389507 0.16608521
+v 0.13690083 -0.17389507 0.16571935
+v 0.12217751 -0.17389493 0.12724837
+v 0.14866667 -0.17389506 0.16248870
+v 0.14867125 -0.18117006 0.16268885
+v 0.14867125 -0.18779559 0.16535343
+v 0.13588906 -0.18825654 0.12644756
+v 0.13492307 -0.18825662 0.14693596
+v 0.13799958 -0.18825662 0.14710854
+v 0.13841620 -0.18825658 0.13559417
+v 0.14867125 -0.18786027 0.16775571
+v 0.14867125 -0.18752852 0.17173190
+v 0.14542535 -0.18117010 0.17447244
+v 0.14508655 -0.17389510 0.17447247
+v 0.14867125 -0.17389506 0.16253701
+v 0.14867125 -0.18117010 0.17409968
+v 0.14542535 -0.17389510 0.17463125
+v 0.14867125 -0.17794520 0.17426537
+v 0.14847439 -0.17389510 0.17437583
+v 0.14867125 -0.17389510 0.17435513
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 30
+f 2 30 33
+f 2 33 32
+f 2 32 31
+f 2 31 17
+f 2 17 7
+f 2 7 3
+f 4 8 5
+f 4 9 8
+f 5 8 16
+f 5 16 15
+f 5 15 14
+f 5 14 13
+f 5 13 26
+f 5 26 25
+f 5 25 24
+f 5 24 23
+f 5 23 37
+f 5 37 40
+f 5 40 42
+f 5 42 43
+f 5 43 38
+f 5 38 27
+f 5 27 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 7 8 9
+f 7 17 18
+f 7 18 19
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+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 13
+f 10 12 11
+f 10 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 29
+f 18 29 34
+f 18 34 19
+f 19 35 36
+f 19 36 21
+f 19 21 20
+f 19 34 35
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 27 38 28
+f 28 38 43
+f 28 43 41
+f 28 41 39
+f 28 39 35
+f 28 35 34
+f 28 34 29
+f 29 33 30
+f 35 39 36
+f 36 40 37
+f 36 39 41
+f 36 41 42
+f 36 42 40
+f 41 43 42
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_34.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c21b09ba670ee003e57b40e21661e1ad3e28366
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_34.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.10190503 -0.19595911 0.10411600
+v 0.10190503 -0.19684105 0.10411600
+v 0.10190503 -0.18825646 0.10413356
+v 0.10353721 -0.18825646 0.10411603
+v 0.11425818 -0.19700594 0.10411600
+v 0.10190503 -0.21377558 0.15802428
+v 0.10190503 -0.18825652 0.11954846
+v 0.12770911 -0.18825646 0.10411603
+v 0.11429960 -0.19700594 0.10411600
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+v 0.14308219 -0.19845771 0.15032565
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_35.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293c893a7f88e63b84a04502c9e3340e9add6ec8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_35.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.10190506 0.20137746 0.12117471
+v 0.12986196 0.20221792 0.12117471
+v 0.10190506 0.18884576 0.12117466
+v 0.10190506 0.21405689 0.15802385
+v 0.12986196 0.20247213 0.12191591
+v 0.13468398 0.20244619 0.12198487
+v 0.13512992 0.20121144 0.12117471
+v 0.11816740 0.18764473 0.12117466
+v 0.12346871 0.18764469 0.13397337
+v 0.13102891 0.18764465 0.14491046
+v 0.10190506 0.19038140 0.12724651
+v 0.10190506 0.21274429 0.16438871
+v 0.10651870 0.21275207 0.16444043
+v 0.12208087 0.21412172 0.15802385
+v 0.12986196 0.21414508 0.15802385
+v 0.14202330 0.20313615 0.13664090
+v 0.13764304 0.21143176 0.15032738
+v 0.14171072 0.20991169 0.14601803
+v 0.13610933 0.19962390 0.12117470
+v 0.13554670 0.18764473 0.12117466
+v 0.13285019 0.18764464 0.14610414
+v 0.10190506 0.19994024 0.15802379
+v 0.10190506 0.19841498 0.15346451
+v 0.10190506 0.19444357 0.14141992
+v 0.10190506 0.19392738 0.13985131
+v 0.10190506 0.19304802 0.13690805
+v 0.10190506 0.19246696 0.13494299
+v 0.10190506 0.19122704 0.13037941
+v 0.10190506 0.20589089 0.16493168
+v 0.10651870 0.20589089 0.16500493
+v 0.11429978 0.20589089 0.16509112
+v 0.11429978 0.21275985 0.16451369
+v 0.12208087 0.21276244 0.16456971
+v 0.12986196 0.21269241 0.16459557
+v 0.13764304 0.21381823 0.15802385
+v 0.14202330 0.19980543 0.13664088
+v 0.13911424 0.19815307 0.12724654
+v 0.13673450 0.19851107 0.12117470
+v 0.14242340 0.21066653 0.15032737
+v 0.14392377 0.20589095 0.15032736
+v 0.13670531 0.19040996 0.12117467
+v 0.13823487 0.18764468 0.13494297
+v 0.13501739 0.18764464 0.14606104
+v 0.13764304 0.20129949 0.16277700
+v 0.10190506 0.20164190 0.16241501
+v 0.10190506 0.20063025 0.15982078
+v 0.10190506 0.20337470 0.16346219
+v 0.12208087 0.20589089 0.16516008
+v 0.12986196 0.20589089 0.16519885
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+v 0.14305689 0.21163926 0.15802384
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+v 0.13705957 0.19204678 0.12117468
+v 0.14254426 0.19895457 0.14263948
+v 0.14447807 0.20589092 0.15802382
+v 0.14303604 0.19955117 0.15032733
+v 0.14295269 0.20041754 0.15802380
+v 0.13732631 0.18764466 0.14286353
+v 0.14228586 0.20130208 0.16267787
+v 0.14286517 0.20589090 0.16353114
+f 1 2 7
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+f 1 19 38
+f 1 38 55
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+f 1 41 20
+f 1 20 8
+f 1 8 3
+f 1 3 11
+f 1 11 28
+f 1 28 27
+f 1 27 26
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+f 1 25 24
+f 1 24 23
+f 1 23 22
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+f 1 46 45
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+f 1 12 4
+f 1 4 2
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+f 2 6 7
+f 3 8 9
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+f 3 10 11
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+f 18 35 39
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+f 52 57 53
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+f 57 62 61
+f 57 61 59
+f 57 59 58
+f 59 61 60
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_36.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54ebe12667b2a092f37752356577ae21bc3b1ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_36.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.07049027 -0.15802587 -0.15620926
+v -0.04547684 -0.15802586 -0.15768634
+v 0.07049027 -0.15802580 -0.17491380
+v 0.07049027 -0.04182892 -0.15642204
+v -0.04547684 0.00063064 -0.15625670
+v -0.04134488 -0.04182892 -0.15625301
+v -0.04547684 -0.04182892 -0.15626453
+v -0.04134488 -0.04957849 -0.15627417
+v -0.04547684 -0.04957849 -0.15629338
+v -0.04547684 -0.05367846 -0.15634334
+v -0.04547684 -0.15802580 -0.17344441
+v -0.04543143 -0.15802580 -0.17344632
+v 0.07049027 -0.15793261 -0.17491572
+v 0.07049027 -0.03409488 -0.15643738
+v 0.07049027 0.00063064 -0.15652945
+v -0.04547684 0.00063070 -0.17053577
+v -0.04547684 -0.00312766 -0.15625671
+v -0.04547684 -0.03409488 -0.15626260
+v 0.06759563 0.00063072 -0.17571611
+v 0.07049027 -0.14244901 -0.17509430
+v 0.07049027 -0.15019857 -0.17501750
+v 0.07049027 0.00063072 -0.17582944
+v 0.07049027 -0.00076700 -0.17582751
+v 0.07049027 -0.00600067 -0.17581985
+v 0.07049027 -0.01375024 -0.17579876
+f 1 2 11
+f 1 11 12
+f 1 12 3
+f 1 3 13
+f 1 13 21
+f 1 21 20
+f 1 20 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 14
+f 1 14 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 2
+f 2 10 9
+f 2 9 7
+f 2 7 18
+f 2 18 17
+f 2 17 5
+f 2 5 16
+f 2 16 11
+f 3 12 13
+f 4 14 5
+f 5 14 15
+f 5 15 22
+f 5 22 19
+f 5 19 16
+f 5 17 6
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+f 6 18 7
+f 7 9 8
+f 11 16 19
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 20
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_37.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7279596bd99edaabc33cc33cc7331915954806be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_37.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.20599478 -0.18440163 0.15802015
+v -0.20565252 -0.20439317 0.15802008
+v -0.20402094 -0.18440166 0.16512105
+v -0.19123561 -0.18440143 0.10416671
+v -0.19893870 -0.18984829 0.10416669
+v -0.20107193 -0.19253129 0.11377974
+v -0.20107193 -0.19340280 0.11377974
+v -0.20321923 -0.21095429 0.15802006
+v -0.20258160 -0.21057148 0.16374255
+v -0.20359431 -0.20439319 0.16467344
+v -0.20377716 -0.19665554 0.16484652
+v -0.20391312 -0.18891478 0.16509717
+v -0.20179394 -0.20146731 0.12724754
+v -0.19788380 -0.18440166 0.16512105
+v -0.16671515 -0.18440143 0.10416671
+v -0.19893870 -0.19437697 0.10416668
+v -0.20116101 -0.20078255 0.12264688
+v -0.20225341 -0.20942292 0.15032841
+v -0.19700706 -0.21378977 0.15802004
+v -0.18537040 -0.21600588 0.16187481
+v -0.19700706 -0.21179469 0.16440489
+v -0.19632725 -0.20372712 0.16501356
+v -0.19799632 -0.18891478 0.16509717
+v -0.15809782 -0.21213395 0.16438699
+v -0.15809782 -0.20503747 0.16412447
+v -0.15809782 -0.20116863 0.16072918
+v -0.15809782 -0.19940384 0.15688634
+v -0.15809782 -0.19702587 0.15032846
+v -0.19399241 -0.18440164 0.16004301
+v -0.15809782 -0.18511731 0.10416671
+v -0.19820261 -0.19467887 0.10416667
+v -0.19766344 -0.19480337 0.10416667
+v -0.18922429 -0.19653082 0.10416667
+v -0.20129697 -0.20852963 0.14577548
+v -0.18537040 -0.21600588 0.16186885
+v -0.18144618 -0.21607747 0.16198222
+v -0.17366339 -0.21213395 0.16450037
+v -0.17366339 -0.21617396 0.16211947
+v -0.16588062 -0.21213395 0.16446456
+v -0.15809782 -0.21619263 0.16213140
+v -0.15809782 -0.19187464 0.13408593
+v -0.15809782 -0.18990752 0.12724758
+v -0.15809782 -0.18799019 0.11954999
+v -0.15809782 -0.18650550 0.11185237
+v -0.15809782 -0.19658684 0.10416667
+v -0.16588062 -0.21619885 0.16137953
+v -0.17366339 -0.21617395 0.16144518
+v -0.18144618 -0.21607747 0.16168983
+v -0.16588062 -0.21619886 0.16214931
+v -0.15809782 -0.21618951 0.16137953
+f 1 2 3
+f 1 3 14
+f 1 14 29
+f 1 29 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 9 10
+f 2 10 11
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+f 4 32 31
+f 4 31 16
+f 4 16 5
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+f 7 16 17
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+f 9 20 21
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+f 10 21 22
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+f 24 26 25
+f 28 41 29
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+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 33 45 46
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+f 37 49 40
+f 37 40 39
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+f 38 46 49
+f 40 49 46
+f 40 46 50
+f 45 50 46
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_38.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2524540869783989f8f2c81311be44007743d6d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_38.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.19303666 -0.18587324 0.04104271
+v -0.17703628 -0.17412668 0.04104275
+v -0.19303666 -0.19667981 0.04104267
+v -0.19303666 -0.18212670 0.08075473
+v -0.18645250 -0.17412683 0.08225624
+v -0.16629640 -0.17412668 0.04104275
+v -0.18922298 -0.19671299 0.04104267
+v -0.18922298 -0.19652964 0.10416666
+v -0.19303666 -0.19667539 0.04183358
+v -0.19303666 -0.18199622 0.08462274
+v -0.18642513 -0.17412685 0.08653206
+v -0.16629640 -0.17412669 0.04259367
+v -0.15810125 -0.18213318 0.04104890
+v -0.15810125 -0.18216636 0.04104272
+v -0.18144169 -0.19672183 0.04104267
+v -0.15810125 -0.19658494 0.10416666
+v -0.19303666 -0.19574448 0.10416666
+v -0.19303666 -0.19606737 0.10037897
+v -0.19303666 -0.19653168 0.05798531
+v -0.19303666 -0.19660685 0.05028636
+v -0.19303666 -0.19667097 0.04259359
+v -0.19303666 -0.18221297 0.08839190
+v -0.18579921 -0.17412691 0.10416674
+v -0.15810125 -0.18213319 0.04259364
+v -0.16632718 -0.17412671 0.05028644
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+v -0.19303666 -0.19307269 0.10416667
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+v -0.19253045 -0.18598406 0.10416670
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+v -0.16637849 -0.17412674 0.05710798
+v -0.15810125 -0.18476096 0.10222034
+v -0.16870432 -0.17412683 0.08162599
+v -0.16638532 -0.17412674 0.05798539
+v -0.15810125 -0.18223057 0.05798536
+v -0.15810125 -0.18418809 0.09645539
+v -0.16717200 -0.17412680 0.07337093
+v -0.16652556 -0.17412677 0.06567816
+v -0.15810125 -0.18236994 0.06567813
+v -0.15810125 -0.18358648 0.08876263
+v -0.15810125 -0.18306669 0.08106368
+v -0.15810125 -0.18265749 0.07337090
+f 1 2 6
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+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
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+f 1 22 10
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+f 40 42 43
+f 40 43 44
+f 40 44 41
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_39.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1d512de4103ef035224203e863c9e22056381f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_39.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.20609907 0.19814693 0.15802530
+v -0.20608066 0.18131924 0.15802524
+v -0.20416675 0.18266991 0.16515300
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+v -0.19776711 0.18266991 0.16515300
+v -0.19791433 0.19040840 0.16511712
+v -0.19664453 0.19814690 0.16496754
+v -0.19721962 0.19814708 0.11649761
+v -0.19550814 0.19533373 0.10401955
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+v -0.19776251 0.18131921 0.16514104
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+v -0.19652951 0.19814690 0.16494360
+v -0.18922352 0.19814711 0.10950153
+v -0.18922352 0.19648841 0.10401955
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+v -0.15910241 0.19814695 0.15249547
+v -0.17215014 0.18131944 0.10401950
+v -0.18667931 0.19814711 0.10933994
+v -0.15910241 0.19709128 0.10401955
+v -0.18908550 0.19649171 0.10401955
+v -0.19387488 0.18131923 0.15992837
+v -0.15910241 0.19814711 0.10851405
+v -0.15910241 0.19803658 0.15219623
+v -0.15910241 0.18483455 0.10401951
+v -0.17216855 0.18131944 0.10413920
+v -0.15910241 0.19006758 0.12724607
+v -0.15910241 0.19235385 0.13493639
+v -0.15910241 0.19391372 0.13992762
+v -0.15910241 0.19498932 0.14327905
+v -0.15910241 0.19515075 0.14377577
+v -0.15910241 0.19706970 0.14949115
+v -0.15910241 0.19735136 0.15032900
+v -0.17424808 0.18131941 0.11284691
+v -0.15910241 0.18580801 0.10971693
+v -0.15910241 0.18674031 0.11391818
+v -0.15910241 0.18809098 0.11954977
+v -0.15910241 0.18981228 0.12625262
+v -0.17400884 0.18131941 0.11221253
+v -0.17368219 0.18131941 0.11108741
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 21
+f 1 21 25
+f 1 25 31
+f 1 31 27
+f 1 27 22
+f 1 22 16
+f 1 16 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 11 12
+f 2 12 20
+f 2 20 26
+f 2 26 34
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+f 2 19 9
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+f 3 14 4
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+f 6 17 7
+f 7 17 18
+f 7 18 10
+f 7 10 8
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+f 10 20 11
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+f 13 19 21
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+f 19 24 25
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+f 22 27 28
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+f 24 30 25
+f 25 30 32
+f 25 32 41
+f 25 41 40
+f 25 40 39
+f 25 39 38
+f 25 38 37
+f 25 37 36
+f 25 36 35
+f 25 35 46
+f 25 46 45
+f 25 45 44
+f 25 44 43
+f 25 43 33
+f 25 33 28
+f 25 28 31
+f 26 33 34
+f 27 31 28
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 32
+f 30 42 33
+f 30 33 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 35
+f 33 42 47
+f 33 47 48
+f 33 48 34
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_4.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a60e17381f48e9261a7b6f9b62fe02cfe910398
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_4.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.19799656 0.09198754 0.16476434
+v -0.19879002 0.09198754 0.16476434
+v -0.19521153 0.09198756 0.16133880
+v -0.19776647 0.18131921 0.16514124
+v -0.19879002 0.18131921 0.16514124
+v -0.19879002 0.09198764 0.13902413
+v -0.19410466 0.09198756 0.15996614
+v -0.19386265 0.17492653 0.16001503
+v -0.19708806 0.18131922 0.16425449
+v -0.19879002 0.18131931 0.13884226
+v -0.18132603 0.18131967 0.04104406
+v -0.18663030 0.09198785 0.08106920
+v -0.19217259 0.09198758 0.15611544
+v -0.19387455 0.18131923 0.15993003
+v -0.19035954 0.09198759 0.15196105
+v -0.18965337 0.09198760 0.15032116
+v -0.17424443 0.18131941 0.11283482
+v -0.15826024 0.18131967 0.04104406
+v -0.17695806 0.09198800 0.04104373
+v -0.18755070 0.09198762 0.14497633
+v -0.18670170 0.09198763 0.14280195
+v -0.16287817 0.18131951 0.08306170
+v -0.16671453 0.09198800 0.04104373
+v -0.15891088 0.18131964 0.05028818
+v -0.16687322 0.09198791 0.06567853
+v -0.18629307 0.09198763 0.14170870
+v -0.18526951 0.09198764 0.13895125
+v -0.18387700 0.09198765 0.13493049
+v -0.18131413 0.09198768 0.12724123
+v -0.17762456 0.09198773 0.11555549
+v -0.17727940 0.09198773 0.11446222
+v -0.17642247 0.09198774 0.11170478
+v -0.17491490 0.09198776 0.10629922
+v -0.17431584 0.09198777 0.10414913
+v -0.17239171 0.09198780 0.09647202
+v -0.16238225 0.18131952 0.08106953
+v -0.15947423 0.18131961 0.05798959
+v -0.16703984 0.09198790 0.06787719
+v -0.17061040 0.09198782 0.08906214
+v -0.17034856 0.09198783 0.08795674
+v -0.16970189 0.09198784 0.08521144
+v -0.16886083 0.09198785 0.08106920
+v -0.16786901 0.09198787 0.07556646
+v -0.16747624 0.09198788 0.07337994
+v -0.16105321 0.18131955 0.07338027
+v -0.16014867 0.18131958 0.06567886
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 23
+f 1 23 25
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+f 1 44 43
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+f 1 40 39
+f 1 39 35
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+f 1 34 33
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+f 1 28 27
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+f 1 26 21
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+f 1 7 3
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+f 1 4 5
+f 1 5 2
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+f 2 10 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 14
+f 4 14 17
+f 4 17 22
+f 4 22 36
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+f 4 11 10
+f 4 10 5
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+f 7 13 8
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+f 8 16 17
+f 8 17 14
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+f 11 19 12
+f 16 20 17
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+f 18 25 23
+f 21 26 22
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+f 22 27 28
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+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
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+f 22 35 36
+f 24 37 25
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+f 35 39 36
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+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 37 46 44
+f 37 44 38
+f 44 46 45
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_40.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff280d6a1eb3ee110e56cb2f69d7af5fb420ee6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_40.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.21867037 0.17492887 -0.14211170
+v -0.21866726 0.17310363 -0.14211170
+v -0.21863926 0.17492886 -0.13821771
+v -0.21853044 0.17875294 -0.13821769
+v -0.21844958 0.18267053 -0.14211167
+v -0.21792094 0.17492890 -0.14980797
+v -0.21797069 0.17310366 -0.14980797
+v -0.21863616 0.17310362 -0.13821771
+v -0.21840294 0.18267052 -0.13821768
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+v -0.21706888 0.18815961 -0.14792260
+v -0.21736431 0.18250807 -0.15021600
+v -0.21660243 0.17981920 -0.15380317
+v -0.21679524 0.17492892 -0.15402146
+v -0.21684499 0.17310368 -0.15407524
+v -0.20505002 0.17310362 -0.13821771
+v -0.21785253 0.18571331 -0.13821767
+v -0.21730522 0.18869602 -0.13821766
+v -0.21473353 0.19270486 -0.14211163
+v -0.21320046 0.19089747 -0.15015904
+v -0.21617953 0.18497660 -0.15305346
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+v -0.21257231 0.17310369 -0.15724168
+v -0.18690200 0.18414406 -0.13821767
+v -0.18690200 0.17310367 -0.15287635
+v -0.21601782 0.19060807 -0.13821765
+v -0.21459360 0.19256685 -0.13821764
+v -0.21070029 0.19499530 -0.13821763
+v -0.21084334 0.19502424 -0.14211162
+v -0.21022140 0.19479723 -0.14726461
+v -0.21099259 0.18847571 -0.15544805
+v -0.20621615 0.18267060 -0.16037646
+v -0.20752532 0.17492894 -0.16063588
+v -0.20756885 0.17310370 -0.16066752
+v -0.18690200 0.19575432 -0.13821763
+v -0.18690200 0.17310374 -0.17052746
+v -0.20478881 0.19580776 -0.13821763
+v -0.20478881 0.19580777 -0.14211162
+v -0.20478881 0.19503539 -0.14783401
+v -0.20478881 0.19328363 -0.15168372
+v -0.20409536 0.18886526 -0.15780786
+v -0.20104166 0.18658372 -0.16139502
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+v -0.19700843 0.19576769 -0.14211162
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+v -0.18690200 0.19491520 -0.14754931
+v -0.18690200 0.19313895 -0.15139587
+v -0.20056899 0.18658372 -0.16139502
+v -0.18690200 0.19438544 -0.14869760
+v -0.18690200 0.18097448 -0.16587426
+v -0.18690200 0.17512707 -0.16951206
+v -0.18690200 0.17345098 -0.17042940
+v -0.18776027 0.17329294 -0.17031236
+v -0.18779447 0.17310374 -0.17033134
+v -0.19601954 0.17310372 -0.16702572
+v -0.19700843 0.17310372 -0.16651327
+v -0.20207407 0.17310371 -0.16385295
+v -0.20367866 0.17310371 -0.16297987
+v -0.18690200 0.18926814 -0.15685886
+v -0.18690200 0.18595379 -0.16070544
+v -0.18690200 0.18479856 -0.16193279
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+f 1 4 5
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+f 1 7 2
+f 2 7 15
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+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
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+f 45 62 63
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+f 46 65 47
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+f 51 60 52
+f 52 60 59
+f 54 66 55
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+f 55 68 57
+f 55 66 67
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_41.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63db173e3ff8c5aae653f0d294cd7bd0d8d479ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_41.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.03644103 -0.18042436 -0.13927372
+v -0.04134488 -0.18042436 -0.13929815
+v -0.02855173 -0.18042436 -0.13938188
+v 0.07049027 -0.15802588 -0.15620928
+v -0.04547684 -0.15802587 -0.15768164
+v -0.04414871 -0.18042436 -0.13934698
+v 0.07049027 -0.18042435 -0.14225334
+v 0.07049027 -0.15802581 -0.17491385
+v -0.04547684 -0.15802581 -0.17344499
+v -0.04547684 -0.18042436 -0.13937491
+v 0.07049027 -0.18042425 -0.16826040
+v 0.07049027 -0.16568929 -0.17477433
+v -0.04547684 -0.16568929 -0.17367180
+v -0.04547684 -0.16158894 -0.17355316
+v -0.04547684 -0.18042426 -0.16602046
+v 0.07049027 -0.17903626 -0.17034333
+v 0.07049027 -0.16856173 -0.17433821
+v -0.04547684 -0.16932699 -0.17281003
+v -0.04547684 -0.17763513 -0.16947457
+v 0.07049027 -0.17894855 -0.17039916
+v 0.07049027 -0.17342733 -0.17307522
+v -0.01021902 -0.17342734 -0.17223087
+v -0.04547684 -0.17342734 -0.17183662
+v 0.07049027 -0.17610243 -0.17212622
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 4
+f 4 7 11
+f 4 11 16
+f 4 16 20
+f 4 20 24
+f 4 24 21
+f 4 21 17
+f 4 17 12
+f 4 12 8
+f 4 8 9
+f 4 9 5
+f 5 9 14
+f 5 14 13
+f 5 13 18
+f 5 18 23
+f 5 23 19
+f 5 19 15
+f 5 15 10
+f 5 10 6
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 19 23 24
+f 19 24 20
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_42.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fe698fa4fea35d65bd6883347d443667c39d5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_42.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.20615934 -0.17412812 0.15802101
+v -0.20606281 -0.18117123 0.15802098
+v -0.20598172 -0.17412812 0.15866568
+v -0.18632870 -0.17412793 0.10510391
+v -0.19123617 -0.18440042 0.10417266
+v -0.20599332 -0.18440062 0.15802097
+v -0.20409364 -0.18117126 0.16514823
+v -0.20416701 -0.17412815 0.16513034
+v -0.18580359 -0.17412792 0.10417270
+v -0.16671429 -0.18440042 0.10417266
+v -0.20402029 -0.18440065 0.16512433
+v -0.19780390 -0.18117126 0.16514823
+v -0.19771897 -0.17412815 0.16513034
+v -0.17444808 -0.17412792 0.10417270
+v -0.17445966 -0.17412792 0.10422046
+v -0.17620102 -0.17412795 0.11050604
+v -0.18623990 -0.17412806 0.14233988
+v -0.18896197 -0.17412809 0.15032669
+v -0.19181919 -0.17412812 0.15666002
+v -0.19198523 -0.17412812 0.15700624
+v -0.19399299 -0.18440063 0.16004454
+v -0.19788499 -0.18440065 0.16512433
+v -0.19383084 -0.17412813 0.16050420
+v -0.19391191 -0.18117124 0.16019377
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 23
+f 1 23 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 14
+f 5 14 10
+f 5 10 21
+f 5 21 22
+f 5 22 11
+f 5 11 6
+f 6 11 7
+f 7 12 13
+f 7 13 8
+f 7 11 22
+f 7 22 12
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 12 22 23
+f 12 23 13
+f 20 23 24
+f 20 24 21
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_43.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf205ad3beca24114c7c96496f6ef8fbd895a5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_43.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.21864067 0.17492951 -0.13819700
+v -0.21853194 0.17875355 -0.13819698
+v -0.21863757 0.17374806 -0.13819700
+v -0.21783292 0.17310298 0.04102648
+v -0.21783602 0.17492885 0.04102648
+v -0.21840145 0.18267158 -0.13819697
+v -0.21863445 0.17310364 -0.13819700
+v -0.20468510 0.17310298 0.04102648
+v -0.21714943 0.18188553 0.04102651
+v -0.21785466 0.18571470 -0.13819696
+v -0.20505169 0.17310364 -0.13819700
+v -0.18690200 0.18421733 -0.02668676
+v -0.18690200 0.18427312 0.01949655
+v -0.18690200 0.18430217 0.02718206
+v -0.18690200 0.18436255 0.03488513
+v -0.18690200 0.18441624 0.04102652
+v -0.18690200 0.18414391 -0.13819696
+v -0.21621429 0.18575432 0.04102652
+v -0.21730476 0.18869517 -0.13819695
+v -0.18690200 0.19565117 0.04102656
+v -0.18690200 0.19575477 -0.13819692
+v -0.21543138 0.18664040 0.04102653
+v -0.21459255 0.19256619 -0.13819693
+v -0.21601857 0.19060830 -0.13819694
+v -0.18690200 0.19589544 -0.05744634
+v -0.19700829 0.19571168 0.01949659
+v -0.19700829 0.19567133 0.03488517
+v -0.19700829 0.19565342 0.04102656
+v -0.19700829 0.19583980 -0.13819692
+v -0.18690200 0.19583978 -0.13440680
+v -0.21232152 0.19012880 0.04102654
+v -0.21069979 0.19499398 -0.13819692
+v -0.21142987 0.19090748 0.04102654
+v -0.20781982 0.19399984 0.04102655
+v -0.18690200 0.19591337 -0.06514940
+v -0.19700829 0.19591561 -0.06514940
+v -0.20478763 0.19581068 -0.13440680
+v -0.20392705 0.19497767 0.04102656
+v -0.20478763 0.19580848 -0.13819692
+v -0.19700829 0.19590915 -0.13440680
+v -0.18690200 0.19591135 -0.12670374
+v -0.20703692 0.19419675 0.04102655
+v -0.18690200 0.19591785 -0.06743049
+v -0.19700829 0.19594475 -0.08053798
+v -0.19700829 0.19595820 -0.08822350
+v -0.19700829 0.19596056 -0.11901822
+v -0.19700829 0.19595611 -0.12670374
+v -0.18690200 0.19594042 -0.11901822
+v -0.18690200 0.19592682 -0.07283492
+v -0.18690200 0.19595149 -0.08822350
+v -0.18690200 0.19595374 -0.09052214
+v -0.18690200 0.19595823 -0.09592657
+v -0.18690200 0.19595379 -0.10362964
+f 1 2 6
+f 1 6 10
+f 1 10 19
+f 1 19 24
+f 1 24 23
+f 1 23 32
+f 1 32 39
+f 1 39 29
+f 1 29 21
+f 1 21 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 16
+f 4 16 20
+f 4 20 28
+f 4 28 38
+f 4 38 42
+f 4 42 34
+f 4 34 33
+f 4 33 31
+f 4 31 22
+f 4 22 18
+f 4 18 9
+f 4 9 5
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 11 17
+f 8 17 12
+f 9 18 19
+f 9 19 10
+f 12 17 21
+f 12 21 30
+f 12 30 41
+f 12 41 48
+f 12 48 53
+f 12 53 52
+f 12 52 51
+f 12 51 50
+f 12 50 49
+f 12 49 43
+f 12 43 35
+f 12 35 25
+f 12 25 20
+f 12 20 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 30
+f 22 31 23
+f 23 31 33
+f 23 33 34
+f 23 34 32
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 28 37 38
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 32 37 39
+f 32 34 42
+f 32 42 38
+f 32 38 37
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 39
+f 39 47 40
+f 40 47 41
+f 41 47 48
+f 43 49 45
+f 43 45 44
+f 45 49 50
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 46 53 47
+f 46 52 53
+f 47 53 48
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_44.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a91a8ccc20c7ab8dcd7b8800d04296121833bc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_44.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.20555308 -0.01013852 0.04104335
+v -0.20426374 0.09749840 0.04104375
+v -0.21809696 -0.01013852 0.04104335
+v -0.20420502 -0.01013785 -0.14214754
+v -0.20421235 0.10368649 0.04104377
+v -0.21808813 0.08201920 0.04104369
+v -0.21819681 -0.01013850 0.03489276
+v -0.21897363 -0.01013785 -0.14214754
+v -0.20406403 0.05107942 -0.14214731
+v -0.20404347 0.12847473 0.04104386
+v -0.20420060 0.10524697 0.04104378
+v -0.21831869 -0.01013847 0.02718210
+v -0.21820855 -0.01013850 0.03415756
+v -0.21808374 0.08976778 0.04104372
+v -0.21842442 -0.01013844 0.01948937
+v -0.21897511 -0.01013785 -0.14209375
+v -0.21896924 -0.00307087 -0.14214751
+v -0.20397592 0.10519383 -0.14214711
+v -0.20405816 0.13620537 0.04104389
+v -0.20397446 0.11299621 -0.14214708
+v -0.21807786 0.09749840 0.04104375
+v -0.21826729 0.08201925 0.02718244
+v -0.21850519 -0.01013841 0.01179665
+v -0.21897070 -0.00310674 -0.14209372
+v -0.21860798 -0.01013833 -0.01128153
+v -0.21895602 0.01240833 -0.14214745
+v -0.21896482 0.00462388 -0.14209369
+v -0.20454129 0.16718169 0.04104400
+v -0.20402438 0.13620604 -0.14214700
+v -0.20410369 0.14395461 -0.14214697
+v -0.20445171 0.17310142 -0.14214686
+v -0.21805877 0.10524697 0.04104378
+v -0.21825555 0.08976783 0.02718247
+v -0.21833778 0.08201928 0.01948971
+v -0.21851107 -0.01013841 0.01107937
+v -0.21858449 -0.01013835 -0.00430608
+v -0.21844791 0.08201936 -0.00358847
+v -0.21847142 0.08201939 -0.01128119
+v -0.21895749 0.01237246 -0.14209366
+v -0.21894427 0.02015690 -0.14214743
+v -0.20468814 0.17310075 0.04104403
+v -0.21866526 0.17310142 -0.14214686
+v -0.21783409 0.17310075 0.04104403
+v -0.21823206 0.09749845 0.02718250
+v -0.21832164 0.08976786 0.01948974
+v -0.21836422 0.08976789 0.01179702
+v -0.21837743 0.08201931 0.01179699
+v -0.21855365 -0.01013839 0.00410392
+v -0.21855659 -0.01013838 0.00338665
+v -0.21843323 0.08976794 -0.00358844
+v -0.21841561 0.08201933 0.00410426
+v -0.21840239 0.08976791 0.00410429
+v -0.21866820 0.17310142 -0.14209307
+v -0.21884442 0.08201987 -0.14209341
+v -0.21894573 0.02010308 -0.14209364
+v -0.21884147 0.08205575 -0.14214720
+v -0.21837597 0.09749853 0.00410432
+v -0.21833778 0.09749851 0.01179705
+v -0.21829226 0.09749848 0.01948977
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 19
+f 1 19 28
+f 1 28 41
+f 1 41 43
+f 1 43 32
+f 1 32 21
+f 1 21 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 12
+f 1 12 15
+f 1 15 23
+f 1 23 35
+f 1 35 48
+f 1 48 49
+f 1 49 36
+f 1 36 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 17
+f 4 17 26
+f 4 26 40
+f 4 40 56
+f 4 56 42
+f 4 42 31
+f 4 31 30
+f 4 30 29
+f 4 29 20
+f 4 20 18
+f 4 18 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 6 14 15
+f 6 15 12
+f 8 16 17
+f 9 18 10
+f 10 18 20
+f 10 20 19
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 16 24 17
+f 16 25 24
+f 17 24 27
+f 17 27 26
+f 19 20 29
+f 19 29 30
+f 19 30 31
+f 19 31 28
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 24 25 27
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 27
+f 26 27 39
+f 26 39 40
+f 28 31 41
+f 31 42 53
+f 31 53 43
+f 31 43 41
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 49 37
+f 37 50 38
+f 37 49 48
+f 37 48 51
+f 37 51 52
+f 37 52 50
+f 38 50 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 54
+f 40 54 56
+f 42 56 53
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 43 53 57
+f 44 59 45
+f 45 59 58
+f 45 58 46
+f 46 58 57
+f 46 57 52
+f 46 52 51
+f 46 51 47
+f 47 51 48
+f 50 52 57
+f 50 57 53
+f 53 56 54
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_45.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1c73116bc83104947988557fbc0d568797531e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_45.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.11816698 0.18764473 0.12117466
+v 0.12347051 0.18764469 0.13397206
+v 0.13554978 0.18764473 0.12117466
+v 0.11963620 0.17492774 0.12117461
+v 0.12184900 0.17491651 0.12724714
+v 0.12520551 0.17491648 0.13619419
+v 0.13660989 0.17491637 0.16571892
+v 0.13660989 0.17492758 0.16571892
+v 0.13955431 0.17492756 0.17212028
+v 0.14013663 0.18119075 0.17142025
+v 0.13103162 0.18764465 0.14491324
+v 0.13197229 0.17492774 0.12117461
+v 0.13823439 0.18764468 0.13494261
+v 0.14867125 0.18679361 0.16899655
+v 0.14867125 0.18344586 0.16509843
+v 0.14867125 0.17492759 0.16240422
+v 0.14867125 0.17491638 0.16240422
+v 0.12940115 0.17491653 0.12117461
+v 0.13955431 0.17491635 0.17212028
+v 0.14542522 0.17492755 0.17535543
+v 0.14513257 0.18332872 0.17224760
+v 0.14753051 0.18677742 0.17006257
+v 0.13285323 0.18764464 0.14611183
+v 0.13475844 0.17491651 0.12857833
+v 0.13312497 0.17491652 0.12472266
+v 0.13732658 0.18764466 0.14286607
+v 0.14867125 0.18679361 0.17007316
+v 0.14867125 0.17491634 0.17493646
+v 0.14541925 0.17491634 0.17535013
+v 0.14867125 0.17492755 0.17493646
+v 0.14867125 0.17815445 0.17415154
+v 0.14867125 0.18303968 0.17234836
+v 0.14867125 0.18487365 0.17130888
+v 0.13501525 0.18764464 0.14606411
+f 1 2 11
+f 1 11 23
+f 1 23 34
+f 1 34 26
+f 1 26 13
+f 1 13 3
+f 1 3 12
+f 1 12 18
+f 1 18 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 12
+f 4 18 5
+f 5 18 25
+f 5 25 24
+f 5 24 17
+f 5 17 28
+f 5 28 29
+f 5 29 19
+f 5 19 7
+f 5 7 6
+f 7 19 9
+f 7 9 8
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 12 24 25
+f 12 25 18
+f 12 17 24
+f 13 26 27
+f 13 27 14
+f 14 27 33
+f 14 33 32
+f 14 32 31
+f 14 31 30
+f 14 30 28
+f 14 28 17
+f 14 17 16
+f 14 16 15
+f 19 29 20
+f 20 29 28
+f 20 28 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 33 27
+f 21 27 22
+f 21 32 33
+f 22 27 23
+f 23 27 34
+f 26 34 27
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_46.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7f9ec9481da78500e9fd209cb7cbafc1997814
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_46.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.20089223 -0.17993304 -0.14331468
+v -0.20403012 -0.16362346 -0.14331462
+v -0.21886845 -0.17993304 -0.14331468
+v -0.17501111 -0.17993303 -0.14709461
+v -0.21892003 -0.16362346 -0.14331462
+v -0.17501111 -0.16362341 -0.15676476
+v -0.21891573 -0.17221652 -0.14331465
+v -0.21886845 -0.17993304 -0.14334095
+v -0.17501111 -0.17993296 -0.16720853
+v -0.21891143 -0.16362346 -0.14416402
+v -0.21892433 -0.16447765 -0.14331462
+v -0.17501111 -0.16362335 -0.17309583
+v -0.21880397 -0.16362344 -0.14980618
+v -0.21879108 -0.16568787 -0.14980619
+v -0.21861914 -0.17342835 -0.14980622
+v -0.21830105 -0.17993302 -0.14980624
+v -0.17743115 -0.17993295 -0.16751793
+v -0.17501111 -0.17778547 -0.16959031
+v -0.17501111 -0.16434343 -0.17311042
+v -0.17573755 -0.16362335 -0.17306956
+v -0.21846439 -0.16362343 -0.15117221
+v -0.21751443 -0.16568785 -0.15483540
+v -0.21809902 -0.17993302 -0.15057391
+v -0.21733819 -0.17342833 -0.15460192
+v -0.18144593 -0.17993295 -0.16788278
+v -0.18144593 -0.17818464 -0.16996978
+v -0.17501111 -0.17342827 -0.17166562
+v -0.17501111 -0.16568778 -0.17313378
+v -0.18144593 -0.16568778 -0.17287400
+v -0.18144593 -0.16362336 -0.17283897
+v -0.21752733 -0.16362342 -0.15485874
+v -0.21257118 -0.16362341 -0.15845479
+v -0.21257118 -0.16568784 -0.15839934
+v -0.21703729 -0.17993300 -0.15426627
+v -0.21257118 -0.17342832 -0.15797905
+v -0.21333202 -0.17993299 -0.15690493
+v -0.18489331 -0.17993295 -0.16785944
+v -0.18774319 -0.17817825 -0.16993474
+v -0.18144593 -0.17342827 -0.17191664
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+v -0.20428373 -0.16568782 -0.16316877
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+v -0.20680692 -0.17993298 -0.16102929
+v -0.19700641 -0.17342829 -0.16681154
+v -0.19900089 -0.16362338 -0.16590958
+v -0.19700641 -0.16362338 -0.16690199
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+f 35 47 48
+f 35 48 36
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+f 40 51 52
+f 40 52 41
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+f 44 57 45
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+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_47.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6dd4825b896ca4656b0c8ca60be0d6a8c1bc1fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_47.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.21736974 0.18132111 0.07337014
+v -0.21695338 0.18132109 0.07857905
+v -0.21691916 0.18266891 0.07849275
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+v -0.21720433 0.18132123 0.04104406
+v -0.21272706 0.18132102 0.09726949
+v -0.21659405 0.18680196 0.07761126
+v -0.21657124 0.18675412 0.07337016
+v -0.21714730 0.18188475 0.04104406
+v -0.15910810 0.18132123 0.04104406
+v -0.21075363 0.18132101 0.10169552
+v -0.21029735 0.18877195 0.08876265
+v -0.21281831 0.18952695 0.08053319
+v -0.20766231 0.19394717 0.08106334
+v -0.21256736 0.19045950 0.07337017
+v -0.21232211 0.19012922 0.04104409
+v -0.21543053 0.18664154 0.04104408
+v -0.21621191 0.18575533 0.04104407
+v -0.15910810 0.19596057 0.04104411
+v -0.15910810 0.18132119 0.05265778
+v -0.20814141 0.18132100 0.10236127
+v -0.19826858 0.19066936 0.10401953
+v -0.19733891 0.19224261 0.10401954
+v -0.19550807 0.19533351 0.10401955
+v -0.20627635 0.19264099 0.08876267
+v -0.20377251 0.19484572 0.08106335
+v -0.20806726 0.19411703 0.07337018
+v -0.20781631 0.19399981 0.04104410
+v -0.21142664 0.19090736 0.04104409
+v -0.19700240 0.19565333 0.04104411
+v -0.15910810 0.19709048 0.10401955
+v -0.15910810 0.18142151 0.05798381
+v -0.15947313 0.18132117 0.05798381
+v -0.20607103 0.18132100 0.10272498
+v -0.19633509 0.18555902 0.10401951
+v -0.18922278 0.19648836 0.10401955
+v -0.20417174 0.19491985 0.07337019
+v -0.20392649 0.19497710 0.04104411
+v -0.20252343 0.19511452 0.04104411
+v -0.18908590 0.19649300 0.10401955
+v -0.15910810 0.18483493 0.10401951
+v -0.15910810 0.18162219 0.06568314
+v -0.16015184 0.18132114 0.06568314
+v -0.18929122 0.18132100 0.10401950
+v -0.17215210 0.18132100 0.10401950
+v -0.15910810 0.18467281 0.10315650
+v -0.15910810 0.18190469 0.07337014
+v -0.16105302 0.18132111 0.07337014
+v -0.16534206 0.18132105 0.08948386
+v -0.15910810 0.18358439 0.09548798
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+v -0.16238764 0.18132108 0.08106330
+v -0.16287814 0.18132107 0.08305440
+v -0.15910810 0.18280320 0.08756057
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+f 1 33 43
+f 1 43 48
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+f 1 52 53
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+f 1 49 45
+f 1 45 44
+f 1 44 34
+f 1 34 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
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+f 11 21 22
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+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 19 30 31
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+f 22 35 44
+f 22 44 45
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+f 22 36 24
+f 22 24 23
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+f 27 37 38
+f 27 38 28
+f 30 39 36
+f 30 36 40
+f 30 40 31
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+f 32 43 33
+f 34 44 35
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+f 45 50 46
+f 47 51 52
+f 47 52 48
+f 49 53 50
+f 50 53 54
+f 51 54 53
+f 51 53 52
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_48.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d23cbc65bf480aecc877fc26cf43196c8a350a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_48.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.19222071 0.17310145 -0.15109158
+v -0.21762618 0.17310145 -0.15109158
+v -0.20445335 0.17310142 -0.14214686
+v -0.20410505 0.14395461 -0.14214697
+v -0.20402648 0.13620604 -0.14214700
+v -0.20400816 0.12847540 -0.14214703
+v -0.20397673 0.11299621 -0.14214708
+v -0.20397673 0.10519383 -0.14214711
+v -0.20406577 0.05102561 -0.14214731
+v -0.20420457 -0.01013785 -0.14214754
+v -0.19688226 -0.01013782 -0.15109226
+v -0.21796925 0.17310145 -0.14980452
+v -0.21780164 0.16718239 -0.15109161
+v -0.21866324 0.17310142 -0.14214686
+v -0.21897489 -0.01013785 -0.14214754
+v -0.21829137 -0.01013782 -0.15109226
+v -0.21812899 0.16718239 -0.14980455
+v -0.21792473 0.15943383 -0.15109163
+v -0.21884133 0.08205575 -0.14214720
+v -0.21824685 0.15943383 -0.14980457
+v -0.21828612 0.15170320 -0.14980460
+v -0.21846421 0.08976848 -0.14980483
+v -0.21861872 0.01237249 -0.14980511
+v -0.21863444 -0.01013782 -0.14980520
+v -0.21896965 -0.00348341 -0.14214751
+v -0.21829137 -0.00879258 -0.15109225
+v -0.21796663 0.15170320 -0.15109166
+v -0.21895656 0.01240833 -0.14214745
+v -0.21801115 0.13620607 -0.15109172
+v -0.21802686 0.13060989 -0.15109174
+v -0.21813162 0.09186704 -0.15109188
+v -0.21813685 0.08976848 -0.15109189
+v -0.21827304 0.01445311 -0.15109217
+v -0.21827566 0.01237249 -0.15109217
+v -0.21828089 0.00670455 -0.15109220
+v -0.21814733 0.08411848 -0.15109191
+f 1 2 12
+f 1 12 14
+f 1 14 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 11 16
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+f 23 35 24
+f 23 25 28
+f 23 32 36
+f 23 36 33
+f 24 35 26
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_5.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484e063aae9c51d48c65e84a8055ff4f9eda10ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_5.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04547684 0.19571908 -0.13852055
+v -0.04547684 0.18237184 -0.13852060
+v -0.04547684 0.19595633 -0.13440759
+v 0.04424503 0.19649805 -0.13440759
+v 0.04424503 0.19602202 -0.13852055
+v -0.02577972 0.18217635 -0.13852060
+v -0.04547684 0.18193418 -0.02667938
+v -0.04547684 0.19604437 -0.12670894
+v 0.04424503 0.19666964 -0.12670894
+v 0.05203368 0.19651446 -0.13440759
+v 0.07904410 0.19676217 -0.12670894
+v 0.07904410 0.19656968 -0.13440759
+v 0.05203368 0.19601903 -0.13852055
+v -0.01800325 0.18213009 -0.13852060
+v -0.04547684 0.18195187 0.03489217
+v -0.01021460 0.18213905 -0.13852060
+v -0.00243813 0.18216740 -0.13852060
+v 0.02090345 0.18228230 -0.13852060
+v 0.07904410 0.18256883 -0.13852060
+v -0.04547684 0.19608762 -0.12263113
+v 0.04424503 0.19675021 -0.11901030
+v 0.07904410 0.19680691 -0.12263113
+v 0.07904410 0.19598173 -0.13852055
+v 0.07732548 0.19598621 -0.13852055
+v 0.07537527 0.19598919 -0.13852055
+v 0.07904410 0.18276225 0.01949489
+v -0.04547684 0.18198467 0.04104406
+v 0.07904410 0.18264596 -0.01128210
+v 0.07904410 0.18265341 -0.00767885
+v 0.07904410 0.18266532 -0.00360103
+v -0.04547684 0.19612493 -0.11901030
+v 0.04424503 0.19678599 -0.11131166
+v 0.07904410 0.19688747 -0.11131166
+v 0.07904410 0.19686956 -0.11493248
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+v -0.04547684 0.19630689 -0.09593195
+v -0.04547684 0.19636358 -0.08823331
+v -0.04547684 0.19641578 -0.08053467
+v -0.04547684 0.19675580 -0.01898069
+v -0.04547684 0.19704957 0.04104411
+v 0.07904410 0.18281744 0.02719353
+v 0.07904410 0.18290993 0.03489217
+v 0.07904410 0.18302779 0.04104406
+v 0.04424503 0.19685159 -0.09593195
+v 0.07904410 0.19695755 -0.09593195
+v 0.07904410 0.19694115 -0.09955277
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+v 0.04424503 0.19688289 -0.08823331
+v 0.07904410 0.19717194 0.04104411
+v 0.07904410 0.19696947 -0.09185413
+v -0.01021460 0.19714656 0.04104411
+v 0.07904410 0.19697840 -0.08823331
+v 0.07693543 0.19717343 0.04104411
+v 0.01312698 0.19717343 0.04104411
+v 0.02090345 0.19717940 0.04104411
+f 1 2 7
+f 1 7 15
+f 1 15 27
+f 1 27 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 31
+f 1 31 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 25
+f 1 25 24
+f 1 24 23
+f 1 23 19
+f 1 19 18
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+f 1 17 16
+f 1 16 14
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+f 4 11 10
+f 5 10 12
+f 5 12 13
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+f 15 29 30
+f 15 30 26
+f 20 31 21
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+f 21 33 34
+f 21 34 35
+f 21 35 22
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+f 21 41 32
+f 26 42 27
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+f 27 55 52
+f 27 52 48
+f 27 48 41
+f 32 45 46
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+f 41 48 49
+f 41 49 45
+f 45 49 46
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+f 46 48 51
+f 48 52 53
+f 48 53 51
+f 50 53 54
+f 52 55 53
+f 53 55 56
+f 53 56 54
+
diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_6.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d097d77762993268ed72a4032437d73151f5745
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_6.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.17695752 0.09197926 0.04105587
+v -0.18662995 0.09197911 0.08107847
+v -0.16671389 0.09197926 0.04105587
+v -0.17717773 -0.16412426 0.04105493
+v -0.20144311 0.04300872 0.14500514
+v -0.20144311 0.05105755 0.14500517
+v -0.20144311 0.06653003 0.14501737
+v -0.20144311 0.07426628 0.14502954
+v -0.20144311 0.08202857 0.14505387
+v -0.20144311 0.08976481 0.14511463
+v -0.20144311 0.09197888 0.14513893
+v -0.17717773 -0.16568715 0.04105492
+v -0.16687217 0.09197917 0.06568890
+v -0.16670356 0.08820232 0.04105585
+v -0.20144311 -0.17412707 0.14627971
+v -0.20144311 0.09197880 0.16476761
+v -0.17704010 -0.17412668 0.04105489
+v -0.16666915 0.07272982 0.04105580
+v -0.16668292 0.08046606 0.04105583
+v -0.16703733 0.09197916 0.06787526
+v -0.16652808 -0.17412677 0.06568792
+v -0.16638355 -0.17412674 0.05798706
+v -0.16632850 -0.17412671 0.05028621
+v -0.20144311 -0.17412714 0.16513103
+v -0.19799531 0.09197880 0.16476761
+v -0.20144311 0.03157359 0.16485242
+v -0.16629410 -0.17412668 0.04105489
+v -0.16629754 -0.17412669 0.04259750
+v -0.16747777 0.09197914 0.07337762
+v -0.16717497 -0.17412680 0.07337664
+v -0.19772004 -0.17412714 0.16513103
+v -0.19521161 0.09197882 0.16134231
+v -0.19788176 0.03555893 0.16484028
+v -0.19781638 0.02008644 0.16485237
+v -0.19391094 0.01235022 0.16054035
+v -0.19392470 0.02008646 0.16049180
+v -0.16787004 0.09197913 0.07557613
+v -0.16870274 -0.17412683 0.08163623
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_7.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488673ba9ea95738d4f7c1614178c8e5572811e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_8.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bb0b6a0c67c9f0549cab6e9027e42e0063cd00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_8.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_9.obj b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f84ce0555506e3ca94857cf0cbe2b17320a3f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/mjcf/mesh/box_collision_9.obj
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