diff --git a/.gitattributes b/.gitattributes
index 3f6610d23095b581a50adc8dfb662f2e76321dd5..4f4f612f86f99ea97cdf6b34fcc1c023ad6e7d29 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2767,5 +2767,5 @@ dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_
dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/663158968e3f5900af1f6e7cecef24c7.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/mesh/jewelry_box_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/basket_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/64fb0149b61d52aca9b353f6c393b3d2/mesh/basket_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.urdf b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca4bba35b8fe080bf8037e9d2ca5faf9ee9aa12f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.urdf
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+ NO: {"summary":"Handle, latch, gemstone and side hardware are merged inconsistently; functional parts are missing and not fixable by merging alone.","merge_groups":[]}
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.usd b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/jewelry_box_002.usd
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.glb b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.glb
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.mtl b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.mtl
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.mtl
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77665a3847967a91805eb1891828cbb68765da63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002.obj
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_collision.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d567a77108a8d15865cca12894c7d575749e10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c09586a7e001f33d51c2eec6226ae19d6fda4f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/jewelry_box_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7c540fa32828f9bcd9e9a61a894bfb766fe77c0f2cfba932744875339b8211
+size 14584739
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material.mtl b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7eb8877a37e19edbc3135fa14a3babcebd19250c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material_0.png b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c09586a7e001f33d51c2eec6226ae19d6fda4f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7c540fa32828f9bcd9e9a61a894bfb766fe77c0f2cfba932744875339b8211
+size 14584739
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/jewelry_box_002.xml b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/jewelry_box_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68d2ab5fb9247f6226be45517abb555161723344
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/jewelry_box_002.xml
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894e40e36a75ce669491d303c6d86dfe0e37383d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fad143296af880aed548dbd27349fd495d51197
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision.obj
@@ -0,0 +1,8552 @@
+# https://github.com/mikedh/trimesh
+
+o jewelry_box_002_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_0.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc314d4ee9208fd0175e929c4b61c97221761e18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_0.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_1.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf76bdfdd04e7f5146480ce44c390de49a8157e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_1.obj
@@ -0,0 +1,1219 @@
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_10.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f8b61cd6f333035192a9d0aa3b5fcdbdeb645c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01768449 0.12904940 0.00432553
+v -0.02466476 0.13633512 0.00432556
+v -0.01859754 0.12904939 0.00864548
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_11.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca686f7e30057585ea3292fe665c2bee4d49438
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03194619 0.12970570 -0.06337099
+v -0.02162281 0.12864773 -0.06620772
+v -0.03194619 0.12864165 -0.06621930
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_12.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a091158381858443a16880da4b49ba2b1b32600
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.03038397 -0.15450440 -0.04135407
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_13.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91606ee9b8c9483f1fb7de67910bfc8ab9114e6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_13.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_14.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b72338974106edbb6257e329dd0f57ef235b79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_14.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_15.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b1f17ed2046c56d9c33883c96417fc61d6bc52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_15.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_16.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b70d6ff27630848fe8f994f5c2a3c3d0a20f866
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_16.obj
@@ -0,0 +1,310 @@
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_17.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38767970857fdc336064c8636c5a9a0146c54e59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04840113 0.12904941 -0.00050422
+v 0.04454023 0.12904943 -0.00636266
+v 0.03938455 0.13304281 -0.00467013
+v 0.04184256 0.13304279 -0.00092881
+v 0.04303503 0.13304277 0.00415761
+v 0.04305549 0.13304277 0.00432389
+v 0.04807671 0.12904939 0.00432387
+v 0.04226928 0.12904944 -0.00774636
+v 0.03874740 0.13304281 -0.00553420
+v 0.04091021 0.13304275 0.00994182
+v 0.04722912 0.12904937 0.01069304
+v 0.03974990 0.12904944 -0.00918350
+v 0.03898707 0.12904945 -0.00953388
+v 0.03558503 0.12904945 -0.01066815
+v 0.03570486 0.13304281 -0.00615776
+v 0.03578085 0.13304274 0.01395039
+v 0.04078746 0.12904934 0.01861812
+v 0.04509846 0.12904936 0.01468972
+v 0.04641953 0.12904936 0.01241523
+v 0.03038844 0.12904945 -0.01054344
+v 0.03030076 0.13304281 -0.00593506
+v 0.03034460 0.13304274 0.01395336
+v 0.03559379 0.12904934 0.01966628
+v 0.02511878 0.12904945 -0.00953982
+v 0.02602482 0.13304280 -0.00361603
+v 0.02184534 0.12904934 0.01808364
+v 0.02581731 0.12904934 0.01926542
+v 0.03038551 0.12904934 0.01960689
+v 0.03070409 0.12904934 0.01961877
+v 0.02535844 0.13304275 0.00982899
+v 0.01998942 0.12904942 -0.00312018
+v 0.02485281 0.13304279 -0.00093178
+v 0.02025830 0.12904936 0.01400381
+v 0.02374803 0.13304277 0.00473069
+v 0.01916229 0.12904941 -0.00088132
+v 0.02445825 0.13304279 0.00017874
+v 0.02364281 0.13304277 0.00432389
+v 0.01930550 0.12904937 0.00952907
+v 0.01863912 0.12904941 0.00124470
+v 0.01854267 0.12904939 0.00432387
+f 1 2 3
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+f 1 6 7
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+f 1 19 18
+f 1 18 17
+f 1 17 23
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+f 1 33 38
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+f 14 20 15
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+f 16 23 17
+f 20 24 21
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+f 22 26 27
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+f 22 30 26
+f 24 31 25
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+f 31 35 32
+f 32 35 36
+f 33 34 37
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+f 35 39 36
+f 36 39 37
+f 37 39 40
+f 37 40 38
+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_18.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15320abf0a35eca95ff8865183ba7582e07361ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.03746364 -0.16272116 -0.01723598
+v 0.03522912 -0.16183872 -0.01723597
+v 0.03866644 -0.16272116 -0.01723598
+v 0.03558827 -0.16209535 -0.00088537
+v 0.03486489 -0.16164046 -0.01723597
+v 0.03924752 -0.16271726 -0.01723598
+v 0.04078746 -0.16016136 -0.00088536
+v 0.04089757 -0.15884355 0.00411010
+v 0.03558827 -0.16068229 0.00432199
+v 0.03153090 -0.15878718 0.00432200
+v 0.03118530 -0.15945774 -0.00088536
+v 0.03975067 -0.16255011 -0.01723598
+v 0.03164948 -0.15899702 -0.01723596
+v 0.04354376 -0.15744990 0.00223499
+v 0.04181239 -0.16168127 -0.01723597
+v 0.04270349 -0.15587163 0.00570657
+v 0.03923566 -0.15791446 0.00764843
+v 0.03558827 -0.15817687 0.00788935
+v 0.03234237 -0.15775120 0.00748588
+v 0.02932518 -0.15450325 0.00432201
+v 0.02910834 -0.15450323 -0.00088534
+v 0.03002654 -0.15450319 -0.01129714
+v 0.03070757 -0.15513877 -0.01723595
+v 0.04369115 -0.15426612 0.00411011
+v 0.04353020 -0.15234769 0.00717532
+v 0.04419768 -0.15958401 -0.01723597
+v 0.04461951 -0.15908837 -0.01723596
+v 0.04481942 -0.15829923 -0.01723596
+v 0.04567493 -0.15450317 -0.01723595
+v 0.04089757 -0.15426613 0.00849311
+v 0.03862748 -0.14783055 0.01235656
+v 0.03558827 -0.15450327 0.01025211
+v 0.03272185 -0.14735628 0.01228690
+v 0.03138182 -0.15450326 0.00848150
+v 0.03094982 -0.14915809 0.00991543
+v 0.02846966 -0.14921638 0.00432203
+v 0.03058051 -0.15450317 -0.01723595
+v 0.04361830 -0.14921639 0.00738142
+v 0.04441622 -0.15058272 -0.01723593
+v 0.04306433 -0.14286435 0.00432206
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+v 0.03862748 -0.14538343 0.01235657
+v 0.03558827 -0.14810266 0.01241752
+v 0.03558827 -0.15074804 0.01189213
+v 0.03272185 -0.14570997 0.01228690
+v 0.03070079 -0.14286437 0.00997061
+v 0.02876105 -0.14286435 0.00564566
+v 0.02836801 -0.14286435 0.00432206
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+v 0.03517660 -0.14286437 0.01190958
+v 0.03072959 -0.14286433 -0.00128876
+v 0.03191885 -0.15057689 -0.01723593
+v 0.04078746 -0.14822306 -0.01723592
+v 0.03680971 -0.14286432 -0.00390404
+v 0.03558827 -0.14286431 -0.00416238
+v 0.03558827 -0.14821918 -0.01723592
+v 0.03240844 -0.15025812 -0.01723593
+v 0.03631673 -0.14814726 -0.01723592
+f 1 2 5
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+f 1 23 37
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+f 1 15 12
+f 1 12 6
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_19.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882c97ed510148d5515b5325bb8cc98280443c29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03570732 0.13304498 -0.00615521
+v 0.03874976 0.13304498 -0.00553566
+v 0.03029896 0.13304498 -0.00593607
+v 0.03038638 0.14083081 -0.01368446
+v 0.03320458 0.14104369 -0.01368446
+v 0.03938447 0.13304498 -0.00466991
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+v 0.03946239 0.14689390 -0.01368444
+v 0.02485260 0.13304496 -0.00093098
+v 0.02372950 0.14690259 -0.01368444
+v 0.04303502 0.13304494 0.00415257
+v 0.03941298 0.14854273 -0.01368443
+v 0.03997738 0.14690258 -0.01129552
+v 0.02445733 0.13304496 0.00017555
+v 0.02541510 0.15238566 -0.01368442
+v 0.02364399 0.13304494 0.00432302
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+v 0.04305592 0.13304494 0.00432302
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+v 0.03901771 0.15083459 -0.01368443
+v 0.02770881 0.15486217 -0.01368441
+v 0.02705129 0.15072372 0.00432308
+v 0.02374851 0.13304494 0.00473154
+v 0.02692587 0.14690251 0.00848947
+v 0.02740095 0.15006766 0.00748575
+v 0.04100166 0.14690254 -0.00088223
+v 0.04084773 0.14690252 0.00432307
+v 0.03919064 0.14644414 0.00948778
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+v 0.03372717 0.15514458 -0.01368441
+v 0.03353904 0.15495988 0.00223449
+v 0.03376708 0.15512937 -0.01129549
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_2.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa0b68fe4ed9dbfff9b638a2948976678605e5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.06464979 -0.13172301 -0.07803138
+v -0.06323417 -0.13172301 -0.07802943
+v -0.06323417 -0.13309340 -0.07767346
+v -0.07033028 -0.13172301 -0.07800400
+v -0.05803608 -0.13172301 -0.07797661
+v -0.06842777 -0.13382936 -0.07745049
+v -0.05283798 -0.13172301 -0.07791599
+v -0.05803608 -0.13285001 -0.07766760
+v -0.07349512 -0.13172301 -0.07798248
+v -0.05283798 -0.13261699 -0.07765587
+v -0.07015445 -0.13604817 -0.07644714
+v -0.07153851 -0.13604817 -0.07644714
+v -0.07341848 -0.13375380 -0.07743681
+v -0.04763537 -0.13172301 -0.07773213
+v -0.07535255 -0.13172301 -0.07780646
+v -0.04763537 -0.13232747 -0.07755025
+v -0.06668304 -0.13590917 -0.07624959
+v -0.06842777 -0.13670685 -0.07422329
+v -0.07341848 -0.13667570 -0.07409616
+v -0.07500541 -0.13578344 -0.07603836
+v -0.07883749 -0.13223864 -0.07726860
+v -0.04427667 -0.13172302 -0.07713167
+v -0.07883749 -0.13172302 -0.07741723
+v -0.04754521 -0.13513747 -0.07345854
+v -0.05283798 -0.13526032 -0.07465358
+v -0.05803608 -0.13549333 -0.07535379
+v -0.06323417 -0.13573672 -0.07592492
+v -0.05803608 -0.13647210 -0.07275051
+v -0.06323417 -0.13667686 -0.07332163
+v -0.06843678 -0.13761470 -0.06857861
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+v -0.08140722 -0.13172302 -0.07635127
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_20.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6399bfa8a1a66edfbefcaa7f208304dc75c65b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v -0.03774169 -0.15937900 -0.00132911
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_21.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f519bcdb1f6244e95edc8191c2eea9cd09146b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_21.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04598854 -0.13172440 0.00432107
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+v 0.04399849 -0.13741707 0.00805119
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_22.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a800f7d620d4e3ecf0ee263215eccc15789bb745
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_22.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.04013235 -0.15119168 -0.00660879
+v -0.03997200 -0.15450309 -0.01046246
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_23.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19658a4763c695ea3b8728ab4d1fdc861ad64b4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_23.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.03213081 -0.14735006 -0.01112356
+v -0.02432409 -0.14903961 -0.02386042
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+v -0.02934713 -0.16247811 -0.01368471
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_3.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6767565817f71b5fe08f1d491ef9813e952169e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_3.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_4.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3281e0847d72b1ffca785d0bc191d72319db986e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.03097962 0.06758896 -0.06823690
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_5.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff42cccbd2fdb9891c6d06fc711840e7552e467
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_6.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feadd5dae718a1ff1f16af48d59bdfa6ea109f0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_6.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_7.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1f14a11b14d598520d1501793b2d04fee6e3ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_7.obj
@@ -0,0 +1,1327 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_8.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_8.obj
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_9.obj b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0af398e6a1961af39870a0aa4436a28dbf6649
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/mjcf/mesh/jewelry_box_002_collision_9.obj
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