diff --git a/.gitattributes b/.gitattributes
index 4ae6a40030248b53a1025b04593bdbd657ae8187..24c0556dc65ff53d220b4fb02eb33d15166f8a96 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2803,8 +2803,5 @@ dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_00
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/9d3cdaa1c3c35891be06a182627700d7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material.mtl b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49321f5b8b84a3a3e4bf5343c6d8323edcb556f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material_0.png b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.glb b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.mtl b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f861df90316a99b91fcae52576e6dd5a34508f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.mtl
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+newmtl pill_organizer_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4181f04ff61f17d46da0c803cbbc6208b862d8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018.obj
@@ -0,0 +1,108310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_collision.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc382f15cab7663ec9d0533b2a3e40d05e04a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_collision.obj
@@ -0,0 +1,29290 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67181cb3cd2bf7aed69a359f422dbc279927a526
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mesh/pill_organizer_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9200544
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67181cb3cd2bf7aed69a359f422dbc279927a526
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3409a386ad73db0cec55601b3c4a952f15720f0bf1d7822b7c447c8f2fbd494a
+size 9200544
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7332c1897deadb5f830b806cd099d556f468222
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2dd33a93dc926c2b022520e8af68df27f0ffba4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision.obj
@@ -0,0 +1,29290 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_0.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351859ab8c929ce56851ec27c0442576d688f3fd
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_1.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad81f6ce7f761af97759a63b7333a357ddf93dad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_10.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ac678f8164eda1dfe47b1546cf7d3a461e3fd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_10.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_11.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68ceef41c0e146b3915c3ffa7bf05265524b301
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_11.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_12.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7dfa2d2fc97edd2357cf7f67dc7a7124dbffb47
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_12.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_13.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe91a4fcad5992a955c1003e86dafe50b1b4d775
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_13.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_14.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf0b351b54c0e7a259d5597038ce43530edabd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_15.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab7fa7c035bda763548a0e6f3e1c6f32a21c970
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_15.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_16.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4a2c8aac3aa26e9ff58de6b96644beb2a5e1a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_16.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_17.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b462a06258aa805623555300f3f9ec03b1bed3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_17.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_18.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e6bb44373890ebdcee0a76804a6775a513797c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_18.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_19.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcbbf8b5f19c81a2e4e358ef0fc07a66bebb6d87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v 0.05832008 0.04844292 -0.03899125
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+v 0.06093434 0.05071127 0.02746100
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+v 0.05832008 0.06003121 -0.03644786
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+v 0.05864653 0.05973027 -0.03899121
+v 0.06034523 0.04939048 -0.03899125
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_2.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbaa02c7dcf390c7ff3f85b6a49b28d6b9153791
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_2.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02592236 -0.00008832 -0.00129097
+v 0.04966795 -0.00008832 -0.00120976
+v 0.02592236 -0.00008835 0.00742363
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+v 0.04966795 -0.00008835 0.00739060
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+v 0.05191793 0.03494635 -0.00092607
+v 0.05266430 0.01836704 -0.00067973
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+v 0.04317855 0.01471433 0.01225794
+v 0.04101542 0.01462516 0.01229098
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+v 0.04966795 0.03494632 0.00740862
+v 0.02592236 0.02001669 0.01231853
+v 0.03885500 0.01996182 0.01229788
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_20.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938d234cb5664a3ec034a22e3a8c200628defd72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02587904 0.01189792 -0.06679141
+v 0.02428234 0.00702601 -0.06678915
+v 0.02428234 0.01405423 -0.06678913
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+v 0.03020558 0.01489180 -0.06679140
+v 0.02428234 0.00088874 -0.04367194
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+v 0.02428234 0.01489171 -0.04358100
+v 0.05615380 0.01489180 -0.06678685
+v 0.05615380 0.01405423 -0.06678913
+v 0.02428234 0.00111904 -0.04366967
+v 0.05183093 0.00088874 -0.04443767
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_21.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f7546b760a4532703921bb994359bc0837c8d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_22.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be73f20177e544b06d78abe51dd5b508428fd3a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_22.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_23.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e272e9b3453c73edd4f0ad7251862e62f447b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_23.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_24.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77345952bc4d54ae3bb6f39a03948ec65c829d0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_24.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_25.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f017f74703f1faa153c9f4b1fb24f03b49f78145
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_26.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0e5021048e4554b5f36e303189eadbe992ed59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_26.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_27.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b1fc8203755523b57385490e5c7bd022cbc10d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_28.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4001eba8403ce4041e408afcdea125b0997f9e00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_29.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a25ae855cd8964431ba79b8fcbfd7c68fcd1c81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_29.obj
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_3.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe2266b3d4281c9ddd2abec70710f5f2540af33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02592236 0.03494632 0.00747972
+v 0.02592236 0.02001669 0.01231793
+v 0.02592236 0.03494636 -0.00144887
+v 0.02332834 0.03494629 0.01653667
+v 0.02592236 0.01999268 0.01232534
+v 0.02592236 -0.00008832 -0.00129101
+v 0.02332834 0.03494638 -0.00868159
+v 0.02317530 -0.00008838 0.01653654
+v 0.02592236 0.01621313 0.01260427
+v 0.02592236 0.01836699 0.01261169
+v 0.02592236 0.01839786 0.01260675
+v -0.05158454 0.03494629 0.01653667
+v 0.02592236 -0.00008835 0.00742281
+v 0.02317530 -0.00008829 -0.00868172
+v -0.05156924 0.03494638 -0.00868159
+v 0.02592236 0.01460801 0.01231791
+v -0.05224261 -0.00008838 0.01653654
+v -0.05158454 0.03494630 0.01320666
+v -0.05163046 0.03462732 0.01653667
+v -0.05222732 -0.00008829 -0.00868172
+v -0.05178350 0.03345788 -0.00868160
+v -0.05157689 0.03494636 -0.00257698
+v -0.05225027 0.01091076 0.01653658
+v -0.05224261 -0.00008837 0.01415690
+v -0.05179115 0.03345781 0.01104917
+v -0.05179115 0.03345779 0.01653666
+v -0.05223497 0.00974472 -0.00406558
+v -0.05222732 0.01405591 -0.00868167
+v -0.05198245 0.03130401 -0.00868161
+v -0.05199011 0.03130399 -0.00190556
+v -0.05199775 0.03130395 0.00888922
+v -0.05189062 0.03247002 0.01653666
+v -0.05224261 0.01836698 0.01653661
+v -0.05223497 0.01190202 -0.00406558
+v -0.05222732 0.02052092 -0.00190559
+v -0.05221966 0.02052094 -0.00868164
+v -0.05210489 0.02914671 -0.00868161
+v -0.05211254 0.02914669 -0.00406551
+v -0.05205897 0.03031273 0.01653665
+v -0.05199775 0.03130392 0.01653665
+v -0.05223497 0.02267815 0.01653662
+v -0.05223497 0.02267815 0.01536655
+v -0.05221966 0.02267823 -0.00622301
+v -0.05220436 0.02483554 -0.00868163
+v -0.05212018 0.02885175 -0.00868161
+v -0.05212018 0.02914665 0.00888922
+v -0.05212018 0.02914662 0.01653665
+v -0.05222732 0.02384426 0.01653663
+v -0.05221966 0.02483546 0.01320662
+v -0.05221201 0.02483552 -0.00190558
+v -0.05218140 0.02669445 -0.00868162
+v -0.05217375 0.02698941 -0.00868162
+v -0.05218905 0.02698933 0.01320663
+v -0.05218905 0.02698932 0.01653664
+v -0.05221966 0.02483545 0.01653663
+v -0.05220436 0.02600156 0.01653664
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 9
+f 1 9 16
+f 1 16 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 18
+f 1 18 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
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+f 4 11 5
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+f 49 53 50
+f 50 53 51
+f 51 53 52
+f 53 56 54
+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_30.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065578da79df5ba8217388fd2b448942dff66c40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_30.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05660680 0.03295925 -0.06646015
+v 0.05660680 0.03346161 -0.06641733
+v 0.05831971 0.03346161 -0.06635589
+v 0.05831971 0.03295925 -0.06639685
+v 0.05660680 0.03295921 -0.05424693
+v 0.05660680 0.03561747 -0.06612502
+v 0.05831971 0.03561747 -0.06606731
+v 0.05952344 0.03703262 -0.06568005
+v 0.05970269 0.03561747 -0.06580108
+v 0.05988910 0.03346161 -0.06594072
+v 0.05991208 0.03295925 -0.06596306
+v 0.05831971 0.03295921 -0.05494509
+v 0.05660680 0.04387851 -0.04744024
+v 0.05660680 0.03745482 -0.06577872
+v 0.05831971 0.03734152 -0.06575080
+v 0.05831971 0.03841892 -0.06550132
+v 0.05831971 0.03992920 -0.06505076
+v 0.05956685 0.04339118 -0.06355761
+v 0.05988093 0.04208505 -0.06382385
+v 0.06020523 0.03992920 -0.06420924
+v 0.06020727 0.03776051 -0.06468587
+v 0.06063524 0.03561747 -0.06452762
+v 0.06081910 0.03346161 -0.06452763
+v 0.06084157 0.03295925 -0.06452763
+v 0.06027469 0.03295922 -0.05586294
+v 0.05660680 0.04387857 -0.06354458
+v 0.05859753 0.04387852 -0.04867460
+v 0.05660680 0.03830883 -0.06558324
+v 0.05660680 0.03853221 -0.06553111
+v 0.05660680 0.03992920 -0.06511593
+v 0.05831971 0.04208506 -0.06427626
+v 0.05831971 0.04357181 -0.06364698
+v 0.05908525 0.04387857 -0.06337702
+v 0.05995294 0.04387857 -0.06284269
+v 0.06026600 0.04387857 -0.06241820
+v 0.06081603 0.04208505 -0.06236795
+v 0.06113522 0.03992919 -0.06236795
+v 0.06141203 0.03346160 -0.06260070
+v 0.06141151 0.03295924 -0.06266028
+v 0.06016335 0.04387852 -0.04965389
+v 0.06146974 0.03295922 -0.05738401
+v 0.05774006 0.04387857 -0.06350920
+v 0.05660680 0.04362419 -0.06367490
+v 0.05660680 0.04163721 -0.06449968
+v 0.05660680 0.04208506 -0.06433770
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+v 0.06182416 0.03777438 -0.05804865
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_31.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba337acf2441a0f1f662f7fc8631844df8339da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02371586 -0.06025803 -0.02350104
+v 0.02323509 -0.06025513 -0.01702298
+v 0.02323509 -0.06025510 -0.02565934
+v 0.02371586 -0.06025510 -0.02565934
+v 0.02508293 -0.06024631 -0.02565934
+v 0.02508293 -0.06024636 -0.01054493
+v 0.02371586 -0.06025222 -0.01054493
+v 0.02323509 -0.06024929 -0.01054493
+v 0.02323509 -0.06016131 -0.03429569
+v 0.02508293 -0.06016131 -0.03429569
+v 0.02508293 -0.06023758 -0.00936996
+v 0.02508293 -0.06023172 -0.00868194
+v 0.02371586 -0.06023465 -0.00868194
+v 0.02323509 -0.06023465 -0.00868194
+v 0.02323509 -0.06009979 -0.03645400
+v 0.02508293 -0.06009979 -0.03645400
+v 0.02508293 -0.03752725 -0.00868186
+v 0.02323509 -0.03408203 -0.00868185
+v 0.02323509 -0.06006755 -0.03693467
+v 0.02508293 -0.05995622 -0.03861544
+v 0.02508293 -0.06004704 -0.03724883
+v 0.02508293 -0.03519809 -0.04077366
+v 0.02323509 -0.03032908 -0.04077364
+v 0.02323509 -0.05995330 -0.03861544
+v 0.02323509 -0.05990056 -0.03909298
+v 0.02323509 -0.05971013 -0.04077375
+v 0.02371586 -0.05971013 -0.04077375
+v 0.02508293 -0.05986541 -0.03940714
+v 0.02508293 -0.05970720 -0.04077375
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_32.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d374c22d183b6fd626edaf11897804d465b5cd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_32.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.06177470 0.03295923 -0.06020983
+v 0.06169745 0.03295922 -0.05846626
+v 0.06181517 0.03130400 -0.06020984
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+v 0.06163858 0.03295924 -0.06158225
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+v 0.06141049 0.03295924 -0.06266119
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_33.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be5485f0c7dafd6136cf86e47dcf2d1c30e23fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_33.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_34.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bee0a874a31845fd45ed3b6f5665dbe0ce5bb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_34.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_35.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090b8b85afd726bb616bfd5c17fa38f3fb4739db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_35.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04527650 -0.02937716 -0.04419421
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_36.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63bc46150c76885df7d98967dc2219c1792a4bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_36.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_37.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98113a8b0945eea91ac17b6b846c9961f87152e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_37.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.05510110 -0.00849185 0.04128043
+v 0.05508869 -0.00849185 0.04004556
+v 0.05509862 -0.00849186 0.04272674
+v 0.05508869 -0.01305055 0.04251010
+v 0.05508869 -0.01305055 0.04220268
+v 0.05497946 -0.02927177 0.03784812
+v 0.05508869 -0.00873482 0.04005334
+v 0.05499187 -0.01832129 0.03784816
+v 0.05499187 -0.00849184 0.03784820
+v 0.05498690 -0.02698641 0.03784813
+v 0.05498939 -0.02479728 0.03784814
+v 0.05509613 -0.00849186 0.04341293
+v 0.05500428 -0.03306551 0.05109838
+v 0.05496208 -0.03181212 0.03784811
+v 0.02974213 -0.00849184 0.03784820
+v 0.05509117 -0.00849186 0.04438967
+v 0.05493973 -0.03306546 0.03784811
+v 0.05508869 -0.00872521 0.04465429
+v 0.05508869 -0.00849186 0.04465429
+v 0.05496705 -0.00849189 0.05109847
+v 0.02974213 -0.03306551 0.05109838
+v 0.02974213 -0.03306546 0.03784811
+v 0.02974213 -0.00849189 0.05109847
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+f 1 20 19
+f 1 19 16
+f 1 16 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
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+f 15 22 21
+f 15 21 23
+f 16 19 18
+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_38.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b6f6df1aa63610f55ab32ba77d43a87fa69204
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03669242 -0.01315970 -0.04419431
+v 0.03669242 -0.01476952 -0.04258354
+v 0.03879982 -0.01332322 -0.04419431
+v 0.03441464 -0.01389952 -0.04419431
+v 0.03885447 -0.01506481 -0.04258355
+v 0.03440017 -0.01563635 -0.04258355
+v 0.03885447 -0.01333434 -0.04419431
+v 0.03423460 -0.01573160 -0.04258355
+v 0.03207737 -0.01600308 -0.04419432
+v 0.03286825 -0.01668416 -0.04258355
+v 0.04059215 -0.01567762 -0.04258355
+v 0.04088471 -0.01402494 -0.04419431
+v 0.03006964 -0.01811299 -0.04419433
+v 0.03196324 -0.01764147 -0.04258355
+v 0.04060501 -0.01568239 -0.04258355
+v 0.04101974 -0.01407574 -0.04419431
+v 0.02978351 -0.01901633 -0.04419433
+v 0.03037827 -0.02041976 -0.04258357
+v 0.03094571 -0.01897982 -0.04258356
+v 0.03176713 -0.01789073 -0.04258356
+v 0.03180892 -0.01783675 -0.04258356
+v 0.04105350 -0.01588083 -0.04258355
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_39.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd83b91245e4635ec4cfcad715cd860d053105b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_39.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05655534 0.03295921 -0.05419488
+v 0.05443853 0.03295918 -0.04505166
+v 0.05485557 0.01489309 -0.04725234
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_4.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213b9e2e0f51ada59d3c71ae56daad34d33fbcad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02592245 -0.03536800 -0.00145505
+v 0.04966588 -0.03536801 -0.00124088
+v 0.02592245 -0.03536804 0.00747927
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_40.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d94343cad4983281b7f861b7d3f9842fe33062a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_40.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_41.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1b1397dfd0d7d17b20e6f73835176625bf6b13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_41.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_42.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce44030a090fa2421435ece8aa236b7cea9f51d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_42.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_43.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113f9b088dc751b926e4e6599e84bf6fb45b27b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_43.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_44.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e8fea939ef12d3d8b8fbe37bba489508442122b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_44.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_45.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c4817b8a951ac7141644879ae7c7a8819f6acb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02890457 -0.03350403 -0.03484429
+v 0.02890457 -0.03350403 -0.02472782
+v 0.02890457 -0.02594028 -0.03484429
+v 0.02890457 -0.02594028 -0.02472782
+v 0.02990457 -0.03350403 -0.03484429
+v 0.02990457 -0.03350403 -0.02472782
+v 0.02990457 -0.02594028 -0.03484429
+v 0.02990457 -0.02594028 -0.02472782
+f 2 4 1
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+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/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_46.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3cc4db3b7e3a914445d4a50069536404685556
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_46.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.02401556 -0.00848944 0.03783303
+v 0.05499176 -0.00848944 0.03783303
+v 0.02401556 -0.00848949 0.05215427
+v 0.02401556 0.02428177 0.03783315
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+v 0.05538514 -0.00848949 0.05215427
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_47.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aab1bc5b48097eac623cbbc70ab7031c0daafa2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_47.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.05611175 0.04700328 0.03824767
+v 0.05600597 0.03191672 0.03503780
+v 0.05600597 0.03191674 0.03089248
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_48.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e5fb1099e948d3482b32cff8233f0d6a46e23a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_48.obj
@@ -0,0 +1,2101 @@
+# https://github.com/mikedh/trimesh
+v -0.00703061 0.05577237 0.05101870
+v -0.01351179 0.05576929 0.05101870
+v -0.01304497 0.05511888 0.05207808
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+v 0.02154306 0.05417255 0.05346990
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_49.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b36586dc4a9a9d0478ea7e9e27d9771051f683
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_49.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_5.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c38323e738e3fbd5a499365b6201bfadd152873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_5.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02592245 -0.00009178 0.00742281
+v 0.02592245 -0.00981555 0.01188584
+v 0.02592245 -0.00009175 -0.00129101
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_50.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af9a5bf33863bf8bce00649cbf70d57ba743a0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_50.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_51.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a640562acb551fd8f469285ec72bda0b720edfca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_51.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v 0.02927043 -0.06018538 0.02583280
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_52.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a899c9f2489c5690b78e184c48c6ff5eddd2d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_52.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_53.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330188ca4bbc617eab0b2941f0c2e44c7cc57c77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_53.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_54.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2395068bbe106db5313ad38110fb0a1af7d6cc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_54.obj
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_55.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f811d53644bb4305643cb29abd10507c571d9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_55.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.05539574 -0.06016678 0.01653632
+v 0.05539574 -0.04722066 0.01653637
+v 0.05615684 -0.06016536 0.01653632
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+v 0.05539574 -0.06016397 0.02184696
+v 0.05986727 -0.04930618 0.01653636
+v 0.05539574 -0.04566335 0.04042604
+v 0.05732757 -0.06011709 0.01653632
+v 0.05832006 -0.06007451 0.01968856
+v 0.05615684 -0.06015972 0.02616609
+v 0.05539574 -0.06016255 0.02400535
+v 0.06042949 -0.05002312 0.01653636
+v 0.06031505 -0.04854532 0.04042603
+v 0.05539574 -0.05941018 0.04042599
+v 0.05832006 -0.06007592 0.01653632
+v 0.06029878 -0.05908356 0.01653632
+v 0.06029753 -0.05908075 0.02400535
+v 0.06029753 -0.05907934 0.02616609
+v 0.05832006 -0.06007029 0.02616609
+v 0.05615684 -0.06015688 0.02832448
+v 0.05539574 -0.06015831 0.02832448
+v 0.06090603 -0.05063217 0.01653635
+v 0.06142448 -0.05016802 0.04042603
+v 0.05539574 -0.05964016 0.03911880
+v 0.05615684 -0.05964158 0.03911880
+v 0.05615684 -0.05941018 0.04042599
+v 0.06123562 -0.05710026 0.01653633
+v 0.06123499 -0.05710028 0.02184697
+v 0.06123437 -0.05710029 0.02400536
+v 0.06123311 -0.05710030 0.02616610
+v 0.06029691 -0.05907792 0.02832448
+v 0.05832006 -0.06006744 0.02832448
+v 0.05615684 -0.06014838 0.03048288
+v 0.05539574 -0.06014980 0.03048288
+v 0.06123874 -0.05132639 0.01653635
+v 0.06152392 -0.05059534 0.04042602
+v 0.06152079 -0.05191556 0.01653635
+v 0.05539574 -0.05973102 0.03835880
+v 0.05539574 -0.05989570 0.03696040
+v 0.05615684 -0.05989570 0.03696040
+v 0.05832006 -0.05981478 0.03696040
+v 0.05832006 -0.05955924 0.03911880
+v 0.05832006 -0.05932642 0.04042599
+v 0.06174406 -0.05446532 0.01653634
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+v 0.05832006 -0.05996384 0.03479967
+v 0.05934257 -0.05899989 0.04042599
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_56.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30fdbb4a521bbe7cd6ddd447b172486d4367eee6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02974282 -0.03916569 0.04833227
+v 0.02974282 -0.03916574 0.06378363
+v 0.02974282 -0.03306610 0.04833229
+v 0.05502519 -0.03916569 0.04833227
+v 0.02974282 -0.03867133 0.06393058
+v 0.05615539 -0.03916574 0.06359955
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+v 0.05489855 -0.03306610 0.04833229
+v 0.05502519 -0.03915375 0.04833227
+v 0.06061288 -0.03916570 0.05195895
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+v 0.05831765 -0.03916574 0.06350429
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+v 0.06162279 -0.03916570 0.05296816
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_57.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724323051c078d020976b21f472d5516b587228c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_57.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02974213 -0.03916564 0.03587674
+v 0.02974213 -0.03916569 0.04833065
+v 0.02974213 -0.03306605 0.03587676
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+v 0.02974213 -0.03306610 0.04833067
+v 0.05502607 -0.03916569 0.04833065
+v 0.05431500 -0.03306605 0.03587676
+v 0.05505085 -0.03307023 0.03587676
+v 0.05489972 -0.03306610 0.04833067
+v 0.05502607 -0.03915375 0.04833065
+v 0.05498891 -0.03306605 0.03664599
+f 1 2 5
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+f 1 4 6
+f 1 6 2
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+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 8 6
+f 6 8 10
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+f 8 11 9
+f 8 9 10
+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_58.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ea607754fe7de4e1832d1f588e44d4bff19366
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_58.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.05508660 0.05551097 0.05101732
+v 0.05615732 0.05550852 0.05101732
+v 0.05508660 0.05582781 0.05051488
+v 0.05508660 0.03470302 0.05101725
+v 0.05755364 0.05544220 0.05101732
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+v 0.05615732 0.05722779 0.04775770
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+v 0.05508660 0.04565230 0.03824873
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+v 0.05997014 0.05658183 0.04775770
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_59.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49716f97a08b614f7b2f7d1ac2b9c036e041bce1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_59.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_6.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67afe6db662e149078628deb440a80cb5c81eb5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_60.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338db2ab89bcba18792ff1c3e642dc599e6fe128
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_60.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02978596 -0.03776159 -0.04419456
+v 0.02978596 -0.03776162 -0.03617442
+v 0.02978596 -0.03539831 -0.04419455
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_61.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9af52f43f7232c96c0ea941eb0c0ac6ba65e89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_61.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_7.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731084ddf23e1b15d2c25ef57ee6d005fe69ee03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_7.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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+v 0.02978351 -0.05882987 -0.04509491
+v 0.03020415 -0.05882987 -0.04509491
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_8.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ebeea451184c1defafd6e08ff2b343f8304803
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_9.obj b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d29cfb01c8fbd0a59cacec61f893b13bebc3ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/mesh/pill_organizer_018_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/pill_organizer_018.xml b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/pill_organizer_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7e3f7a187e869c4023ba48b15e4fcd4fc9e50780
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/mjcf/pill_organizer_018.xml
@@ -0,0 +1,138 @@
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+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" 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/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.urdf b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ac18fb01155f8afacf79f24b7c2d3af22295761
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_018">
+   <link name="pill_organizer_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>9cabaf9b9f2257b9b7aed5618ff04d03</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>black pill organizer</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact black rounded pill organizer with transparent front window</description>
+         <min_height>0.1313</min_height>
+         <max_height>0.1313</max_height>
+         <real_height>0.1313</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171221</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051684 -0.059960 -0.066469</min>
+            <max>0.062472 0.060040 0.064793</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Front dispensing face is merged with housing; internal pills are incorrectly segmented as parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.usd b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9461cd71afd0cc5b542f70c69f33f24fa7540143
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33dafa245bb5ba96c340988dccf3d7815397a591e9825da6fead5c4e2d782a4
+size 4834441
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/textures/material_0.png b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9200544
diff --git a/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/video.mp4 b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b517fbeb22e56fbd861dd3a52f1fce8614754fbd4765bf562a7fbd99546a9d86
+size 484461