diff --git a/.gitattributes b/.gitattributes
index 51d42b1303f66a44c4083c1f170c5c71cb90ca16..fcebdfebe273133221a980d6186df69bb67137f7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2801,3 +2801,5 @@ dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_b
 dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/basket_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/mesh/basket_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material.mtl b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd3fd77bb3393fe550e6bb6a1ee54ced93bbc641
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_006_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material_0.png b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..63fd2fe6d573cd74080413b82f5e163e826ab9cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a7c52b7f538b69026ce813f575512df1cd55f6bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.mtl b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb5ee3b28fb817be558e907450e993e6af62d680
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_006_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beccbb8ab117a7a5e8a8d7d5f047d65c18e7c8fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.obj
@@ -0,0 +1,133158 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006_collision.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f0a15d8f138ea74db9fe6e30429f22bb1945f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006_collision.obj
@@ -0,0 +1,14279 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5eb6b4696c3cac39137bef22ba6ce2b63c27e32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision.obj
@@ -0,0 +1,14279 @@
+# https://github.com/mikedh/trimesh
+
+o pill_organizer_006_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_0.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d404248042ce3529867fc2894ec5cebfcebc3655
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_1.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cafdec1fb2b4079924e23c44aa66994add7b54e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_1.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_10.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29bf11b3dca317b4edd64556ccc8871ef7e9997
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_10.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_11.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d260b1fdccb1c220ef81296d3ef587557f792ab9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_12.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cf55f9cb57f0b87d16d008dfe9363d624e1c81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_13.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a7b9654642418837b6b852330ee635205a9650
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_14.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2a2235e7de5ebbd2dcbece24e71e89e7e64081
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_14.obj
@@ -0,0 +1,370 @@
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_15.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b839266d0ae1dc4b061ba9f2e25ed43303d737a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_15.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_16.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2bb16e3ca45f7977e894dffe5b6bc8d9d8e9b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_16.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.04002999 0.12964410 -0.02104749
+v -0.03996019 0.12964408 -0.01752850
+v -0.03834697 0.13613012 -0.02104747
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_17.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea9f1914f4b42e1f9a633ecf522af253bc0fcd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00279716 -0.05253446 -0.04992292
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+v -0.03536690 -0.05253446 -0.04992292
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_18.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf90016eb9e0aaed55156c95925993092f957fe8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_19.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a094dbe233e94a8d6efb58ccf28f6e884d6e7e29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_19.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+v -0.00279716 -0.05252613 -0.04991895
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_2.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a90d9d45612daed5151362db2ea06d64827e13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_2.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_20.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec4183fc50987a1d36588a2c687872b4afd17dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_20.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_21.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c377ea0ad8f096d9c7e58984e684c9484723ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_22.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c85abc233533b603d1bafd0d48fe7e9614c7edc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_23.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670f10698e1f4feca97c96a7d23c5a44965a37a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_23.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_24.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a308bb4ffa86f5b0c6338c73c49a95c3088d78ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_24.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_25.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef10bba1a7824b10e78aa242675942e1e95e54c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_25.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_26.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6875676fa1807185679cb5875d8ed5ce52550e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_26.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_27.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2726c978d2a0cfa42f060f4423dbdf7115a5bd7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_27.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_28.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db6590974fedfa8a689d99162ae3debb0e90f15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_28.obj
@@ -0,0 +1,310 @@
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_29.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e21036794af70c65a4ec9c8746557bdce675c20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_29.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.07072035 0.07714192 0.00532798
+v -0.07247347 0.07714183 0.03003716
+v -0.07072035 0.08147813 0.00532800
+v 0.07889906 0.07714192 0.00532798
+v -0.06946597 0.09264022 0.03003722
+v -0.07069013 0.09264031 0.00545623
+v -0.07069013 0.09264031 0.00532804
+v -0.07070524 0.09079234 0.00532803
+v 0.07305030 0.07714183 0.03003716
+v 0.08007788 0.08147813 0.00532800
+v 0.08148339 0.07714186 0.02045921
+v 0.06671792 0.09264022 0.03003722
+v 0.07935245 0.09264031 0.00532804
+v 0.08053127 0.07714186 0.02298189
+v 0.08189143 0.07817812 0.02201443
+v 0.07741797 0.08316823 0.02659058
+v 0.07741797 0.08436077 0.02659058
+v 0.07197726 0.08148714 0.03003718
+v 0.08009299 0.08613448 0.00532802
+v 0.08015344 0.08613448 0.00564970
+v 0.08189143 0.07817812 0.02171935
+v 0.08148339 0.07714186 0.02054870
+v 0.07022415 0.08624514 0.03003720
+v 0.07619382 0.08746349 0.02637775
+v 0.07988140 0.09072551 0.02333748
+v 0.07923154 0.09264025 0.02304000
+v 0.08122646 0.09264026 0.01788580
+v 0.08190656 0.08147807 0.02207249
+v 0.08192167 0.08613442 0.02208218
+v 0.07187147 0.08189072 0.03003718
+v 0.08189143 0.08912941 0.02202656
+v 0.07031483 0.08602818 0.03003720
+v 0.08189143 0.08912941 0.02168795
+v 0.08192167 0.08613442 0.02166859
+v 0.08190656 0.08147807 0.02169275
+v 0.07985118 0.09264025 0.02205318
+v 0.08071262 0.09264026 0.01991265
+f 1 2 3
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+f 1 7 13
+f 1 13 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 14
+f 1 14 9
+f 1 9 2
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+f 20 34 35
+f 20 35 21
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+f 27 37 31
+f 27 31 33
+f 28 35 34
+f 28 34 29
+f 29 34 33
+f 29 33 31
+f 31 37 36
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_3.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00902152cb6bfcf1f799244b72f23f79ba38da8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_3.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01500462 0.04905443 0.09678074
+v -0.01491571 0.05281025 0.09678075
+v -0.01248441 0.04392803 0.09678072
+v -0.01227239 0.03958850 0.10283612
+v -0.01341453 0.03958848 0.10763429
+v -0.01154061 0.03958847 0.11200683
+v -0.01078489 0.04245257 0.11050240
+v -0.01130466 0.05281024 0.10078168
+v 0.01992958 0.05281025 0.09678075
+v -0.00781329 0.04230637 0.09678072
+v -0.01120891 0.04079989 0.09948674
+v -0.01206380 0.03958850 0.10232045
+v -0.00840487 0.03958846 0.11342778
+v -0.01056945 0.05281024 0.10121877
+v -0.01093535 0.05247762 0.10132845
+v -0.00781329 0.05281024 0.10175572
+v 0.01857202 0.05281025 0.09879758
+v 0.01731704 0.04171876 0.10979191
+v 0.01799069 0.03958848 0.10878841
+v 0.01984751 0.05118989 0.09678075
+v -0.00781329 0.03958851 0.09982560
+v -0.00972824 0.03958851 0.10036255
+v 0.01057367 0.04239179 0.09678072
+v -0.00781329 0.03958846 0.11347853
+v -0.00781329 0.04011779 0.11302016
+v 0.01057367 0.05281024 0.10185230
+v 0.01840446 0.05281025 0.09899402
+v 0.01551494 0.03958847 0.11250122
+v 0.01566881 0.03958847 0.11242264
+v 0.01585347 0.03958847 0.11221474
+v 0.01516956 0.05281024 0.10108780
+v 0.01803515 0.03958848 0.10831203
+v 0.01905760 0.04632363 0.09678073
+v 0.01057367 0.03958851 0.09994020
+v 0.01516956 0.04297290 0.09678072
+v 0.01057367 0.03958846 0.11350472
+v 0.01057367 0.04013203 0.11303162
+v 0.01424970 0.04249399 0.11052859
+v 0.01802831 0.03958848 0.10799280
+v 0.01858912 0.04441466 0.09678072
+v 0.01792914 0.03958850 0.10351386
+v 0.01516956 0.03958851 0.10091096
+v 0.01790521 0.03958850 0.10342545
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+f 19 32 20
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+f 24 36 25
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+f 32 39 33
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+f 34 35 42
+f 35 40 42
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+f 40 41 43
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_30.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2811e2b16eaa106cc31a3b891c643388495affb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_30.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.07059733 -0.08491573 0.00692711
+v -0.07068697 -0.07969285 0.02847175
+v -0.07059733 -0.07969278 0.00692713
+v -0.07056746 -0.09085602 0.00692709
+v -0.07053759 -0.09422942 0.00692707
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+v 0.07964487 -0.07969278 0.00692713
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+v -0.07034340 -0.09949696 0.00692705
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+v 0.07171301 -0.07969286 0.03026256
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+v 0.08134775 -0.09949697 0.01091984
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+f 28 31 40
+f 28 40 29
+f 30 40 31
+f 31 34 33
+f 31 33 32
+f 36 41 38
+f 36 37 41
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_31.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1cdb6a379122a44fa79363a8bf177be2260967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_31.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.07269507 -0.06196606 0.00692428
+v 0.07493784 -0.06231172 0.00692428
+v 0.07269507 -0.06187217 0.00633935
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+v 0.07269507 -0.06176122 0.00564674
+v 0.07977767 -0.06389066 0.00692428
+v 0.07269507 -0.10525463 0.00627225
+v 0.07603134 -0.10447371 0.00692413
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+v 0.07998631 -0.06389065 0.00557108
+v 0.07987750 -0.06404000 0.00142708
+v 0.08036759 -0.06494898 0.00692427
+v 0.08183969 -0.06523060 0.00397633
+v 0.07269507 -0.10535278 0.00557092
+v 0.07921294 -0.10366716 0.00692413
+v 0.07493784 -0.10486630 0.00564658
+v 0.07845126 -0.06450086 -0.00362486
+v 0.07269507 -0.06355349 -0.00405263
+v 0.08183969 -0.06523060 0.00324881
+v 0.08136398 -0.06724911 0.00692426
+v 0.08138107 -0.10006547 0.00692414
+v 0.08183969 -0.06526902 0.00397633
+v 0.08188196 -0.06977110 -0.00547280
+v 0.07269507 -0.10522902 0.00359496
+v 0.07933075 -0.10375250 0.00564659
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+v 0.08188196 -0.06977110 -0.00611302
+v 0.07269507 -0.06882798 -0.01163348
+v 0.08142243 -0.10017215 0.00564660
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+v 0.08188196 -0.07017224 -0.00547280
+v 0.07269507 -0.10504551 0.00109227
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+v 0.07500798 -0.08089190 -0.02280251
+v 0.07269507 -0.10201136 -0.00520518
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+f 1 55 59
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_32.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca979d232b72ca6831d6f8dc1f9af6bca89f432
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_33.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f94731a45ccb22069171522543779133f288a66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_33.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_34.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6cdbc6472d2edde86da7ed4a95f3848115d31e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_34.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_35.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e6048fe5b98deeb88507d02827972a7f2271ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_35.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_36.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316ea5ff16fd071880e199ca5096b5d498ec0f05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_36.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.07019140 -0.05252600 -0.08448927
+v -0.07005937 -0.04183795 -0.08509149
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+v 0.07801706 -0.04428110 -0.01289739
+v 0.07782635 -0.04183811 -0.04051357
+v 0.07725423 -0.04183831 0.01272589
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+v -0.07120360 -0.04183816 -0.02680403
+v -0.07102757 -0.04183797 -0.07778777
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+f 5 22 21
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+f 5 20 14
+f 5 14 10
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+f 6 11 8
+f 7 9 12
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+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 13 19
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+f 14 20 15
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+f 26 39 40
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+f 27 30 29
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+f 30 32 31
+f 32 43 35
+f 32 35 33
+f 33 35 34
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+f 35 44 41
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+f 39 46 47
+f 39 47 40
+f 41 44 48
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+f 44 53 54
+f 44 54 48
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+f 44 55 56
+f 44 56 53
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+f 51 62 55
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_37.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7844dab742f46e36f6fb4a8ff157ed36d1915b20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_37.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.06916307 0.03958896 -0.02104782
+v 0.06916307 0.06218737 -0.02104774
+v 0.07642015 0.03958896 -0.02104782
+v 0.06916307 0.03958886 0.00532785
+v 0.07731960 0.05131618 -0.02104778
+v 0.06916307 0.06284527 -0.00645541
+v 0.07507634 0.06284525 0.00102149
+v 0.07655489 0.03988038 -0.02104782
+v 0.07733744 0.03958888 0.00131057
+v 0.07741507 0.03958886 0.00532785
+v 0.06916307 0.06284523 0.00532793
+v 0.07750519 0.05067415 -0.02104778
+v 0.07601059 0.06284523 0.00532793
+v 0.07735261 0.04164709 -0.02104782
+v 0.07744719 0.04149908 -0.01752883
+v 0.07740704 0.03958886 0.00488120
+v 0.07821814 0.04421744 -0.01752882
+v 0.07742042 0.03988255 0.00532785
+v 0.07820387 0.04421743 -0.01289191
+v 0.07827793 0.04887555 -0.01752880
+v 0.07776931 0.04887557 -0.02104779
+v 0.07734280 0.04419915 0.00532786
+v 0.07729282 0.04667392 0.00374781
+v 0.07803254 0.04931949 -0.01245040
+v 0.07780233 0.04421746 -0.02104781
+v 0.07734815 0.04403523 0.00532786
+v 0.07734636 0.04409898 0.00532786
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 18
+f 4 18 26
+f 4 26 27
+f 4 27 22
+f 4 22 13
+f 4 13 11
+f 5 7 13
+f 5 13 12
+f 6 11 13
+f 6 13 7
+f 8 14 15
+f 8 15 9
+f 9 15 17
+f 9 17 16
+f 10 16 17
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+f 10 19 18
+f 12 20 21
+f 12 13 20
+f 13 22 23
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+f 13 24 20
+f 14 25 17
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+f 17 20 19
+f 18 19 26
+f 19 20 24
+f 19 24 27
+f 19 27 26
+f 20 25 21
+f 22 27 24
+f 22 24 23
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_38.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ad64f8c492b1f740cc0c022b7b875103a0ccd0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_38.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02091212 -0.12984543 -0.03246653
+v 0.00697345 -0.12984543 -0.03216099
+v 0.04215937 -0.12984543 -0.03246653
+v 0.02428399 -0.13277527 -0.03246654
+v 0.00697345 -0.13277701 -0.03083698
+v 0.00697345 -0.12984553 -0.00645463
+v 0.02694980 -0.13495943 -0.03246655
+v 0.02749742 -0.13521956 -0.03246655
+v 0.02922985 -0.13600252 -0.03246655
+v 0.04075758 -0.12984545 -0.02593555
+v 0.03940401 -0.13325910 -0.03246654
+v 0.00697345 -0.13741241 -0.02719339
+v 0.00697345 -0.13264704 -0.00832100
+v 0.01972731 -0.12984552 -0.00686203
+v 0.03355921 -0.13661382 -0.03246655
+v 0.03963822 -0.12984547 -0.02217737
+v 0.03593226 -0.13515629 -0.02429582
+v 0.03735471 -0.13535222 -0.03246655
+v 0.00697345 -0.13742715 -0.02715520
+v 0.00697345 -0.13521443 -0.01043945
+v 0.01977209 -0.12984552 -0.00686457
+v 0.03595293 -0.13600427 -0.03246655
+v 0.03347999 -0.13554128 -0.02251604
+v 0.01977209 -0.13798385 -0.01753060
+v 0.00697345 -0.13870351 -0.02216467
+v 0.03759581 -0.12984548 -0.01789213
+v 0.03716873 -0.13290451 -0.02251603
+v 0.03684497 -0.13572853 -0.03246655
+v 0.03496100 -0.13454154 -0.02120474
+v 0.03189566 -0.13536441 -0.01918561
+v 0.00697345 -0.13725986 -0.01284814
+v 0.01977209 -0.13448956 -0.01114982
+v 0.02423232 -0.12984552 -0.00825734
+v 0.01977209 -0.13633469 -0.01346687
+v 0.00697345 -0.13861075 -0.01753060
+v 0.02436665 -0.13678902 -0.01753059
+v 0.02436665 -0.13569132 -0.01439368
+v 0.03558440 -0.12984549 -0.01549871
+v 0.03660732 -0.13143742 -0.01881385
+v 0.03362809 -0.13300598 -0.01745419
+v 0.02979815 -0.13457365 -0.01609453
+v 0.02441142 -0.12984552 -0.00833118
+v 0.03316657 -0.12984550 -0.01353560
+v 0.03229519 -0.13146952 -0.01449296
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 33
+f 1 33 42
+f 1 42 43
+f 1 43 38
+f 1 38 26
+f 1 26 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
+f 1 11 18
+f 1 18 28
+f 1 28 22
+f 1 22 15
+f 1 15 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
+f 2 5 12
+f 2 12 19
+f 2 19 25
+f 2 25 35
+f 2 35 31
+f 2 31 20
+f 2 20 13
+f 2 13 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 5 9 12
+f 6 13 14
+f 9 15 12
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 15 19
+f 13 20 21
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+f 15 24 25
+f 15 25 19
+f 16 26 27
+f 16 27 17
+f 17 22 28
+f 17 28 18
+f 17 27 29
+f 17 29 30
+f 17 30 23
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 23 30 24
+f 24 34 31
+f 24 31 35
+f 24 35 25
+f 24 30 36
+f 24 36 37
+f 24 37 34
+f 26 38 39
+f 26 39 27
+f 27 39 29
+f 29 39 40
+f 29 40 30
+f 30 41 37
+f 30 37 36
+f 30 40 41
+f 31 34 32
+f 32 34 37
+f 32 37 42
+f 32 42 33
+f 37 41 42
+f 38 43 44
+f 38 44 40
+f 38 40 39
+f 40 44 41
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_39.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6c724b0f69497957b93f9c9d5115b594e33569
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_39.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.07057974 0.03958906 -0.04972691
+v -0.07084447 0.03958905 -0.04534195
+v -0.07062154 0.06283092 -0.04535591
+v -0.07035681 0.06283093 -0.04972683
+v 0.07110445 0.03958906 -0.04972691
+v -0.07085840 0.06283090 -0.04072110
+v -0.07101166 0.03958903 -0.04070714
+v 0.07110445 0.06283093 -0.04972683
+v 0.07110445 0.03958896 -0.02104782
+v -0.07102559 0.06283088 -0.03608629
+v -0.07112312 0.03958901 -0.03606953
+v 0.07110445 0.06283092 -0.04661356
+v -0.07120672 0.03958896 -0.02104782
+v 0.07110445 0.05677693 -0.02104776
+v -0.07112312 0.06283087 -0.03145430
+v -0.07117886 0.03958900 -0.03143753
+v -0.07115099 0.05353048 -0.03143748
+v 0.06898665 0.06283083 -0.02104774
+v -0.07120672 0.05465203 -0.02104777
+v -0.07120672 0.03958896 -0.02216512
+v -0.07119279 0.05353046 -0.02680268
+v -0.07116493 0.06283085 -0.02681668
+v -0.07119279 0.03958898 -0.02680273
+v -0.07119279 0.06283083 -0.02104774
+v -0.07120672 0.05353044 -0.02216507
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 20
+f 1 20 23
+f 1 23 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 6 3
+f 2 7 10
+f 2 10 6
+f 3 6 10
+f 3 10 15
+f 3 15 22
+f 3 22 24
+f 3 24 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 14
+f 5 14 9
+f 7 11 10
+f 9 14 18
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+f 9 19 13
+f 10 11 15
+f 11 16 17
+f 11 17 15
+f 12 18 14
+f 13 19 25
+f 13 25 20
+f 15 17 21
+f 15 21 22
+f 16 23 21
+f 16 21 17
+f 19 24 25
+f 20 25 21
+f 20 21 23
+f 21 24 22
+f 21 25 24
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_4.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e141cd621e363af95bb69cab7e7e7780178532
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_4.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03541570 0.03958920 -0.08833251
+v -0.03539539 0.03958920 -0.08833251
+v -0.03541570 0.03958906 -0.04973091
+v -0.03541570 0.11407911 -0.09063945
+v 0.00608269 0.03958920 -0.08831649
+v 0.00608269 0.03958906 -0.04973091
+v -0.03541570 0.12786271 -0.04973059
+v -0.03541570 0.11873773 -0.09064343
+v 0.00608269 0.11407911 -0.09043917
+v 0.00608269 0.13405819 -0.04973057
+v -0.02818110 0.13485544 -0.04973056
+v -0.03541570 0.12823743 -0.07777753
+v -0.03541570 0.11874733 -0.09064343
+v 0.00608269 0.11873773 -0.09001856
+v 0.00608269 0.13550862 -0.05147699
+v -0.00781781 0.13654600 -0.04973056
+v -0.02628410 0.13553743 -0.04973056
+v -0.03541570 0.12808375 -0.08242799
+v -0.03541570 0.12823743 -0.07778955
+v -0.03541570 0.12291608 -0.08990639
+v -0.03541570 0.12308898 -0.08987035
+v 0.00608269 0.12126395 -0.08946177
+v 0.00608269 0.13604654 -0.05461735
+v -0.00781781 0.13770827 -0.05461734
+v -0.00807778 0.13655560 -0.04973056
+v -0.01241610 0.13736247 -0.05461735
+v -0.02485018 0.13539337 -0.05355988
+v -0.03541570 0.12800691 -0.08267233
+v -0.02186860 0.13566232 -0.05490975
+v -0.00781781 0.13657486 -0.05925178
+v -0.03541570 0.12502927 -0.08885292
+v 0.00608269 0.12358844 -0.08795569
+v 0.00608269 0.13557588 -0.05801807
+v -0.03541570 0.12665257 -0.08693424
+v 0.00608269 0.12627796 -0.08563646
+v 0.00608269 0.12622032 -0.08569253
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 18
+f 1 18 28
+f 1 28 34
+f 1 34 31
+f 1 31 21
+f 1 21 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 16
+f 3 16 25
+f 3 25 17
+f 3 17 11
+f 3 11 7
+f 4 8 9
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+f 5 33 23
+f 5 23 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 14
+f 14 20 21
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+f 15 24 16
+f 16 24 25
+f 17 25 24
+f 17 24 26
+f 17 26 27
+f 17 27 18
+f 18 27 29
+f 18 29 26
+f 18 26 30
+f 18 30 28
+f 21 31 22
+f 22 31 32
+f 23 33 24
+f 24 33 30
+f 24 30 26
+f 26 29 27
+f 28 30 34
+f 30 33 35
+f 30 35 34
+f 31 34 35
+f 31 35 36
+f 31 36 32
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_40.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d945555e5715e317c62434b7d99e6d3c392723
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_40.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01150706 0.12785147 -0.04972659
+v 0.01150706 0.12785145 -0.04295494
+v 0.01150706 0.13443589 -0.04972657
+v 0.04386737 0.12785147 -0.04972659
+v 0.01878804 0.12785142 -0.03556794
+v 0.01150706 0.13379030 -0.04898925
+v 0.01569832 0.13582948 -0.04972656
+v 0.01150706 0.13409352 -0.04930802
+v 0.02632821 0.13533244 -0.03556791
+v 0.02848011 0.13640976 -0.03556791
+v 0.02895073 0.13664169 -0.03556791
+v 0.03804599 0.13273406 -0.04972657
+v 0.03610553 0.13520798 -0.04870513
+v 0.04053551 0.13512463 -0.04314478
+v 0.04492797 0.12785146 -0.04710580
+v 0.04577714 0.12785142 -0.03556794
+v 0.01950762 0.13649314 -0.04972656
+v 0.02896096 0.13676117 -0.03607239
+v 0.02896096 0.13735356 -0.04070832
+v 0.03300216 0.13736760 -0.03556791
+v 0.03355804 0.13758548 -0.03607238
+v 0.03451633 0.13549614 -0.04972656
+v 0.03784478 0.13575316 -0.04495065
+v 0.04054915 0.13513868 -0.04070832
+v 0.04634665 0.12785144 -0.04070835
+v 0.04594424 0.12785145 -0.04330419
+v 0.03815512 0.13658046 -0.04070832
+v 0.04592719 0.12785142 -0.03607242
+v 0.04049800 0.13508645 -0.03821226
+v 0.03997622 0.13451314 -0.03556792
+v 0.01977021 0.13650519 -0.04972656
+v 0.03355804 0.13810859 -0.04070831
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+v 0.03827789 0.13601617 -0.03642996
+v 0.03384450 0.13573409 -0.04972656
+v 0.03355804 0.13700217 -0.04534286
+f 1 2 6
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+f 1 3 7
+f 1 7 17
+f 1 17 31
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+f 1 36 22
+f 1 22 12
+f 1 12 4
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+f 1 28 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_41.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6fe0d8db033ac607707b17330e529a246a2092f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_41.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.06847990 0.00229088 0.06524832
+v 0.06921566 0.00229088 0.06477680
+v 0.06847990 0.00695093 0.06513979
+v 0.06847990 -0.00235760 0.06524491
+v 0.07818372 0.00229092 0.05512591
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+v 0.06906306 0.00695093 0.06474968
+v 0.06921294 -0.00235760 0.06477339
+v 0.06847990 0.01161097 0.06450545
+v 0.06847990 -0.00334049 0.06523813
+v 0.07964842 0.00229093 0.05200506
+v 0.07816873 -0.00235756 0.05511571
+v 0.07962934 -0.00235755 0.05200504
+v 0.07960618 0.00695098 0.05200508
+v 0.07792757 0.01161101 0.05489527
+v 0.06868700 0.01161097 0.06435280
+v 0.06905897 -0.00701765 0.06475641
+v 0.07815374 -0.00701761 0.05508177
+v 0.06847990 0.01298124 0.06412214
+v 0.06847990 -0.00701765 0.06514312
+v 0.08210912 0.00229097 0.04110582
+v 0.08210502 -0.00235751 0.04107867
+v 0.07960890 -0.00701760 0.05200502
+v 0.08201101 0.00537261 0.04086838
+v 0.07908842 0.01161102 0.05200509
+v 0.07753107 0.01418965 0.05457641
+v 0.06847990 -0.00782709 0.06506849
+v 0.06847990 -0.01167192 0.06451894
+v 0.06868564 -0.01167192 0.06436629
+v 0.07791257 -0.01167188 0.05488501
+v 0.06847990 0.01512625 0.06305699
+v 0.08239115 0.00229098 0.03810031
+v 0.08200693 -0.00541603 0.04083441
+v 0.08238298 -0.00235750 0.03810029
+v 0.07908297 -0.01167187 0.05200501
+v 0.08210502 0.00593345 0.03810032
+v 0.08094825 0.01161107 0.03810034
+v 0.07792892 0.01450765 0.05200510
+v 0.06950179 0.03034380 0.03059340
+v 0.06847990 0.02511128 0.05200514
+v 0.06847990 0.02400119 0.05572980
+v 0.06847990 0.02370631 0.05621490
+v 0.06847990 0.02239965 0.05807383
+v 0.06847990 0.02011009 0.06022788
+v 0.06847990 0.01945675 0.06071297
+v 0.06847990 -0.01202460 0.06444770
+v 0.06847990 -0.01304218 0.06413561
+v 0.07753107 -0.01425051 0.05457631
+v 0.08239797 0.00229100 0.03346652
+v 0.08210912 0.00597972 0.03346653
+v 0.08239388 -0.00235748 0.03346650
+v 0.08209685 -0.00586121 0.03810028
+v 0.08094825 -0.01167182 0.03810026
+v 0.08210367 -0.00593057 0.03346649
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+v 0.08106815 0.01161109 0.03346655
+v 0.07963615 0.01478525 0.03059334
+v 0.07886361 0.01623068 0.03059335
+v 0.07289172 0.02524434 0.03059338
+v 0.06847990 0.03090462 0.03059340
+v 0.06847990 -0.01519296 0.06305348
+v 0.06847990 -0.02018834 0.06021417
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+v 0.06847990 -0.02247788 0.05808724
+v 0.06847990 -0.02403314 0.05571945
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+v 0.06847990 -0.02549590 0.05121796
+v 0.08234892 0.00229101 0.03059330
+v 0.08235028 -0.00235747 0.03059328
+v 0.08206688 0.00578315 0.03059331
+v 0.08131886 0.01035069 0.03059333
+v 0.08108042 -0.01167180 0.03346647
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+v 0.08206824 -0.00582071 0.03059327
+v 0.08223992 -0.00371617 0.03059328
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+v 0.07148833 -0.02675045 0.03059319
+v 0.06847990 -0.02816118 0.03059319
+v 0.06847990 -0.02816119 0.03346980
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+f 1 4 2
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+f 5 11 6
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+f 54 77 70
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+f 73 75 74
+f 78 81 80
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_42.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc9d52daf23411e19003e81591b678b16a15c7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_42.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.07064296 -0.11071701 0.00692701
+v -0.07148089 -0.11071706 0.02132528
+v -0.07034370 -0.09949890 0.00692705
+v 0.06836350 -0.11071701 0.00692701
+v -0.06949081 -0.09949895 0.02132532
+v 0.06914158 -0.11071706 0.02132528
+v 0.08118681 -0.09949890 0.00692705
+v 0.07921169 -0.10366876 0.00692704
+v 0.06709164 -0.09949895 0.02132532
+v 0.07889746 -0.10344584 0.01028560
+v 0.07988503 -0.10002935 0.01480269
+v 0.07925658 -0.09949893 0.01675891
+v 0.07799969 -0.09949894 0.01813588
+v 0.07493227 -0.09949894 0.01909426
+v 0.08135141 -0.09949891 0.01080849
+v 0.08138133 -0.10006777 0.00692705
+v 0.08126163 -0.09976907 0.01055339
+v 0.08135141 -0.09949891 0.01091842
+v 0.08039377 -0.09949892 0.01434886
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
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+f 2 9 5
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+f 3 9 14
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+f 3 13 12
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+f 3 15 7
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+f 6 8 10
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+f 8 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 12
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_43.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..768b0c0ba71ca3cbd81fba3deddcc4755723efaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_43.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.06848125 0.03090118 0.03059073
+v 0.06950226 0.03034411 0.03059073
+v 0.06848125 0.03490676 0.02744974
+v 0.06848125 -0.02815455 0.03059052
+v 0.07624604 0.03594797 0.02092447
+v 0.07318303 0.03759927 0.02220494
+v 0.07289112 0.02524429 0.03059071
+v 0.07402753 0.02935599 0.02747111
+v 0.06848125 0.03915109 0.02369659
+v 0.06848125 -0.02815445 0.00328650
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+v 0.07752365 0.03779824 0.01783427
+v 0.07468195 0.03925059 0.01924839
+v 0.07734444 0.03284431 0.02206859
+v 0.07450273 0.03958217 0.01905593
+v 0.06848125 0.03958215 0.02328225
+v 0.07886373 0.01623175 0.03059068
+v 0.07584416 -0.02815445 0.00328650
+v 0.06848125 0.03958223 0.00328675
+v 0.07150489 -0.02672873 0.03059052
+v 0.07427736 -0.02815454 0.02775961
+v 0.07849714 0.03490018 0.01492315
+v 0.07751008 0.03958219 0.01434576
+v 0.07738924 0.03958219 0.01458635
+v 0.07498472 0.03958217 0.01852931
+v 0.08110668 0.01160942 0.03059066
+v 0.07963626 0.01478603 0.03059067
+v 0.07784137 -0.02815450 0.01536132
+v 0.07593649 -0.02784939 0.00328650
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+v 0.07737431 0.03956897 0.00328675
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+v 0.08211274 -0.00235700 0.01685573
+v 0.08001643 -0.00235695 0.00328659
+v 0.07980462 -0.00701243 0.00328657
+f 1 2 3
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+f 1 19 10
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_44.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5162838f207641b8f7a8e3a5334294d30f4573d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_44.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06914389 -0.11072009 0.02132528
+v 0.06928335 -0.11137290 0.02132528
+v 0.06836289 -0.11072004 0.00692701
+v -0.07147783 -0.11072009 0.02132528
+v 0.06972964 -0.11414688 0.02132527
+v 0.06991095 -0.11880376 0.02132525
+v 0.06836289 -0.11414683 0.00692700
+v -0.07064104 -0.11072004 0.00692701
+v -0.07182649 -0.11200248 0.02132528
+v 0.06940887 -0.12346063 0.02132524
+v 0.06922757 -0.12346062 0.01955505
+v 0.06804212 -0.12117476 0.00692697
+v 0.06815369 -0.11946039 0.00692698
+v 0.06819554 -0.11880371 0.00692698
+v -0.07112917 -0.11414683 0.00692700
+v -0.07234251 -0.11414688 0.02132527
+v 0.06847447 -0.12634309 0.02132523
+v 0.06837684 -0.12621523 0.01955504
+v 0.06811186 -0.12588784 0.01704634
+v 0.06685668 -0.12350513 0.00692697
+v -0.07253776 -0.11880376 0.02132525
+v -0.07253776 -0.11702740 0.02132526
+v -0.07091997 -0.11880371 0.00692698
+v 0.06574097 -0.12800903 0.02132522
+v 0.06574097 -0.12779787 0.01955503
+v 0.06455552 -0.12650963 0.00692696
+v -0.07227277 -0.12168234 0.02132524
+v -0.07188227 -0.12346062 0.01955505
+v -0.07048764 -0.12143240 0.00692697
+v 0.06289590 -0.12888267 0.02132522
+v 0.06113865 -0.12921198 0.01955503
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_45.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13b0432fc5109d4a4d11cf8698b52cbc6dfc2ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_45.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.03801048 0.12785280 -0.04201733
+v -0.03835122 0.12785280 -0.04070569
+v -0.03772216 0.13508919 -0.02918621
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+v -0.03802620 0.13559541 -0.02680104
+v -0.03632250 0.13792431 -0.02680103
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+v -0.02948671 0.14026817 -0.03476118
+v -0.03028352 0.13637312 -0.04201730
+v -0.03402118 0.14040793 -0.02680102
+v -0.00401500 0.13659841 -0.04201730
+v -0.00014628 0.13591303 -0.03905123
+v 0.00136870 0.13738147 -0.03604615
+v 0.01150706 0.13620206 -0.02620577
+v 0.01150706 0.13570534 -0.02667788
+v 0.01150706 0.13367501 -0.02852527
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+v -0.04169573 0.12785274 -0.02504811
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+v -0.03079725 0.14104037 -0.02680102
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+v -0.02623656 0.14059797 -0.03621240
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_46.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26428623b34672c2ebab6d6b9fda65fb2f5ac6a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_46.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01700957 0.13906810 -0.04201730
+v -0.02159511 0.13891109 -0.04201730
+v -0.01241433 0.13904284 -0.04201730
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+v -0.02625336 0.13554371 -0.04972580
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+v -0.02622912 0.13827977 -0.04201730
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+v -0.03545352 0.12785147 -0.04972583
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+v -0.03800805 0.12785144 -0.04201734
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_47.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757f6e88466c395f5296137f4b630d267a12de94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_47.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00697345 -0.13432624 -0.04991924
+v 0.00697345 -0.13418323 -0.04973986
+v 0.00697345 -0.12984537 -0.04991923
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_48.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592b28966c498ecefe02b6c3e628d29d33e78230
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01878691 0.12785142 -0.03556794
+v 0.01151042 0.12785141 -0.03320709
+v 0.02632844 0.13533260 -0.03556791
+v 0.04577605 0.12785142 -0.03556794
+v 0.01151042 0.12785137 -0.02104750
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+v 0.02848220 0.13641032 -0.03556791
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+v 0.04219651 0.12785137 -0.02104750
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+v 0.02895187 0.13664161 -0.03556791
+v 0.03801982 0.13594773 -0.03556791
+v 0.03592644 0.13508831 -0.02430519
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+v 0.03501395 0.13450209 -0.02121520
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+v 0.03282328 0.13542129 -0.02104747
+v 0.01976986 0.13791767 -0.02104746
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_49.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089dfdd6f599020bad8e488da160127c560f4c5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_49.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_5.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4d773ba71673bbf87a4f408a2a8ade3a39fa90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_5.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_50.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee6eaa43efef86ad9d38ecac446a5c7ea0da1c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_50.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_51.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07cf5aad1a415228705bb5954b537f8422c5477b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_51.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.07111839 0.03959073 -0.04499813
+v 0.07111839 0.05120425 -0.04499809
+v 0.07789445 0.03959073 -0.04499813
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+v 0.07111839 0.05351447 -0.03620661
+v 0.07420144 0.05214816 -0.03143813
+v 0.07724001 0.05120922 -0.02454796
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+v 0.07780219 0.04421619 -0.02104781
+v 0.07735285 0.04164850 -0.02104782
+v 0.07770794 0.03959071 -0.04104080
+v 0.07642030 0.03959064 -0.02104782
+v 0.07111839 0.05677872 -0.02104776
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+v 0.07674818 0.04526791 -0.04158702
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_52.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e5679d12d905b36ab27af45b8fdcf8f45f42f78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07118377 -0.06019833 -0.02280243
+v -0.07119819 -0.06019836 -0.01482874
+v -0.07119819 -0.05252623 -0.02109999
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_53.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50627d84a42be92ddd2742dd5a147979910698e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_53.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.07111839 0.03958906 -0.04972691
+v 0.07744683 0.03958906 -0.04972691
+v 0.07111839 0.03958905 -0.04499813
+v 0.07111839 0.06283093 -0.04972683
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+v 0.07570616 0.05407883 -0.04972686
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+
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_6.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b443918740a74fbb4e7f6966cfda6b647cfd8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_6.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07149491 0.09304736 -0.05461755
+v 0.07383234 0.08980305 -0.05925312
+v 0.07148774 0.09304738 -0.05925311
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_7.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1915157a25394a05b383de6d05fdc4befb6577
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_8.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5daa6d6004f457ba61f7470032063c6c6bf75dcd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_8.obj
@@ -0,0 +1,1099 @@
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_9.obj b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f04cbee493cc68a0c2ce2b7e6634f7fbe5e4a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/mesh/pill_organizer_006_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/pill_organizer_006.xml b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/pill_organizer_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..df9919165078473a76b31a558db78b7dca7f2430
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mjcf/pill_organizer_006.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_006">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pill_organizer_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pill_organizer_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pill_organizer_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pill_organizer_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pill_organizer_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pill_organizer_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pill_organizer_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pill_organizer_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pill_organizer_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pill_organizer_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pill_organizer_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pill_organizer_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pill_organizer_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pill_organizer_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pill_organizer_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pill_organizer_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pill_organizer_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pill_organizer_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pill_organizer_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pill_organizer_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pill_organizer_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pill_organizer_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pill_organizer_006_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pill_organizer_006_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pill_organizer_006_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pill_organizer_006_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pill_organizer_006_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pill_organizer_006_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pill_organizer_006_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pill_organizer_006_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pill_organizer_006_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pill_organizer_006_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pill_organizer_006_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pill_organizer_006_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_006">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" 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/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.urdf b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bf803c0091334bbc210d0ef8ea4ba60333967e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_006">
+   <link name="pill_organizer_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_006.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>1.000000</scale>
+         <uuid>9757ffc15bd25b769bbd085b7c88fd68</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>steampunk organizer</name>
+         <color>brown,gray</color>
+         <shape>cuboid</shape>
+         <material>metal</material>
+         <description>steampunk-themed pill organizer with gears, gauges, and metallic accents</description>
+         <min_height>0.2200</min_height>
+         <max_height>0.2200</max_height>
+         <real_height>0.2200</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231106</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..78228cb1a8873bf587b2dd833a5e65aae8855264
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75043c25e6f23ae30c37ba76a03237cb67106713795fe04ce2bf19f1f1ec7017
+size 5048818
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/textures/material_0.png b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..63fd2fe6d573cd74080413b82f5e163e826ab9cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21037c4938ad839e594d0fbb093b05d6c2a33cb99cfe9e39f40c8442ba8b36c4
+size 17364543
diff --git a/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/video.mp4 b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cc5d71302a4ca4e523c7b2662a731c51ea106ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:b90e9223b1ecc00ba960aab66d8b6c1e349e7f4190479127d7a25d315c770367
+size 843236