diff --git a/.gitattributes b/.gitattributes
index b66518e4ddfc20f58fe535e07c3154da42ec410c..f49ce8acf5a6e3534e1845bac7242ce63aea4b21 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2735,5 +2735,5 @@ dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/remote_holder_
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/material.mtl b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aba0405116edf9cfe746ccd00e460f9b9cb0c9c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/material_0.png b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..317db30b7707ddb67d0fd70791c9577f75eab424
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/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/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.glb b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..94bdeb523323e0cbaf4bdbe880c1199b0f94f7f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.mtl b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5b9c984a1462a065fe0a0511a1ad155b7348e7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.mtl
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+newmtl pill_organizer_019_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe10cac369cb12fe576bd6a426f9be8d3673125
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019.obj
@@ -0,0 +1,118792 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019_collision.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c938b147ba892110dde349edb3ffc2a6f1e621
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mesh/pill_organizer_019_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f340e01de2787d496a64fb1f496d71d702496e5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision.obj
@@ -0,0 +1,27020 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_0.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a807f9241ea63def4c827b183a6509d1768c3b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_1.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00607efc7c1bc5957776e84fc31a82b9629e23e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_10.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139c2729e7803379484967d1433fc7d6c7e6fc70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_11.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e0c2c90073f7fb4fc0a88671149a5c6c898133
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_12.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d542420c7372f7ddecceb9befe7aefc12ebb8dc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_13.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0cf4cc72834ad44787c7649893eeeb6266e8fce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_13.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_14.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63293da27d6140681fcc7a6201c80337c349efa1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_14.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_15.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200ece84bcab86f5e7639cf5cd6a8fcd2b2e1d96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_16.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572871139723abba40a4a54e33e1c05e4c90c30d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_17.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3104cc9151d89d7b4664b87bd425baa7aa6ac19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_17.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_18.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d423f5f3d35fcf50d458c98d8ba7e83afd524ca7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_19.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd2145ef336285724981230879c1902603ca786
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_2.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594bb866ed0ad2acc7d1e5f04049ce565d59a667
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_2.obj
@@ -0,0 +1,1129 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_20.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef0ac56246421ad927a9fe49f796e79c43203e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_21.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e72a5d46c71d9327d0ffa3415f8b15b123b79a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_21.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_22.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e567e2caed3e3e3e0dcbf019db71d8f3e3f6dd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_23.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f659063e9cf9687eedc1be0c68946369c4ec74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_24.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac737a4420dfee49c9aa7f62aba3642f29aeba31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_24.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_25.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20162d3e3bec0d620f2dffba103e7470c3ac78e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_25.obj
@@ -0,0 +1,2800 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_26.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2932a25c078ae0e295e23d757bef9bc6e700d616
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_26.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_27.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aff694e01dcd95dea3a0e35319a3be671837ce1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_27.obj
@@ -0,0 +1,1189 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_28.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84892babf244632f75e30a642b6020a4b9b019f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_29.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b3f2d5650be006e4a4a62730a1a873e61661de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_3.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1c2c825fac89e8e2bdc1206f9a693d12b353dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_3.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_30.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd61c1e7b1167d873395ecbd37ffd3a3276c698b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_31.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d41b8a55b86b268f54b586e08bd3627b933cb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_31.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_32.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5afd50deec7936a548e3f220df99b6d6a3082f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_32.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_33.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc4419216cb73e926fb7d6e9c9020c41ab7ab99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_33.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_34.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..303b54809972d985efe7cd152515a8da024b6e59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_34.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_35.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1e11020530251094b2071f316cb7a2aaec8c860
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_35.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_36.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091528f6978139f4916d49fc7e17f8ebfe7fd35a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_36.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_37.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0148c9ad20959c2f996308488f979d8b3b2de07a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_37.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_38.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c74dcee04ec58b6620e5aefe54d140f5726aca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_39.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12f83988c5db2b3729db13fd06dff6c2919ddce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_39.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_4.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72276417cefc9298f339e0770321679ffc9cfb62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_40.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1832f4666b6755986e7a9d0a90a1c189437fb13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_40.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_41.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2c322cf61b8c44ab4752b35a3f009b5ff46c98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_41.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_42.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e9c4b2bc9e6d70aa48cbddd889d7feb9647969
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_42.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_43.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f395597b19ab7e79c808bcee25d167458c64e1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_43.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_44.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb12d15f7dcb24f689dfd69bf18a7f441249dd19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_44.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_45.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b5b00d101d43f3deae6253bd0cd1ddf42c840c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_45.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_46.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febb4339032cb78890915b4ed93c0401e43b3f20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_46.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_47.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13bf8420d8d0b6cbd034ccfa69646e2a8af819d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_47.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_48.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06440e73313af368b5e236d20f12a084b142e36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_48.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v 0.04914201 -0.05870323 -0.01438108
+v 0.04722530 -0.05914868 -0.01435935
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_49.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8936b477ce2e6f9a26762671bfb7e05ba3097df6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_49.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01539888 0.03376958 -0.00291388
+v -0.01400367 0.03376958 -0.00291388
+v -0.01539888 0.03376958 -0.00178127
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_5.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980f08970d6830f43b6465fcce68225609bc76a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_5.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01528401 -0.04320968 -0.00931429
+v -0.00354570 -0.04320968 -0.00931429
+v -0.01528401 -0.04320971 -0.00069219
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+
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_50.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fefc12926376ecc3da4b64d9ca9ff1f255a81f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_50.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_51.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b096a672170e9fb1b6e656c1ed6382caa11bc715
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_51.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_52.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c30ab760c138a117af87e2651a745bc7be364a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_52.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_53.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f02b30074d49108bf96259a1a700f1c159cacbc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_53.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_6.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6521bbbd5a844d1f7789458caa0f4b35a0e3c4c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_7.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c5dd498a9a2e9ee80e4a0d0de967bb76630901
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_8.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63ffcd2ffbf55184074fce59867c4978a5a0ec6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_9.obj b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5d7f1f98f5f5276d272f1c63ab9b5e3f0fe168
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/mesh/pill_organizer_019_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/pill_organizer_019.xml b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/pill_organizer_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73c845858ebc6fee69ca945bfa8c934d04161520
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/mjcf/pill_organizer_019.xml
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_52" file="mesh/pill_organizer_019_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pill_organizer_019_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_019">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.urdf b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e2e370aa820bac9eb37fd7967797d842d816b0f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_019">
+   <link name="pill_organizer_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>4175c89b77e95338a6c1a55cbe12dcb2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>zip pill case</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>black hard-shell zippered pill organizer case opened upright</description>
+         <min_height>0.0953</min_height>
+         <max_height>0.0953</max_height>
+         <real_height>0.0953</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047994 -0.060035 -0.032085</min>
+            <max>0.069482 0.059965 0.063245</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Looks like a hinged case, not a pill organizer; mask misses internal organizer structure.","merge_groups":[{"colors":["Purple","Pink"],"target_part":"lid/interior pocket area","reason":"Pink is a small region on the same lid surface"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.usd b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.usd
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+++ b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4977142
diff --git a/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/textures/material_0.png b/dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/textures/material_0.png
new file mode 100644
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