diff --git a/.gitattributes b/.gitattributes
index 5f6ab095965909799ff6f60a7923210347b9e49b..9cea3566154f8fc8bb85b7eb6d50e2ad78f64022 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5268,3 +5268,5 @@ dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/mesh/storage_b
 dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/storage_box_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/material.mtl b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..814b4d02e2223370b7a3260d107d2f65dfaef99b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_017_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/32fd4240d2e550e5bd2cf244c600190e/mesh/material_0.png b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0732aa22ceba5556de13e23f6ee160ebc9aed083
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/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/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.glb b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c3ba1503ea2781769444e4d41fffe0458a79a8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15126212
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.mtl b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f4aa14c87d69bc31da03229ec4d8ab40c62b23a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_017_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55997eb3ceed5b9cb1f4e4eb9db63ba86d971a8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017.obj
@@ -0,0 +1,113306 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017_collision.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87091e81202b9f6c780a61ae9bfd85a080a9bd6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mesh/pill_organizer_017_collision.obj
@@ -0,0 +1,29906 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af4983d23fa69f1abd76d4a1d32e687b7433956c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision.obj
@@ -0,0 +1,29906 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_0.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18691796f3c53cea1efd459d187dd41902c301d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_1.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e1f25daa5a747658666c5eaaf441275accb935
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_10.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc9acc90d3d8c36e2c90d4dfbe563fd48d9b3e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_11.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046b577cbe4b05b3123fef8982289353dded6133
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_12.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789a9b56b7d0583c65293b52d6c4ccb136bcd3a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_12.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_13.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b659546a3e758110c0a40aba5edcd372d670d12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_13.obj
@@ -0,0 +1,1192 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_14.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531de19889d0a65837a5bfba50ff0ec430c367cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_14.obj
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_15.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa7cec9a72d7d9642d04df8dda990abdcb786d73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_15.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03795394 0.01750158 -0.00564181
+v -0.03780076 0.01971416 0.01079848
+v -0.03795394 0.01902154 0.00399835
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+v -0.00518654 0.01933903 -0.00564180
+v -0.00393446 0.01971154 0.01079848
+v -0.00416090 0.01971154 0.01079848
+v -0.03780076 0.01985672 0.01135126
+v -0.00393446 0.01976664 0.01101596
+v -0.02127054 0.02024676 0.01287367
+v -0.03795394 0.02593409 0.00399838
+v -0.03780076 0.02025113 0.01287367
+v -0.03780076 0.02591132 0.01079851
+v -0.02553630 0.02591482 0.01079851
+v -0.02339843 0.02591482 0.01079851
+v -0.01699147 0.02591307 0.01079851
+v -0.00393446 0.02590870 0.01079851
+v -0.00629877 0.02641163 -0.00564177
+v -0.00518654 0.02640988 -0.00564177
+v -0.00393446 0.01970282 0.00399835
+v -0.00393446 0.01970280 0.00684563
+v -0.00393446 0.01970543 0.00892989
+v -0.02982537 0.02024851 0.01287367
+v -0.03623898 0.02025026 0.01287367
+v -0.00393446 0.02024589 0.01287367
+v -0.00417089 0.02024589 0.01287367
+v -0.03780076 0.02547840 0.01287369
+v -0.03780076 0.02558335 0.01271783
+v -0.03622899 0.02558422 0.01271783
+v -0.02553630 0.02558597 0.01271964
+v -0.02339843 0.02558597 0.01271964
+v -0.00393446 0.02558160 0.01271601
+v -0.00393446 0.02591221 0.00871243
+v -0.00393446 0.02591396 0.00662817
+v -0.00393446 0.02591484 0.00454391
+v -0.00393446 0.02591485 0.00399838
+v -0.00393446 0.02547578 0.01287369
+v -0.03654535 0.02547928 0.01287369
+v -0.02584932 0.02548103 0.01287369
+v -0.02126055 0.02548103 0.01287369
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+f 1 19 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 4 11 13
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+f 27 38 28
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 37
+f 31 37 32
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_16.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ade5ac3cfb879bab7f1a90ae3d91797f0e0810c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04233863 -0.03555627 0.01288516
+v -0.04233863 -0.03555627 0.01287449
+v -0.04238646 -0.03555627 0.01482730
+v -0.02762510 -0.05270455 0.01497057
+v -0.02759741 -0.05270455 0.01288460
+v -0.04230087 -0.03569056 0.01287347
+v -0.05243042 -0.03555627 0.01287347
+v -0.02759741 -0.05270455 0.01287341
+v -0.04239149 -0.03555627 0.01497063
+v -0.02768048 -0.05270456 0.01502902
+v -0.04306109 -0.03555628 0.01672928
+v -0.05331147 -0.03555627 0.01287347
+v -0.04592324 -0.05270455 0.01287341
+v -0.02979248 -0.05270456 0.01685324
+v -0.04478291 -0.03555628 0.01754151
+v -0.05330643 -0.03573757 0.01287347
+v -0.04880049 -0.03555628 0.01682534
+v -0.03850732 -0.05270457 0.01806599
+v -0.04594589 -0.05267769 0.01287341
+v -0.03187428 -0.05270457 0.01773510
+v -0.04692008 -0.03555628 0.01763706
+v -0.04478291 -0.03570233 0.01755472
+v -0.03265716 -0.05270457 0.01806599
+v -0.05305470 -0.03784103 0.01287346
+v -0.04879042 -0.03570233 0.01682331
+v -0.04692008 -0.03784104 0.01754404
+v -0.04692008 -0.03570233 0.01763554
+v -0.03850984 -0.05062461 0.01806599
+v -0.04478291 -0.04212013 0.01768990
+v -0.04264573 -0.04639588 0.01779154
+v -0.04478291 -0.04425716 0.01758163
+v -0.04264573 -0.04853458 0.01736102
+v -0.04411835 -0.04853458 0.01641816
+v -0.04252490 -0.05049198 0.01651879
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+v -0.03651615 -0.05068505 0.01806599
+v -0.03627197 -0.05073205 0.01806599
+v -0.05277277 -0.03967085 0.01287345
+v -0.04858904 -0.03784104 0.01671910
+v -0.04692008 -0.03997974 0.01732750
+v -0.04643928 -0.04425716 0.01665910
+v -0.04486850 -0.04642777 0.01689443
+v -0.04898426 -0.04854296 0.01287342
+v -0.04750661 -0.05067328 0.01287341
+v -0.05198738 -0.04212012 0.01287345
+v -0.04831717 -0.03997974 0.01646241
+v -0.04703840 -0.04207480 0.01680245
+v -0.04608434 -0.04573613 0.01633126
+v -0.05044932 -0.04588552 0.01287343
+v -0.05021269 -0.04637907 0.01287343
+v -0.04912522 -0.04832808 0.01287342
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+f 1 12 17
+f 1 17 21
+f 1 21 15
+f 1 15 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_17.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02aad23ffbf11cec9803419bc7dcf819bf05f6c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.05355205 0.03267568 0.01287372
+v -0.04267919 0.03267568 0.01287372
+v -0.04890842 0.03267567 0.01685406
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+v -0.04692239 0.03488625 0.01762360
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+v -0.03520736 0.05423679 0.01806638
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+v -0.04079373 0.05633580 0.01287381
+v -0.04271691 0.05463801 0.01287380
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+f 32 55 33
+f 45 48 46
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_18.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67969c2bb751cac96d8f20993b74171c05a7c23b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04245981 0.02647626 0.01287427
+v -0.04242561 0.02640866 0.01287389
+v -0.04245981 0.02640525 0.01287389
+v -0.04245981 0.02643051 0.01301786
+v 0.00120588 0.02547725 0.01287388
+v -0.04245981 0.02053751 0.01287387
+v -0.04245981 0.02626185 0.01320469
+v 0.00120588 0.02487839 0.01376080
+v 0.00120588 0.02518294 0.01330995
+v 0.00120588 0.02336998 0.01287388
+v -0.04245981 0.01950026 0.01287500
+v -0.04051502 0.02023979 0.01287386
+v -0.04245981 0.02426041 0.01470102
+v 0.00120588 0.02435260 0.01389680
+v 0.00120588 0.02024798 0.01287955
+v 0.00011595 0.02024594 0.01287386
+v -0.04245981 0.01953850 0.01298406
+v -0.00202118 0.02024457 0.01287386
+v -0.04245981 0.02425290 0.01470235
+v 0.00120588 0.02380837 0.01403697
+v 0.00120588 0.02057097 0.01344707
+v -0.04245981 0.01961293 0.01311570
+v -0.04245981 0.02220435 0.01480534
+v 0.00120588 0.02294456 0.01406807
+v -0.04245981 0.02205139 0.01481140
+v 0.00120588 0.02088235 0.01399049
+v -0.04245981 0.02048493 0.01434405
+v 0.00120588 0.02205071 0.01410012
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 17
+f 1 17 22
+f 1 22 27
+f 1 27 25
+f 1 25 23
+f 1 23 19
+f 1 19 13
+f 1 13 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
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+f 2 10 16
+f 2 16 18
+f 2 18 12
+f 2 12 6
+f 2 6 3
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+f 13 19 20
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_19.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b2fc24f58d513dda61019a4637449460a55887d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_19.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_2.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec65306a8ac131f81dd4ce690862b0d58a9f38c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_2.obj
@@ -0,0 +1,1999 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_20.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e7ecfe64f97e14f75b1753f7ec4dafae23291f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_20.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_21.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa424e5ccab37f7b1ef957f46f1c5d8c5c812f6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_21.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_22.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5901ac65ad0cd020355598b50e8cb83e4f249405
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_22.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00551333 0.01936758 0.00358692
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_23.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d6f42e8cf3cfbcab83271732a85cd4f5364060
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_23.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_24.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e435b74ba0cb70619e31ca5393fdec1cb340ba37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_25.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7084abc19474c6d414e179b3da72f721b00a14e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_25.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_26.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d9f9c614ca14ee48bed40a053ed5351d478a53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_27.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7065632b696555fac3caf3b282f9e07d3ce9b934
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_27.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_28.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2195d567c995cf9f7469ed903b6ce2c0afd172c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_29.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ff7545bc43fc8575e030ff8c4ba2825cde573e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_29.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_3.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c94ebf30244e36d7a4966ea812747cd244bbfc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_3.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_30.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe61b3f9aa1843e40b68f95dec3c599d1843520
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_30.obj
@@ -0,0 +1,658 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_31.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce98950d0dad3da9caa64f7892e97de0c873d2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_31.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.06196152 -0.02780687 -0.00325557
+v 0.06190660 -0.02780687 -0.00171356
+v 0.06195519 -0.02928507 -0.00325558
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+v 0.06179251 -0.03356294 -0.00171358
+v 0.06184533 -0.03356294 -0.00325559
+v 0.04487474 -0.04757295 -0.00107699
+v 0.05828769 -0.04757294 -0.00325564
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_32.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a04b6c3521edd9042172ea4180a262e0650262e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_32.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02791429 0.05408013 0.01496869
+v 0.02791429 0.05408208 0.01287380
+v 0.04618168 0.04399980 0.01497051
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_33.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c5e4b9d1b3e5305e66da115e0ab8c6eb47e28a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_33.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.00517775 0.00261008 -0.01853659
+v -0.00432752 0.00261008 -0.01853775
+v -0.00517775 0.00261004 -0.00735002
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_34.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb1e049cbabca3cef1a76b524a1d43dd78ea599
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_34.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_35.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d5751eedc7c51da8b1c0ddc6807b536d788a4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_36.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7efcf63bf0034ac401d38d0fb94c613cc2f3673
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_36.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_37.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311f532200e1f672aaaa33ddcfb7d8f9167ded17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_37.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_38.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab31cc64daa385265ca0a2e690dbaa098ae34ff6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_38.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_39.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da30e2ac517a4afc271545377b40559345a4c000
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_39.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.05541147 0.02984146 -0.00564176
+v -0.05539951 0.02984146 -0.00454694
+v -0.05536021 0.03060816 -0.00379850
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_4.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3730c223ab78f01cd522a870091b89eef27dea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_40.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066c655f57fed171b8f23e552c9036a36d1c5cae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_41.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c8e01c5604ac7cabb2b44bebeb5dc8f765b909
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_42.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44393fc1ae005e3a43b3d393352ccdcd979576f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_42.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_43.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d578668bc76770469bbd659f9618a50fc484e81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_43.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02536944 0.05419882 0.01247682
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+v 0.02536944 0.05421657 0.00399935
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_44.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797f1e6dbf30cd6984ce37e6e4cd20f00f0faa01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_44.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00449134 0.04787218 0.02560019
+v -0.00449134 0.05006321 0.02142612
+v 0.00411216 0.03308731 0.02560160
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+v -0.00449134 0.05117835 0.02560167
+v -0.00449134 0.05025954 0.02126090
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+v -0.00449134 0.05969117 0.02560170
+v -0.00449134 0.05578555 0.01806638
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+v 0.00411216 0.04800046 0.02027252
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_45.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2d527494f8410f10786a1f8c78267b49e7523c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_45.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.04004230 -0.04079299 0.00399900
+v -0.03268668 -0.04991094 0.01287342
+v -0.03260399 -0.04991090 0.00399897
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+v -0.05149749 -0.04639585 0.00662848
+v -0.05139412 -0.04639586 0.00871332
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_46.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b63e8960b6313e189c85020213448421f5e30d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_46.obj
@@ -0,0 +1,2032 @@
+# https://github.com/mikedh/trimesh
+v 0.02007193 0.00262228 -0.01853694
+v 0.02007193 0.00262222 -0.00219420
+v 0.02007193 0.01066268 -0.01853869
+v 0.02364280 0.00262228 -0.01853872
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_47.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1a1bcf250ad4e0533ea2b1e479d69bf12ec9e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_47.obj
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_48.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee5627376aa55302cc69d8b057b416e1a2696eba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_48.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_49.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..001532ed764a309d6194646c7e156f4618a9efd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_49.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_5.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623216c368abff678af7abd220bbaf10442d25a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_5.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_50.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c43fe7f6a888a7922303dd9c3d249a7b56d4a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_50.obj
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_51.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417e72588699a9702ebf4a37775c53950bf3420b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_51.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_52.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c034fc41437694f21f976145301847c32467fd8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_52.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_53.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a18a41e2a166bf4d75f79b91e9815c892c5496f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_53.obj
@@ -0,0 +1,469 @@
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_54.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc21b2cf9b1cbf1c62a6293676ff2e0b2fd49506
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_54.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03269856 -0.06394724 0.01287337
+v 0.03647008 -0.06316418 0.01287337
+v 0.03269856 -0.06072149 0.01657409
+v 0.03269856 -0.05452679 0.01287340
+v 0.03860728 -0.06269937 0.01287337
+v 0.03433195 -0.06054841 0.01637706
+v 0.03433195 -0.05922935 0.01719033
+v 0.03269856 -0.06040883 0.01676646
+v 0.03269856 -0.05450725 0.01497039
+v 0.04221118 -0.04968745 0.01497041
+v 0.04221118 -0.04976283 0.01307837
+v 0.04221118 -0.04977120 0.01287342
+v 0.04221118 -0.06110115 0.01287338
+v 0.03860728 -0.06193865 0.01365683
+v 0.03560310 -0.06037533 0.01613438
+v 0.03860728 -0.05874779 0.01665933
+v 0.03269856 -0.05922935 0.01738643
+v 0.03860728 -0.05709094 0.01747168
+v 0.03269856 -0.05500557 0.01627368
+v 0.04221118 -0.04973911 0.01513297
+v 0.04221118 -0.05730311 0.01621078
+v 0.04013917 -0.05840581 0.01635099
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+v 0.03647008 -0.05709094 0.01762492
+v 0.03269856 -0.05872406 0.01749077
+v 0.04221118 -0.05568953 0.01719361
+v 0.04221118 -0.05495253 0.01743955
+v 0.04074541 -0.05495253 0.01762214
+v 0.03269856 -0.05522053 0.01675717
+v 0.04221118 -0.05073433 0.01680702
+v 0.04221118 -0.05677130 0.01664537
+v 0.03433195 -0.05709094 0.01763191
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+v 0.04221118 -0.05348691 0.01761702
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+v 0.04221118 -0.05116146 0.01702873
+v 0.04221118 -0.05281412 0.01751502
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+f 29 35 36
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+f 33 37 36
+f 33 36 35
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_55.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93f1e0962182843f8ceb771207aba3a40c2512f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_55.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04715034 -0.01676655 0.00661904
+v 0.04715034 -0.01676655 0.00662859
+v 0.04715034 -0.01676413 0.00399909
+v 0.05044768 -0.02516926 0.01287351
+v 0.04715034 -0.01676416 0.01079913
+v 0.05061398 -0.02516922 0.00399906
+v 0.05060390 -0.02516923 0.00450203
+v 0.04715034 -0.01033911 0.00399911
+v 0.06021374 -0.02516926 0.01287351
+v 0.04715034 -0.01620704 0.01287354
+v 0.06166169 -0.02516922 0.00399906
+v 0.04715034 -0.01021852 0.00400259
+v 0.04716209 -0.01021852 0.00399911
+v 0.06034980 -0.01380731 0.01287355
+v 0.06107546 -0.02516925 0.01217770
+v 0.06290470 -0.01003526 0.01172864
+v 0.06293662 -0.00789600 0.01177556
+v 0.04715034 -0.01066233 0.01287356
+v 0.06163649 -0.02516923 0.00454372
+v 0.06348757 -0.00690231 0.00399912
+v 0.06361859 -0.00774886 0.00446387
+v 0.06424850 -0.00789598 0.00662862
+v 0.06419307 -0.01003525 0.00871345
+v 0.04715034 -0.01021854 0.00872387
+v 0.05045440 -0.00053039 0.01287360
+v 0.05059382 -0.00053035 0.00399915
+v 0.06292318 -0.00053038 0.01177212
+v 0.05992818 -0.00053039 0.01287360
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+v 0.06375634 -0.00789600 0.01073314
+v 0.06375801 -0.00053038 0.01072883
+v 0.04715034 -0.01022096 0.01079915
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+v 0.06413428 -0.00053036 0.00570437
+v 0.06428041 -0.00053036 0.00662865
+v 0.06429553 -0.00053037 0.00779008
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_56.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce58356d529bf8901ba4f3044cb23332a81ecab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_56.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04963415 -0.04991179 0.00399897
+v -0.04911910 -0.05067450 0.00399896
+v -0.04909814 -0.05067451 0.00454362
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+v -0.03260456 -0.04991179 0.00399897
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+v -0.03268541 -0.04991183 0.01287342
+v -0.01910246 -0.05489059 0.01079899
+v -0.01904258 -0.05489056 0.00399895
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+v -0.04469326 -0.05416592 0.01287340
+v -0.04594495 -0.05267901 0.01287341
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_57.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d93ae1da796ba4e125bab5faf2ade463c19bd9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01402914 -0.00849992 -0.00456993
+v 0.02168471 -0.00849992 -0.00456993
+v 0.01402914 -0.00849994 -0.00111631
+v 0.01402914 0.00261003 -0.00456989
+v 0.02168471 -0.00849993 -0.00178026
+v 0.02168471 0.00261003 -0.00456989
+v 0.01402914 0.00261001 -0.00121837
+v 0.02168471 0.00261002 -0.00219164
+f 1 2 5
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+f 1 4 6
+f 1 6 2
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+f 2 8 5
+f 3 5 7
+f 4 7 8
+f 4 8 6
+f 5 8 7
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_58.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23198234abbc602830005db3b68152bc3a6e978
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_58.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01080939 0.05258865 0.01466149
+v 0.01233233 0.05258865 0.01434422
+v 0.00859321 0.05258865 0.01455295
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+v 0.01124860 0.02922697 0.01410305
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+v 0.01279817 0.02848851 0.01287359
+v 0.00757056 0.05258865 0.01399041
+v 0.00778887 0.02922697 0.01385987
+v 0.00816635 0.02922697 0.01392562
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+v 0.00954700 0.02922697 0.01407904
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+v 0.01306131 0.05258865 0.01287786
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+v 0.01335888 0.05199175 0.01079886
+v 0.01336992 0.05199178 0.00399934
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+v 0.00673828 0.05199177 0.00662939
+v 0.00673438 0.05199176 0.00871465
+v 0.00674932 0.05199175 0.01079886
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_59.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30928874cae63b174152e63c6ce008712a91556
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_59.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_6.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3916fa77c0f024b72c8a66ecda55fe9b0240d2b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_6.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_60.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e6dfcd1f76ebd75fef35e018d4d200a0810eaa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_60.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_61.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c68d65aee26b39be9e7ab18bc8e41d8c855711d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_61.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00524459 -0.06153156 0.02331175
+v -0.00415680 -0.06096972 0.02331176
+v -0.00397150 -0.06076736 0.02530248
+v -0.00420934 -0.06088877 0.02532664
+v -0.00524459 -0.06142205 0.02532663
+v -0.00524459 -0.06112445 0.02135160
+v -0.00036520 -0.05871994 0.01806596
+v -0.00301185 -0.06034596 0.02214832
+v -0.00301830 -0.06034121 0.02331176
+v -0.00394016 -0.06074831 0.02532664
+v -0.00307085 -0.06030788 0.02454415
+v -0.00524459 -0.05064463 0.02532667
+v -0.00524459 -0.06042452 0.01993941
+v -0.00199412 -0.05924131 0.01806596
+v -0.00010155 -0.05725343 0.01806597
+v 0.00417311 -0.05067318 0.02030475
+v 0.00417311 -0.05294675 0.02095506
+v 0.00417311 -0.05394665 0.02143051
+v 0.00395555 -0.05449421 0.02162312
+v 0.00417311 -0.05470847 0.02291662
+v 0.00417311 -0.05483704 0.02331178
+v 0.00312680 -0.05584169 0.02331177
+v 0.00205744 -0.05673922 0.02331177
+v 0.00071522 -0.05780815 0.02331177
+v -0.00035413 -0.05858426 0.02331176
+v -0.00194895 -0.05965319 0.02331176
+v -0.00225685 -0.05974128 0.02532664
+v -0.00486202 -0.05004231 0.02532668
+v -0.00524459 -0.05168975 0.02214408
+v -0.00524459 -0.05937225 0.01806596
+v -0.00417247 -0.05937463 0.01806596
+v -0.00201901 -0.05700107 0.01806597
+v 0.00417311 -0.04425959 0.02057485
+v 0.00417311 -0.04638316 0.02035807
+v 0.00417311 -0.04853770 0.02030760
+v 0.00417311 -0.05045178 0.02030475
+v 0.00417311 -0.05469658 0.02532666
+v 0.00417126 -0.05471562 0.02532666
+v 0.00305766 -0.05578218 0.02532666
+v 0.00202426 -0.05665113 0.02532665
+v 0.00194313 -0.05671779 0.02532665
+v 0.00063778 -0.05775101 0.02532665
+v -0.00043157 -0.05852950 0.02532665
+v -0.00177011 -0.05941988 0.02532664
+v 0.00417311 -0.03721036 0.02532672
+v -0.00524459 -0.05281820 0.02110431
+v -0.00524459 -0.05700345 0.01806739
+v -0.00524274 -0.05700345 0.01806597
+v -0.00309943 -0.05700107 0.01806597
+v 0.00417311 -0.04218362 0.02126852
+v -0.00524459 -0.05397521 0.02024575
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 29
+f 1 29 46
+f 1 46 51
+f 1 51 47
+f 1 47 30
+f 1 30 13
+f 1 13 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 4
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+f 3 11 10
+f 4 10 27
+f 4 27 44
+f 4 44 43
+f 4 43 42
+f 4 42 41
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+f 4 28 12
+f 4 12 5
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+f 7 31 30
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+f 7 49 32
+f 7 32 15
+f 7 15 16
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+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 9
+f 7 9 8
+f 9 26 11
+f 10 11 27
+f 11 26 27
+f 12 28 29
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+f 13 31 14
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+f 16 33 50
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+f 16 21 20
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+f 18 20 19
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+f 22 39 40
+f 22 40 23
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+f 28 45 29
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+f 32 49 33
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+f 47 51 50
+f 47 50 48
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_62.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743bbe9f274e0bc842f1691d10d9bb7024ede1be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_62.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01080941 0.01777103 0.01414942
+v 0.01204860 0.01777103 0.01402622
+v 0.01080941 0.01777468 0.01414843
+v 0.00885370 0.01777468 0.01405007
+v 0.00885701 -0.00089506 0.01404503
+v 0.01080941 0.01563103 0.01414842
+v 0.01204265 -0.00089506 0.01402118
+v 0.01204993 0.01563103 0.01402621
+v 0.01205059 0.01777468 0.01402424
+v 0.00778455 0.01777468 0.01386626
+v 0.00778785 -0.00089506 0.01386122
+v 0.01080941 -0.00089506 0.01413942
+v 0.01224378 -0.00089506 0.01371119
+v 0.01278960 0.01777103 0.01288462
+v 0.01279159 0.01777468 0.01288065
+v 0.00715999 0.01777468 0.01287369
+v 0.00715999 0.01777103 0.01287369
+v 0.00726055 -0.00089506 0.01287362
+v 0.00712889 0.01777103 0.01282302
+v 0.01277836 -0.00089506 0.01288455
+v 0.01279357 0.01777468 0.01287369
+v 0.01278100 -0.00089506 0.01287660
+v 0.00661284 0.01777107 0.00399922
+v 0.00661218 0.01777106 0.00662917
+v 0.00661218 0.01777105 0.00871366
+v 0.00663335 0.01777104 0.01079914
+v 0.00723144 -0.00052956 0.01281798
+v 0.00685565 -0.00052955 0.01079907
+v 0.00685300 -0.00052955 0.00963760
+v 0.00685102 -0.00052954 0.00871359
+v 0.00685036 -0.00052953 0.00662910
+v 0.00685234 -0.00052952 0.00399915
+v 0.00854275 -0.00089506 0.01287362
+v 0.01336322 0.01777104 0.01079914
+v 0.01336785 0.01777105 0.00871366
+v 0.01336917 0.01777106 0.00662917
+v 0.01337049 0.01777107 0.00399922
+v 0.01335263 -0.00052955 0.01079907
+v 0.01335594 -0.00052952 0.00399915
+v 0.01335594 -0.00052953 0.00454462
+v 0.01335462 -0.00052954 0.00871359
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 9 15
+f 3 15 21
+f 3 21 16
+f 3 16 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 18
+f 5 18 33
+f 5 33 22
+f 5 22 20
+f 5 20 13
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+f 10 17 11
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+f 11 19 18
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+f 16 23 24
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+f 16 26 19
+f 16 19 17
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+f 18 30 31
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+f 18 19 27
+f 19 26 27
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+f 21 36 37
+f 21 22 38
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+f 22 33 39
+f 22 39 40
+f 22 40 41
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+f 23 39 32
+f 23 32 31
+f 23 31 24
+f 24 31 25
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+f 25 30 29
+f 25 29 28
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+f 26 28 27
+f 34 38 35
+f 35 38 41
+f 35 41 36
+f 36 41 37
+f 37 41 40
+f 37 40 39
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_63.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142678d64cc991c5bb32364090f1b86f9ab36d54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_63.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02363977 0.06485836 0.00399939
+v 0.02363977 0.06485331 0.00454405
+v 0.02419625 0.06485710 0.00399939
+v 0.02149992 0.06485836 0.00399939
+v 0.02149992 0.06485331 0.00454405
+v 0.02149992 0.06478403 0.01079943
+v 0.02363977 0.06478151 0.01079943
+v 0.02536944 0.06485206 0.00399939
+v -0.00393446 0.06484324 0.00399939
+v -0.00393446 0.06484072 0.00432602
+v -0.00393446 0.06483945 0.00448672
+v -0.00393446 0.06477773 0.01079943
+v 0.01722309 0.06426645 0.01267318
+v 0.01936294 0.06426645 0.01267231
+v 0.02149992 0.06426645 0.01267144
+v -0.00393446 0.06426519 0.01267318
+v 0.02536944 0.06425638 0.01266189
+v 0.02536944 0.06476766 0.01079943
+v 0.02536944 0.06479033 0.00911245
+v 0.02536944 0.06482057 0.00662889
+v 0.02536944 0.06484575 0.00454405
+v 0.02363977 0.06426394 0.01266970
+v 0.02536944 0.05421616 0.00399935
+v -0.00393446 0.05420860 0.00399935
+v 0.02149992 0.06402593 0.01287384
+v 0.00439834 0.06426519 0.01267405
+v -0.00242853 0.06402719 0.01287384
+v 0.02363977 0.06402215 0.01287384
+v -0.00393446 0.06405112 0.01285300
+v 0.02536944 0.06400452 0.01287384
+v 0.02536944 0.05420732 0.00831583
+v 0.01336792 0.05199479 0.00399934
+v -0.00393446 0.05420859 0.00476118
+v 0.00674758 0.05199479 0.00399934
+v 0.00674471 0.05199478 0.00454314
+v 0.00673898 0.05199478 0.00662884
+v 0.00673611 0.05199477 0.00871368
+v -0.00393446 0.06402593 0.01287384
+v 0.02536944 0.05419975 0.01287380
+v 0.02536944 0.05420227 0.01079939
+v 0.02536944 0.05419975 0.01247682
+v 0.01336792 0.05199478 0.00454314
+v -0.00393446 0.05420984 0.00684689
+v 0.00675045 0.05199476 0.01079938
+v -0.00393446 0.05421487 0.01101656
+v -0.00393446 0.05421990 0.01287380
+v 0.01281718 0.05199475 0.01287379
+v 0.01335645 0.05199476 0.01079938
+v 0.01336218 0.05199477 0.00871368
+v 0.01336505 0.05199478 0.00662884
+v 0.00716063 0.05199475 0.01287379
+f 1 2 3
+f 1 3 8
+f 1 8 23
+f 1 23 32
+f 1 32 34
+f 1 34 24
+f 1 24 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 6 7
+f 2 7 8
+f 2 8 3
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+f 5 12 6
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+f 13 25 14
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+f 13 27 25
+f 14 25 15
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+f 16 27 26
+f 17 22 28
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+f 23 31 32
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+f 39 48 49
+f 39 49 50
+f 39 50 42
+f 44 51 46
+f 44 46 45
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_64.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a17ab4d0900ce2e46b5e58b81a68d4f5f9c81a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_64.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01509257 0.02564897 0.01287381
+v 0.01509257 0.02022800 0.01287379
+v 0.01509257 0.02487584 0.01378984
+v 0.04618347 0.02487849 0.01376230
+v 0.04618347 0.02520961 0.01328001
+v 0.04618347 0.02526692 0.01319619
+v 0.04618347 0.02548501 0.01287381
+v 0.04618347 0.02024551 0.01287983
+v 0.01509257 0.02023118 0.01288491
+v 0.04502091 0.02024604 0.01287379
+v 0.01509257 0.02380926 0.01403394
+v 0.01936544 0.02380979 0.01403575
+v 0.02150187 0.02381032 0.01403612
+v 0.04618347 0.02380926 0.01404107
+v 0.04618347 0.02358692 0.01287381
+v 0.04618347 0.02059202 0.01348896
+v 0.01509257 0.02087431 0.01399069
+v 0.04618347 0.02088121 0.01399407
+v 0.01509257 0.02205073 0.01409783
+v 0.01722596 0.02380820 0.01403515
+v 0.04618347 0.02205073 0.01410761
+v 0.04618347 0.02151638 0.01405821
+f 1 2 9
+f 1 9 17
+f 1 17 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 10
+f 1 10 2
+f 2 8 9
+f 2 10 8
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 21
+f 4 21 22
+f 4 22 18
+f 4 18 16
+f 4 16 8
+f 4 8 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 8 10 15
+f 8 16 9
+f 9 16 18
+f 9 18 17
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 17 18 22
+f 17 22 21
+f 17 21 19
+f 19 21 20
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_65.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951b7c28c0f2ef2bd31574a9bff2d330a7807fc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_65.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05529197 -0.00784387 0.00399912
+v -0.05529197 -0.00784387 0.00401215
+v -0.05529197 -0.00417524 0.00399913
+v -0.03879733 -0.00784387 0.00399912
+v -0.05527421 -0.00784388 0.00454378
+v -0.05527421 -0.00575572 0.00454379
+v -0.05528713 0.00921512 0.00399918
+v -0.03885062 -0.00784388 0.00449601
+v -0.03891036 0.01562200 0.00399921
+v -0.05527259 -0.00784388 0.00459156
+v -0.05519508 -0.00575572 0.00662863
+v -0.05519347 -0.00052730 0.00662865
+v -0.05519024 0.00921511 0.00662868
+v -0.05526936 0.00707642 0.00454384
+v -0.05528551 0.01293428 0.00399920
+v -0.03885708 -0.00784388 0.00454378
+v -0.03898303 0.01562199 0.00454040
+v -0.05528228 0.01562200 0.00399921
+v -0.05519347 -0.00784388 0.00667640
+v -0.05510789 -0.00784389 0.00871346
+v -0.05510627 -0.00147835 0.00871348
+v -0.05515471 -0.00052731 0.00755293
+v -0.05510304 0.00921510 0.00871352
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+v -0.05526613 0.01349249 0.00454386
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+v -0.04393707 0.01562196 0.01287366
+v -0.04080769 0.01562198 0.00869009
+v -0.05409867 -0.00784391 0.01287357
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+f 1 18 9
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_66.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7137c4cc75bc5685cabc489ae56cf450fbc64ace
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_66.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01337129 0.02848407 0.00871359
+v 0.01337129 0.02848409 0.00399925
+v 0.01336629 0.02848406 0.01079929
+v 0.04714774 0.02593485 0.00400273
+v 0.00687101 0.02848409 0.00399925
+v 0.04557767 0.02592017 0.00399925
+v 0.01280126 0.02848405 0.01287370
+v 0.04714774 0.02593062 0.01079929
+v 0.04714774 0.02593273 0.00872662
+v 0.04714774 0.02593379 0.00664178
+v 0.04714774 0.02579013 0.00399924
+v -0.00393446 0.02591492 0.00399925
+v 0.00685101 0.02848408 0.00662875
+v 0.00725102 0.02848405 0.01287370
+v 0.04714774 0.02548809 0.01287369
+v 0.04714774 0.02559400 0.01271907
+v 0.04714774 0.02592957 0.01081058
+v 0.04714774 0.01970592 0.00399922
+v -0.00393446 0.02591491 0.00454391
+v 0.00683600 0.02848406 0.01079929
+v 0.00684101 0.02848407 0.00871359
+v -0.00393446 0.01970382 0.00399922
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+v -0.00393446 0.02590755 0.01079929
+v -0.00393446 0.02558142 0.01271733
+v -0.00393446 0.02548704 0.01285719
+v -0.00393446 0.02547550 0.01287369
+v 0.04714774 0.02026795 0.01287367
+v 0.04714774 0.01970486 0.00453085
+v 0.01337129 0.01777222 0.00399922
+v -0.00393446 0.02591386 0.00662875
+v -0.00393446 0.02591176 0.00871359
+v -0.00393446 0.02590860 0.01058125
+v -0.00393446 0.01970276 0.00454388
+v 0.00661600 0.01777222 0.00399922
+v -0.00393446 0.02024593 0.01287367
+v 0.04714774 0.02024278 0.01287194
+v 0.01279626 0.01777218 0.01287367
+v 0.04714774 0.01970381 0.00662872
+v 0.01337129 0.01777220 0.00871356
+v 0.00661600 0.01777220 0.00871356
+v -0.00393446 0.01970380 0.00684676
+v -0.00393446 0.01976776 0.01101643
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+v 0.04714774 0.02023964 0.01286064
+v 0.01336629 0.01777219 0.01079926
+v 0.04714774 0.01970799 0.01079926
+v 0.04714774 0.01970485 0.00871356
+v 0.00663600 0.01777219 0.01079926
+v -0.00393446 0.01970590 0.00871356
+v -0.00393446 0.01971218 0.01079926
+v 0.00713102 0.01777218 0.01282329
+f 1 2 5
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+f 1 20 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
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+f 1 4 2
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+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_67.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2195d18a7df877c0e8a94f6ac0a0472b345f7b98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_67.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03520736 0.04663822 0.01287377
+v -0.02143440 0.05326036 0.01287380
+v -0.02143440 0.05326036 0.01288346
+v -0.02143440 0.05326539 0.01497096
+v -0.03520736 0.04665496 0.01497093
+v -0.03520736 0.05981890 0.01287382
+v -0.02143440 0.06373929 0.01287383
+v -0.02143440 0.05408226 0.01660152
+v -0.03520736 0.04666164 0.01498771
+v -0.03178536 0.05612950 0.01806639
+v -0.03402759 0.06040981 0.01287382
+v -0.03520736 0.05423793 0.01806638
+v -0.02194811 0.06369912 0.01287383
+v -0.02143440 0.05980717 0.01649379
+v -0.02143440 0.05422622 0.01688565
+v -0.03520736 0.04780830 0.01679007
+v -0.02981548 0.05667521 0.01806639
+v -0.02981548 0.06215909 0.01287383
+v -0.03189187 0.06133718 0.01287383
+v -0.03520736 0.05002125 0.01806636
+v -0.02340293 0.06352837 0.01287383
+v -0.02340293 0.05968832 0.01633520
+v -0.02767841 0.05704849 0.01806639
+v -0.02143440 0.05828556 0.01764757
+v -0.03520736 0.04853480 0.01724651
+v -0.02143440 0.05632033 0.01793729
+v -0.02551033 0.05429150 0.01806638
+v -0.02461236 0.06329235 0.01287383
+v -0.02594179 0.05653459 0.01806639
+v -0.02143440 0.05635381 0.01795152
+v -0.02143440 0.05825877 0.01765519
+v -0.02536876 0.05634711 0.01806639
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 25
+f 1 25 20
+f 1 20 12
+f 1 12 6
+f 1 6 11
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+f 1 19 18
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+f 1 28 21
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+f 1 13 7
+f 1 7 2
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+f 2 8 4
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+f 26 30 27
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+f 29 32 30
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_68.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f2d55c0fe0855f44cbf173cc09a7290ee4b687
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_68.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01279534 0.02922358 0.01287771
+v 0.00900831 0.02922358 0.01287371
+v 0.01279262 0.02922358 0.01288496
+v 0.01509257 0.02564860 0.01287369
+v 0.01279806 0.02847832 0.01287370
+v 0.00725480 0.02922358 0.01287371
+v 0.01205180 0.02922358 0.01402812
+v 0.01509257 0.02487533 0.01378992
+v 0.01509257 0.02024467 0.01287367
+v 0.00120588 0.02547714 0.01287369
+v 0.00742063 0.02922358 0.01318674
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+v 0.01509257 0.02380956 0.01403397
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+v 0.01508577 0.02022898 0.01287367
+v 0.00120588 0.02337137 0.01287369
+v 0.00120588 0.02518352 0.01330981
+v 0.00778901 0.02922358 0.01386054
+v 0.01080939 0.02922358 0.01414483
+v 0.01508577 0.02380620 0.01403472
+v 0.01509257 0.02205121 0.01409782
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+v 0.00885606 0.02922358 0.01404436
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+v 0.00120588 0.02057079 0.01344701
+v 0.00120588 0.02088234 0.01399060
+v 0.00885199 0.01777468 0.01405020
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+f 25 26 38
+f 28 30 32
+f 31 34 36
+f 34 41 36
+f 36 41 42
+f 39 42 41
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_69.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139002048f0350819476a479e79b39040e442e38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_69.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02168546 -0.01711086 -0.00222823
+v 0.02168546 -0.01711086 -0.00122823
+v 0.02168546 -0.00388299 -0.00222823
+v 0.02168546 -0.00388299 -0.00122823
+v 0.04721593 -0.01711086 -0.00222823
+v 0.04721593 -0.01711086 -0.00122823
+v 0.04721593 -0.00388299 -0.00222823
+v 0.04721593 -0.00388299 -0.00122823
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_7.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294cc369f5fa213eaca4b766f3cb822cfe477f3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_7.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.03622398 -0.01669005 0.00399909
+v -0.03622398 -0.01020115 0.00399911
+v -0.03464943 -0.01676797 0.00399909
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+v -0.03622398 -0.01020245 0.00454377
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+v 0.00349372 -0.01021019 0.00750859
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+v 0.00349372 -0.01677827 0.00399909
+v -0.03622398 -0.01677506 0.00455070
+v 0.00349372 -0.01677893 0.00454375
+v 0.00349372 -0.01677765 0.00783432
+v 0.00349372 -0.01677700 0.00871343
+v -0.03622398 -0.01023917 0.01079915
+v 0.00349372 -0.01039565 0.01167391
+v -0.03622398 -0.01067191 0.01287009
+v -0.03622398 -0.01676156 0.01079913
+v 0.00349372 -0.01677444 0.01079913
+v -0.01271061 -0.01676993 0.01079913
+v -0.01484889 -0.01676929 0.01079913
+v -0.01698329 -0.01676864 0.01079913
+v 0.00349372 -0.01065838 0.01287356
+v -0.03622398 -0.01069251 0.01287356
+v -0.03408958 -0.01067384 0.01287356
+v -0.03622398 -0.01620521 0.01287354
+v 0.00349372 -0.01620972 0.01287354
+v -0.01486055 -0.01620972 0.01287354
+v -0.02127153 -0.01620843 0.01287354
+f 1 2 11
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+f 1 20 28
+f 1 28 26
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+f 1 19 17
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_70.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43944eaf2249955a6fb06678664f1e753b4aee07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_70.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01415084 0.01803054 -0.00113121
+v 0.02007135 0.01926171 -0.00113121
+v 0.02007135 0.01970762 0.00399922
+v 0.01415084 0.01931269 0.00399922
+v 0.01415084 0.02750070 -0.00113118
+v 0.02007135 0.02660421 -0.00113118
+v 0.02007135 0.02591723 0.00399925
+v 0.01415084 0.02679055 0.00399925
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_71.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814530bf319d425f8c74ea9417816bdfbad16ffa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_71.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_72.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7981440383db3dbb5ef8d16cd3d0e66342cd29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_72.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00349485 -0.01677809 0.00399909
+v 0.00349485 -0.01677810 0.00662859
+v 0.00349485 -0.01020972 0.00399911
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_73.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b146f17415be201ec6edece24848788bb228a1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_73.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.05553428 -0.01003613 -0.00588349
+v -0.05552296 -0.01431305 -0.00705673
+v -0.05553239 -0.01431306 -0.00588350
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_74.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14e71250ca45cde0dd6a5c88dcd3610bb83311f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_74.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01335761 0.00261000 0.00399916
+v 0.01402914 0.00261001 -0.00121809
+v 0.00685169 0.00261000 0.00399916
+v 0.01350642 -0.00849995 0.00399912
+v 0.01402914 0.00261003 -0.00456989
+v 0.01402914 -0.00849994 -0.00111580
+v 0.00665352 0.00261003 -0.00456989
+v 0.00651294 -0.00849995 0.00399912
+v 0.01402914 -0.00849992 -0.00456993
+v 0.00638955 -0.00849992 -0.00456993
+f 1 2 5
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+f 1 7 3
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+f 1 4 2
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+f 2 9 5
+f 3 7 8
+f 4 8 10
+f 4 10 9
+f 4 9 6
+f 5 9 10
+f 5 10 7
+f 7 10 8
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_75.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6e09f627e1cabe5d63df9d8002415fecef146a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_75.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02007193 0.05010017 -0.00216768
+v 0.03453692 0.04792800 -0.00216768
+v 0.02007193 0.05424290 0.00399935
+v 0.02007193 0.06491057 -0.00216762
+v 0.03651189 0.04776337 -0.00216768
+v 0.03549553 0.05249743 0.00399934
+v 0.02007193 0.06485511 0.00399939
+v 0.02007193 0.06490384 -0.00115588
+v 0.02150242 0.06491057 -0.00171246
+v 0.02364074 0.06491393 -0.00216762
+v 0.03692768 0.04775161 -0.00216768
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+v 0.03549553 0.06394122 0.00399938
+v 0.03692768 0.04818671 -0.00202763
+v 0.03692768 0.05144076 -0.00115835
+v 0.02150242 0.06485847 0.00399939
+v 0.02007193 0.06486183 0.00348809
+v 0.02093154 0.06490552 -0.00115588
+v 0.02007193 0.06489712 -0.00031800
+v 0.02364074 0.06491057 -0.00171246
+v 0.02150242 0.06489376 0.00037319
+v 0.02577906 0.06490553 -0.00171246
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+v 0.03692768 0.06373629 -0.00216763
+v 0.03692768 0.06371780 -0.00115589
+v 0.03549553 0.06396978 0.00301119
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+v 0.02364239 0.06485847 0.00399939
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+v 0.02007193 0.06487191 0.00245764
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+v 0.02364239 0.06489376 0.00037319
+v 0.02624434 0.06490217 -0.00216762
+v 0.02578071 0.06488872 0.00037319
+v 0.02734649 0.06488368 -0.00115588
+v 0.02791737 0.06488369 -0.00216762
+v 0.03612251 0.06394292 -0.00216763
+v 0.03692768 0.06373629 -0.00214952
+v 0.03692768 0.06372957 -0.00171247
+v 0.03608786 0.06393451 -0.00115589
+v 0.03549553 0.06398490 0.00245764
+v 0.03432902 0.06423185 0.00245764
+v 0.03432902 0.06418817 0.00399939
+v 0.02578071 0.06485007 0.00399939
+v 0.02364239 0.06487527 0.00245764
+v 0.02578071 0.06486687 0.00245764
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+v 0.02791737 0.06487528 -0.00115588
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_76.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a95ad56e675b774b610a3a22293a98fdca236b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_76.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00442900 -0.05281056 -0.00727081
+v 0.00566547 -0.05281344 -0.00727081
+v 0.00565026 -0.05281344 -0.00708433
+v 0.00679551 -0.05281346 -0.00379897
+v 0.00680058 -0.05281058 -0.00290161
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+v 0.00457427 -0.02336321 -0.00727071
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+v 0.01384776 -0.05281058 -0.00290161
+v 0.02168546 -0.02336323 -0.00326336
+v 0.01386127 -0.04853833 -0.00290160
+v 0.02168546 -0.05281058 -0.00326303
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_77.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1835a9bfa0b4ebeeb1617867e5928f55ca46caa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_77.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.06184464 0.02736785 -0.00027417
+v 0.06183802 0.02736785 -0.00010894
+v 0.06184794 0.02699040 -0.00027417
+v 0.05045200 0.02736785 -0.00027417
+v 0.06181817 0.02736785 0.00037253
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+v 0.06185291 0.02632761 -0.00027417
+v 0.04495581 0.02623957 -0.00027417
+v 0.05040734 0.02736784 0.00399925
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+v 0.06173547 0.02632760 0.00245737
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+v 0.06182644 0.01703122 0.00037249
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+v 0.04495581 0.01950736 -0.00027420
+v 0.04495581 0.02591676 0.00399925
+v 0.06165443 0.02736784 0.00399925
+v 0.06172721 0.02736784 0.00245737
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+v 0.05040569 0.01703122 -0.00027421
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+v 0.06166435 0.01991211 0.00399922
+v 0.06170239 0.01703121 0.00318100
+v 0.06166270 0.01703121 0.00399921
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_78.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e417cd06baf42853c67d3dc223582fb60551fef4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_78.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_79.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b84fa75112b48ea5bd25e28dfcd4feaea5202a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_79.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_8.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779ea2ca9895dd6fab6fadf751d8671f263f0561
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_8.obj
@@ -0,0 +1,1843 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_80.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ad5b3f3962a8de40bd6ebd7e3b2a52ac3c33dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_80.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00551617 0.01889863 -0.00671678
+v 0.00586813 0.00261003 -0.00671684
+v 0.00551617 0.01937243 -0.00113145
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+v 0.00894458 0.05200283 -0.00102320
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_81.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c1ac0c578b2ed834ececb53790838d6513efba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_81.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.02168546 -0.01746020 -0.00298242
+v 0.02168546 -0.02336323 -0.00326320
+v 0.02168546 -0.01746019 -0.00456979
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+v 0.00601463 -0.01746020 -0.00283483
+v 0.00684463 -0.02336323 -0.00283486
+v 0.00665261 -0.02336322 -0.00456982
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+f 8 10 9
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_82.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a2c6be905e439020f4e74344c22ed68e46cf70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_82.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.04495746 0.04592863 -0.00027410
+v 0.04495746 0.04612119 0.00399932
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_83.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48021c8cb46d379e13d42fe3971af9a16f168640
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_83.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01484893 0.06492103 -0.00564163
+v -0.01698538 0.06491708 -0.00564163
+v -0.01698538 0.06491444 -0.00379837
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+v -0.02126240 0.06482497 -0.00379837
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+v -0.02126240 0.06481971 -0.00564163
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+v -0.02340091 0.06468286 -0.00379837
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+v -0.02126240 0.06479338 0.00037233
+v -0.01912389 0.06484073 0.00245720
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+v -0.02626809 0.06416440 0.00399939
+v -0.02626809 0.06429338 -0.00379837
+v -0.02553942 0.06441707 -0.00564163
+v -0.02340091 0.06460915 0.00245720
+v -0.02553942 0.06438152 0.00037233
+v -0.02626809 0.06427890 -0.00171255
+v -0.02126240 0.06473810 0.00399939
+v -0.02553942 0.06430125 0.00399939
+v -0.02553942 0.06433941 0.00245720
+v -0.02626809 0.06420125 0.00245720
+v -0.02340091 0.06457757 0.00399939
+v -0.02626809 0.06424336 0.00032042
+v -0.02626809 0.06422889 0.00113587
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 36
+f 1 36 53
+f 1 53 38
+f 1 38 37
+f 1 37 25
+f 1 25 24
+f 1 24 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 21
+f 5 21 33
+f 5 33 50
+f 5 50 48
+f 5 48 34
+f 5 34 22
+f 5 22 12
+f 6 13 7
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+f 7 14 15
+f 7 15 16
+f 7 16 8
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+f 22 61 58
+f 22 58 51
+f 22 51 35
+f 22 35 23
+f 23 35 51
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+f 23 60 63
+f 23 63 62
+f 23 62 56
+f 23 56 52
+f 23 52 36
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 40 28
+f 27 39 41
+f 27 41 40
+f 28 40 42
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 34
+f 31 34 32
+f 32 34 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 36 52 39
+f 36 39 53
+f 38 53 39
+f 39 52 56
+f 39 56 41
+f 40 54 42
+f 40 41 55
+f 40 55 54
+f 41 56 55
+f 42 54 57
+f 42 57 43
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+f 51 59 60
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+f 54 55 59
+f 54 59 61
+f 55 56 62
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+f 55 63 59
+f 58 61 59
+f 59 63 60
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_84.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1cdd6b1750835d5d0e5560d068eb5804521891
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_84.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.03516983 0.05003842 0.01806636
+v -0.03516983 0.05011790 0.02525029
+v -0.03516983 0.05424943 0.01806638
+v -0.02550942 0.05429135 0.01806638
+v -0.02140870 0.05498668 0.02162530
+v -0.02140870 0.05407883 0.02525031
+v -0.03516983 0.06209899 0.02525034
+v -0.03516983 0.06062594 0.02079624
+v -0.03409211 0.06055077 0.02042565
+v -0.03178579 0.05613160 0.01806639
+v -0.02140870 0.05541602 0.02058245
+v -0.02140870 0.05501559 0.02155498
+v -0.02536932 0.05634844 0.01806639
+v -0.02140870 0.05828409 0.01849816
+v -0.02140870 0.05652624 0.01894540
+v -0.02140870 0.06473431 0.02525035
+v -0.03409211 0.06251677 0.02525034
+v -0.03409211 0.06259917 0.02331161
+v -0.03516983 0.06212357 0.02467161
+v -0.03516983 0.06192408 0.02169776
+v -0.03409211 0.06213081 0.02143828
+v -0.02767833 0.06269025 0.02058177
+v -0.02981626 0.05667659 0.01806639
+v -0.02594186 0.05653636 0.01806639
+v -0.02767833 0.05704955 0.01806639
+v -0.02340248 0.06269026 0.02034339
+v -0.02140870 0.06269026 0.02032862
+v -0.02140870 0.06480659 0.02331162
+v -0.02326103 0.06472708 0.02525035
+v -0.03195419 0.06323667 0.02525034
+v -0.03195419 0.06331618 0.02331161
+v -0.03516983 0.06217850 0.02331161
+v -0.02934610 0.06389876 0.02191083
+v -0.02767833 0.06406357 0.02159510
+v -0.03195419 0.06248787 0.02127372
+v -0.02554041 0.06421391 0.02141156
+v -0.02554041 0.06269026 0.02039964
+v -0.02834248 0.05693390 0.01806639
+v -0.02340248 0.06429342 0.02135249
+v -0.02140870 0.06279868 0.02039683
+v -0.02140870 0.06433534 0.02147766
+v -0.02340248 0.06479503 0.02331162
+v -0.02340248 0.06472564 0.02525035
+v -0.03186123 0.06326414 0.02525034
+v -0.03063802 0.06370071 0.02331161
+v -0.02956838 0.06395080 0.02331161
+v -0.02767833 0.06433099 0.02331162
+v -0.02554041 0.06463457 0.02331162
+v -0.02140870 0.06430065 0.02134406
+v -0.02538952 0.06457674 0.02525035
+v -0.03048040 0.06366168 0.02525034
+v -0.02948621 0.06389731 0.02525034
+v -0.02941077 0.06391466 0.02525034
+v -0.02927740 0.06394213 0.02525034
+v -0.02554041 0.06456518 0.02525035
+v -0.02767833 0.06426016 0.02525035
+v -0.02752745 0.06428184 0.02525035
+f 1 2 7
+f 1 7 19
+f 1 19 32
+f 1 32 20
+f 1 20 8
+f 1 8 3
+f 1 3 10
+f 1 10 23
+f 1 23 38
+f 1 38 25
+f 1 25 24
+f 1 24 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 16
+f 2 16 29
+f 2 29 43
+f 2 43 50
+f 2 50 55
+f 2 55 57
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+f 2 54 53
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+f 4 11 12
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+f 4 15 11
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+f 22 37 23
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+f 46 53 54
+f 46 54 47
+f 47 55 48
+f 47 54 56
+f 47 56 57
+f 47 57 55
+f 48 55 50
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_85.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715312b5f7146439f3159c9501bf06c57f39aa46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_85.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02007193 0.06493143 -0.00588293
+v 0.01936251 0.06492257 -0.00379781
+v 0.02007193 0.06492257 -0.00379781
+v 0.02007193 0.06492890 -0.00671572
+v 0.01936251 0.06492890 -0.00671572
+v -0.00517775 0.06491878 -0.00671572
+v -0.00415689 0.06492131 -0.00588293
+v -0.00201876 0.06491497 -0.00379781
+v 0.02007193 0.06491371 -0.00240388
+v 0.02007193 0.05200285 -0.00671577
+v -0.00517775 0.05334430 -0.00671576
+v -0.00517775 0.06492004 -0.00588293
+v -0.00415689 0.06491371 -0.00379781
+v -0.00415689 0.06489725 -0.00171268
+v 0.01936251 0.06490864 -0.00171268
+v 0.02007193 0.06490864 -0.00171268
+v 0.02007193 0.05200284 -0.00201585
+v 0.00582434 0.05200285 -0.00671577
+v -0.00517775 0.05419850 0.00399935
+v 0.00674386 0.05200282 0.00399934
+v -0.00517775 0.06491244 -0.00379781
+v -0.00517775 0.06490485 -0.00280034
+v -0.00517775 0.06488839 -0.00071627
+v 0.02007193 0.06489218 0.00037140
+v 0.02007193 0.05424153 0.00399935
+v 0.01337081 0.05200282 0.00399934
+v -0.00517775 0.06484408 0.00399939
+v -0.00517775 0.06486940 0.00136991
+v 0.02007193 0.06487952 0.00176638
+v 0.02007193 0.06485547 0.00399939
+v -0.00517775 0.06485927 0.00245757
+v 0.01991867 0.06485547 0.00399939
+v 0.02007193 0.06485801 0.00385150
+v 0.02007193 0.06487319 0.00245757
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 30
+f 1 30 25
+f 1 25 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 4 11 6
+f 4 6 5
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+f 19 32 27
+f 23 28 29
+f 23 29 24
+f 27 32 33
+f 27 33 34
+f 27 34 31
+f 28 31 34
+f 28 34 29
+f 30 33 32
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_86.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cfc2b2fc0be128004b373961349a4e333b72443
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_86.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00601484 -0.01746366 -0.00283460
+v 0.00601484 -0.01746366 -0.00215306
+v 0.01394546 -0.01746366 -0.00283460
+v 0.00684478 -0.02336395 -0.00290150
+v 0.00679897 -0.05281000 -0.00290160
+v 0.00601561 -0.01746368 0.00399909
+v 0.01388879 -0.02336395 -0.00290150
+v 0.01363880 -0.01746368 0.00399909
+v 0.01386162 -0.04853619 -0.00290159
+v 0.00969018 -0.05281346 -0.00290160
+v 0.00680596 -0.05281346 -0.00171346
+v 0.00680906 -0.05281348 0.00399829
+v 0.00685720 -0.02336397 0.00399906
+v 0.01336008 -0.02336397 0.00399906
+v 0.01335775 -0.05281348 0.00399829
+v 0.01384842 -0.05281000 -0.00290160
+v 0.01352312 -0.05281346 -0.00171346
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 7
+f 4 7 9
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+f 4 10 5
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+f 5 11 12
+f 5 12 6
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+f 8 15 16
+f 8 16 9
+f 10 16 17
+f 10 17 15
+f 10 15 12
+f 10 12 11
+f 12 15 14
+f 12 14 13
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_87.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c0cc228cd3efa65db66448c40422ec5c4c669
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_87.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04668965 -0.00388299 -0.00265997
+v 0.04668965 -0.00388299 -0.00165997
+v 0.04668965 0.00261002 -0.00265997
+v 0.04668965 0.00261002 -0.00165997
+v 0.04768965 -0.00388299 -0.00265997
+v 0.04768965 -0.00388299 -0.00165997
+v 0.04768965 0.00261002 -0.00265997
+v 0.04768965 0.00261002 -0.00165997
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_88.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470a09e3de324df3ae9e9103428c9ce4681d80fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_88.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03549679 0.05181864 -0.00115597
+v 0.04495396 0.04546297 -0.00115599
+v 0.04495581 0.04612383 0.00399932
+v 0.03549679 0.05249589 0.00399934
+v 0.03549679 0.06406026 -0.00115592
+v 0.04495581 0.04928984 -0.00115598
+v 0.04495581 0.04627495 0.00037253
+v 0.04495581 0.05997850 0.00399937
+v 0.03549679 0.06394192 0.00399938
+v 0.03549679 0.06405844 -0.00099192
+v 0.03563660 0.06403114 -0.00115592
+v 0.04495581 0.06018788 -0.00115594
+v 0.04495581 0.06004950 0.00251172
+v 0.04492989 0.06006771 0.00245772
+v 0.04486785 0.06003129 0.00399937
+v 0.03582640 0.06387273 0.00399938
+v 0.03549679 0.06398561 0.00245774
+v 0.03549679 0.06403296 0.00037260
+v 0.03602640 0.06392190 0.00037259
+v 0.03608936 0.06393646 -0.00115593
+v 0.04451323 0.06044094 -0.00115594
+v 0.04495581 0.06012598 0.00051237
+v 0.04495581 0.06006043 0.00225839
+v 0.04311789 0.06118010 0.00037258
+v 0.04304104 0.06113639 0.00245772
+v 0.04297438 0.06109998 0.00399937
+v 0.03689583 0.06358326 0.00399938
+v 0.03698749 0.06361057 0.00245773
+v 0.03591900 0.06389640 0.00245773
+v 0.03549679 0.06401839 0.00102358
+v 0.03709489 0.06364153 0.00037259
+v 0.03715878 0.06365974 -0.00115593
+v 0.04316419 0.06120559 -0.00115594
+v 0.04204847 0.06173902 0.00037259
+v 0.04197162 0.06169895 0.00245773
+v 0.04190496 0.06166618 0.00399938
+v 0.03731804 0.06344672 0.00399938
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+v 0.03860782 0.06319003 -0.00115593
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+v 0.04074573 0.06217959 0.00399938
+v 0.03860782 0.06302616 0.00399938
+v 0.03916614 0.06280769 0.00399938
+v 0.04017537 0.06258559 -0.00115593
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_89.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce11501561e710d4bd93ec595bf0080009fb484
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_89.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_9.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec118d43997df8de076b15392c6c6d0813202de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_9.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00646548 -0.00991871 0.01287356
+v 0.00646548 -0.01013150 0.01320781
+v 0.00646548 -0.01697654 0.01287354
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_90.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567c18b5fc43c42526b776965a9728a825df9522
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_90.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04721754 -0.01711213 -0.00216841
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+v 0.04721754 -0.01677571 0.00399909
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_91.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a66997fec0140a6366cce4a713d9ec66293e0ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_91.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04169373 0.02870033 0.00399926
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_92.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b801f8d2f13c7d2ed4e6f8cc2d97518c7bfde030
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_92.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_93.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cfe99887d3aaf55f829ad7baa8141ae389b403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_93.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00551333 0.02644337 0.00399925
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+v 0.00551333 0.01936952 0.00399922
+v 0.00551333 0.02712446 -0.00671570
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_94.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5972bf9433f8eea920a0e4ed24f63690eef7ae48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_94.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_95.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..376564448b8247511e730cf1733c0374c5dad8d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_95.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00640963 -0.05452140 0.01287428
+v 0.00654265 -0.05446890 0.01287362
+v 0.00654481 -0.05452140 0.01287362
+v 0.00643479 -0.05452140 0.01319680
+v 0.00646571 -0.01431345 0.01411087
+v 0.00646571 -0.01194056 0.01401755
+v 0.00646571 -0.01099560 0.01392945
+v 0.00646571 -0.01013464 0.01320786
+v 0.00646571 -0.00992465 0.01287356
+v 0.00646571 -0.01698558 0.01287354
+v 0.00726603 -0.04964962 0.01287342
+v 0.01375554 -0.05452140 0.01287362
+v 0.00704240 -0.05452140 0.01449103
+v 0.00885731 -0.00090031 0.01404572
+v 0.00807928 -0.00090031 0.01391183
+v 0.00778806 -0.00090031 0.01386145
+v 0.00843953 -0.05452140 0.01490885
+v 0.01081027 -0.05452141 0.01510119
+v 0.00726027 -0.00090031 0.01287360
+v 0.00970148 -0.04964962 0.01287342
+v 0.01375339 -0.05452140 0.01288234
+v 0.01277978 -0.04853142 0.01287342
+v 0.01353983 -0.01321100 0.01287355
+v 0.01353983 -0.00992990 0.01287356
+v 0.01353983 -0.00998240 0.01304584
+v 0.01353983 -0.00999815 0.01308640
+v 0.01353983 -0.01005590 0.01314375
+v 0.01353983 -0.01158358 0.01399291
+v 0.01353983 -0.01180932 0.01402736
+v 0.01353983 -0.01202456 0.01405179
+v 0.01353983 -0.01431345 0.01412832
+v 0.01080955 -0.00090031 0.01414014
+v 0.01087355 -0.05452141 0.01509203
+v 0.00854236 -0.00090031 0.01287360
+v 0.01279847 -0.05452140 0.01461708
+v 0.01278194 -0.00147253 0.01287359
+v 0.01278050 -0.00090031 0.01287688
+v 0.01277834 -0.00090031 0.01288494
+v 0.01224336 -0.00090031 0.01371186
+v 0.01204274 -0.00090031 0.01402173
+v 0.01272225 -0.05452140 0.01473505
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+f 1 18 17
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+f 14 34 19
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+f 14 18 32
+f 18 33 31
+f 18 31 32
+f 21 31 35
+f 24 36 37
+f 24 37 25
+f 25 37 26
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+f 28 39 40
+f 28 40 29
+f 29 40 30
+f 30 40 31
+f 31 40 32
+f 31 33 41
+f 31 41 35
+f 34 37 36
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_96.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9db09e1f9a06a2ba80a5f315e31ed66a4999f2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_96.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00518022 -0.05281340 -0.01849462
+v -0.00518022 -0.05281344 -0.00731096
+v -0.00518022 -0.05179003 -0.01850786
+v 0.00012139 -0.05067152 -0.01852442
+v -0.00201661 -0.05281052 -0.01849573
+v 0.00225939 -0.05281340 -0.01849683
+v 0.00566493 -0.05281344 -0.00727124
+v 0.00443157 -0.05281056 -0.00727124
+v -0.00518022 -0.05281056 -0.00731096
+v -0.00518022 -0.05067152 -0.01852221
+v -0.00518022 -0.04965102 -0.01852661
+v 0.00012139 -0.04853251 -0.01853213
+v 0.01294675 -0.05067152 -0.01852552
+v 0.01080875 -0.05281340 -0.01849793
+v 0.02168546 -0.05281344 -0.00727124
+v 0.00443157 -0.05275291 -0.00727124
+v 0.00457358 -0.02336321 -0.00727114
+v -0.00518022 -0.02336321 -0.00734838
+v -0.00518022 -0.04853251 -0.01852992
+v -0.00415724 -0.04639350 -0.01853322
+v -0.00201661 -0.04425450 -0.01853652
+v 0.01294675 -0.04853251 -0.01853213
+v 0.01508475 -0.05067152 -0.01852552
+v 0.02150138 -0.05281340 -0.01849352
+v 0.02168546 -0.05281340 -0.01849242
+v 0.02168546 -0.02336321 -0.00727114
+v -0.00518022 -0.02336317 -0.01853866
+v -0.00518022 -0.04751202 -0.01853102
+v -0.00415724 -0.04211550 -0.01853762
+v -0.00201661 -0.04211550 -0.01853872
+v 0.02168546 -0.04853251 -0.01852992
+v 0.00012139 -0.04211550 -0.01853872
+v 0.01294675 -0.03784325 -0.01854092
+v 0.02168546 -0.05067152 -0.01852221
+v 0.02168546 -0.05085601 -0.01852000
+v 0.02168546 -0.02336317 -0.01853976
+v -0.00518022 -0.02500922 -0.01853976
+v -0.00415724 -0.02336317 -0.01853976
+v -0.00518022 -0.04109500 -0.01853762
+v -0.00518022 -0.03997938 -0.01853872
+v -0.00201661 -0.03784325 -0.01854092
+v 0.02168546 -0.04443900 -0.01853321
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+v 0.02168546 -0.03802486 -0.01853761
+v 0.02168546 -0.04016099 -0.01853651
+v 0.01508475 -0.02714823 -0.01854198
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+v -0.00201661 -0.02336317 -0.01854087
+v -0.00201661 -0.02714823 -0.01854198
+v -0.00415724 -0.02928723 -0.01854089
+v -0.00518022 -0.03784325 -0.01853981
+v -0.00201661 -0.03356524 -0.01854200
+v -0.00415724 -0.03142624 -0.01854090
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+f 1 27 37
+f 1 37 54
+f 1 54 40
+f 1 40 39
+f 1 39 28
+f 1 28 19
+f 1 19 11
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+f 1 10 3
+f 1 3 4
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+f 1 14 24
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+f 1 15 7
+f 1 7 2
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+f 3 10 4
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+f 43 48 44
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+f 49 51 50
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+f 52 56 53
+f 54 56 55
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_97.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e4ce3b116ec332f9059cc3ea60924f73dd01014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_97.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04074435 0.03011632 -0.00216785
+v 0.03219478 0.02592186 0.00399925
+v 0.03433096 0.02592186 0.00399925
+v 0.04495581 0.02591622 0.00399925
+v 0.04288297 0.03009797 -0.00216785
+v 0.02791756 0.03004854 -0.00216785
+v 0.02007193 0.02591622 0.00399925
+v 0.02150173 0.02591763 0.00399925
+v 0.04495581 0.01970929 0.00399922
+v 0.04495581 0.03007113 -0.00216785
+v 0.02735733 0.03004430 -0.00216785
+v 0.02577895 0.03002594 -0.00216785
+v 0.02007193 0.02995674 -0.00216785
+v 0.02007193 0.01970788 0.00399922
+v 0.04288297 0.01970788 0.00399922
+v 0.03646713 0.01568858 -0.00216790
+v 0.03866664 0.01569423 -0.00216790
+v 0.04081012 0.01569988 -0.00216790
+v 0.04295604 0.01570694 -0.00216790
+v 0.04495581 0.01571965 -0.00216790
+v 0.02007193 0.01574225 -0.00216790
+v 0.02364034 0.01970647 0.00399922
+v 0.03433096 0.01569281 -0.00216790
+v 0.04074435 0.01970647 0.00399922
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 23
+f 1 23 21
+f 1 21 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 14
+f 2 14 22
+f 2 22 24
+f 2 24 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
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+f 4 20 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 21
+f 7 21 14
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 14 21 23
+f 14 23 16
+f 14 16 22
+f 15 24 16
+f 16 24 22
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_98.obj b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b0326aeb3292340896f77f2c349f868de46410
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/mesh/pill_organizer_017_collision_98.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.05520361 0.02870112 0.00399926
+v -0.05518266 0.02870111 0.00454392
+v -0.05511703 0.03060695 0.00399926
+v -0.04169310 0.02870112 0.00399926
+v -0.05510028 0.02870111 0.00662876
+v -0.05509609 0.03060694 0.00454392
+v -0.05494529 0.03274438 0.00399927
+v -0.04093910 0.03677578 0.00399929
+v -0.04096563 0.03677577 0.00454395
+v -0.04140686 0.03677574 0.01287374
+v -0.04171963 0.02870111 0.00445532
+v -0.05501231 0.02870110 0.00871360
+v -0.05501092 0.03060694 0.00662876
+v -0.05492295 0.03274437 0.00454393
+v -0.05468139 0.03488339 0.00399928
+v -0.05435885 0.03677578 0.00399929
+v -0.04340356 0.02870108 0.01287371
+v -0.04207429 0.02870111 0.00662876
+v -0.04173778 0.02870111 0.00467162
+v -0.05300165 0.03677574 0.01287374
+v -0.05492295 0.02870109 0.01079930
+v -0.05483219 0.03060692 0.01079930
+v -0.05483499 0.03274437 0.00662877
+v -0.05465905 0.03488338 0.00454394
+v -0.05452920 0.03585251 0.00399928
+v -0.05442308 0.03603826 0.00598161
+v -0.05440912 0.03652836 0.00399928
+v -0.05434768 0.03677577 0.00426250
+v -0.05395672 0.02870108 0.01287371
+v -0.05314408 0.03677574 0.01275995
+v -0.05459622 0.03060691 0.01228040
+v -0.05361323 0.03227638 0.01287372
+v -0.05489782 0.02870109 0.01096088
+v -0.05450546 0.03274435 0.01208496
+v -0.05443425 0.03399803 0.01191731
+v -0.05464928 0.03274435 0.01079931
+v -0.05447055 0.03425020 0.01079932
+v -0.05451803 0.03458141 0.00871362
+v -0.05454456 0.03504464 0.00665832
+v -0.05439236 0.03586514 0.00737237
+v -0.05445380 0.03619398 0.00454394
+v -0.05446497 0.03624933 0.00399928
+v -0.05424575 0.03677577 0.00658796
+v -0.05431138 0.03677577 0.00511728
+v -0.05389109 0.02970103 0.01287371
+v -0.05450546 0.02870108 0.01246543
+v -0.05327533 0.03677574 0.01248718
+v -0.05464230 0.02870108 0.01236032
+v -0.05381988 0.03060691 0.01287371
+v -0.05403212 0.03677575 0.01079933
+v -0.05430858 0.03531970 0.01079932
+v -0.05436025 0.03565092 0.00871362
+v -0.05405306 0.03677575 0.01042319
+v -0.05415639 0.03677576 0.00842783
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+f 1 16 8
+f 1 8 4
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+f 40 52 53
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+f 40 54 43
+f 45 49 46
+f 50 53 51
+f 51 53 52
+
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/pill_organizer_017.xml b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/pill_organizer_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e0cd8e2e385805cb8757ee6c70abc4ebb116c92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/mjcf/pill_organizer_017.xml
@@ -0,0 +1,212 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" 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/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.urdf b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64a19f46fb712b4717a53b44d48de7d0a37045a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_017">
+   <link name="pill_organizer_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_017.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_017_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>32fd4240d2e550e5bd2cf244c600190e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>wooden pill box</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rounded wooden pill organizer with hinged lid and metal clasp</description>
+         <min_height>0.0521</min_height>
+         <max_height>0.0521</max_height>
+         <real_height>0.0521</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171139</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061577 -0.065414 -0.018087</min>
+            <max>0.063985 0.064586 0.034027</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.usd b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4c434c85e9442bc7924b5ad2a95ad72cf7d95e50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/pill_organizer_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f04d04df5905694774479d329bfc1541bc5e35e60dfb4afdd03c03758300f3
+size 4774043
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/textures/material_0.png b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0732aa22ceba5556de13e23f6ee160ebc9aed083
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f7383a80be8fb2d94aab61d09cacb2d5e2f5debd7ba101875dd35f21165a474
+size 12034220
diff --git a/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/video.mp4 b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7701f33080a1b4837df0a63f7a3e0c2fb7d0d032
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583c2c87c1e39affa7f03aa1ff72ea561bff33d7595498af28e0014dbd1b2e01
+size 508800