diff --git a/.gitattributes b/.gitattributes
index 6162814ffdec8a8671dc0efd2796e730763eea28..632e7914f338b0dd1c398929826c803fca711cfc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2697,3 +2697,5 @@ dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_b
 dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/mesh/storage_box_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/storage_box_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/material.mtl b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3093f1510e3a604b2da462ae37f15c46503e4b58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_016_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/0ecb2408c248539898a2d5424ff66bf6/mesh/material_0.png b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d636786fbd31a3ebc6bdc96c166b78cc9b6adc33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/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/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ec9183ad5c2ccfd424f06db9f09e32b9193f5bae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12390628
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.mtl b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42a22e6ec6e982fad5a5743314ea579d7d8e8415
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_016_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a783c27c8a1e5062e38062fd4b9cb641e48d7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.obj
@@ -0,0 +1,109490 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_016_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016_collision.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7fca9a2746226f3ae7eda54594dc2bf6f777ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016_collision.obj
@@ -0,0 +1,30680 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d636786fbd31a3ebc6bdc96c166b78cc9b6adc33
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+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/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/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016.obj
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index 0000000000000000000000000000000000000000..011be273c8ab02167e79fdd9d5fda2e6e24d866e
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5222be001f55ae741d05f4844bee5355602452ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision.obj
@@ -0,0 +1,30680 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_0.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a4e51561aef4e369cfd64d935e9eaf0a6eb88b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_1.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc1fdc6201df4aef80d69a1eb5f45f9a04450d08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_10.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43ecbad0f62cbff050b5cee1a7aa327bdc71f2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_10.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_11.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8326460d3a74463277f930128452c14e1c8ceca2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v 0.04853068 -0.02565934 -0.00089321
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_12.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ff5e161661bff3b0750426b1156c521310242b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_12.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_13.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d826f37fb25548c59555b556edf077d88c7cfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_13.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.03728553 -0.03769774 -0.00089326
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+v 0.03837865 -0.03720340 -0.00059580
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_14.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa87193c67ff43288e696b492904750d066d2ce3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_14.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_15.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ddb3728e9168a4bfc086c8b660e1c73dfce418c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_16.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0405e80184691716bf046424562198620e9b669c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_17.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7749151eaca6473fc3f5d64ba68725a97ccc8dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_17.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_18.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e8cd32bcfb4e69a50a8f80a28ea836ea42ef02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_19.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7ab00a81eddf0cc1d424b21bcb1a77e1966355
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_19.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_2.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4996d6650b8d82d741eb243576a4a941c80ded07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_20.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20836e9ff8ede6d097d9c52ee54f1f4777bfecf6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_21.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e747305dc0b56d3d5ecd8fa987d56261940b482b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_21.obj
@@ -0,0 +1,1363 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_22.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a3c4148b69e77489953d43ae91ca934b466db6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_23.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e184739e87c5fdc8d21f92543345be0affd0e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_23.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_24.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d139c492c5072decf34d479f3b8dbdc87d20dc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_24.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_25.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d7946dd9952010e512a1f83f92064f3e606133
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_25.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_26.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53379b74567308c4272e99ed18180d11dc5dfec1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_27.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b8c90436c7251bc8fceec4d5d910163967cbe3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_27.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_28.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ca5bae057c290cbe96d0c71a0b816a411ff376
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_28.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_29.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c229a495ce82dfb7e13ae1763e81b15c4f5203c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_3.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23766d23a6964503a371f3151efff5e1e970ecb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_30.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce01117968f0ae8c233098cb8c8b158244e21ede
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_31.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2a50d41084ffdc9ce999587a56f899b3dbd1e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_31.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_32.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db211502f04f36d906f4926099d8b1e7864f239
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_33.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa4b81bd324a1109616a88a2184d08b3db9c014
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_33.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_34.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9f25b40a77476e4cc5915d6c78e93bb88c4a0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_34.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_35.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6483094a9a19b88b998e87e08d8b761f970325c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_35.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_36.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e87b6b51ae130d6c3aa49309fe841be3ddd964
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_36.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_37.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0d8ff6ddb63d3b5005e1047cbfc4580ce67b38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_37.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_38.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9fda02a66d1ed4ee7fab0450899b90531db05d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_38.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_39.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ada9d4d9ab7459959fc1104bd74d5b373da5b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_39.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_4.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6040e090bb9b8448c45f81eed3424ef8d2b56b51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_4.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_40.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02801b4bde6ca11927ae444a22d8c9fe79db28b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_40.obj
@@ -0,0 +1,1123 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_41.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca474d59904d91dac86c131a6d49bd9ea48c10b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_41.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_42.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664bd0a9309317b9cb51412adfc09b8976d55446
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_42.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_43.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864227fc09b8721646f24a7d36762100efde46db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_43.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_44.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46a9500e19a8143946adcc79dd9823ee02fa3b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_44.obj
@@ -0,0 +1,1483 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_45.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea6d95aecb1e93cde8f4e5c96e0bdbf2953b53c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_45.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_46.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9858ff526a7a074a1b26affd79703ba922b15577
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_46.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_47.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abb9d67cc14ba64c3ce8a02451392739e497167
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_47.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_48.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80476f47492cfc618053c0efb8abca9d26043918
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_48.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_49.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbad00a7115a83c95ec07fa4c0622c772a49a1d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_49.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_5.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d954712c932842232a8a8c0e0e4737d620b46a85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_50.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f8090737308b9824ca1c5705e4ae5efade9c84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_50.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_51.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d88f7186e763757992d0aeb4afaf7ba048a7eb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_51.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_52.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c1caa3ea5de03d1b25388bccefc8aead80987
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_52.obj
@@ -0,0 +1,2476 @@
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_53.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b9013fa32a56f227b56e07605b3a8fcce45eb04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_53.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_54.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2a71410c305810012f265edcb5c15c5368d257
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_54.obj
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_55.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c748020a54bd5a2f0ffbe5ea8656e35360734a20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01054676 -0.02467334 -0.00589114
+v -0.01054676 -0.03079779 -0.00589116
+v -0.01054676 -0.02502409 -0.00353265
+v -0.00398014 -0.03079780 -0.00353267
+v -0.00369090 -0.03079659 -0.00589116
+v -0.01054676 -0.03079780 -0.00353267
+v -0.00506060 -0.03079779 -0.00589116
+v -0.00369090 -0.03079779 -0.00588839
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 4
+f 2 4 6
+f 3 6 4
+f 4 8 5
+f 5 8 7
+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_56.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08191feae7203c8b9a8a00ecf8f4ca9ff26fc365
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_56.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01186962 0.02194018 -0.00589121
+v -0.01186962 0.02214782 -0.00353271
+v -0.01186962 0.03534980 -0.00589116
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+v -0.00709640 0.03817792 -0.00370281
+v -0.00653646 0.03843878 -0.00589115
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_57.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f41e4ce8eebb66198471a0911342258ecf28a7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_57.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.02996021 0.02949633 0.05911709
+v -0.02996021 0.03361376 0.05121691
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+
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_58.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f842ae422615b36b632859b93cf4006af7cd94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_58.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_59.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e001ebe0b3340bcd182b57e9ea9b3c5680fe719e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_59.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_6.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0746b8cb5b1a4282e6d146dfb9bedc3a4f1c2d4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_6.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_7.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3900db345f60dbdadf5ac25eea2033b69711f5a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_8.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33154c8a015a63999c218a4b42b08202a08a37eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_9.obj b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc81a4de6310f733280e1285fc2876051e2495c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/mesh/pill_organizer_016_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/pill_organizer_016.xml b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/pill_organizer_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5a53be78c96485195bfe01df79789bb0d18cb23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mjcf/pill_organizer_016.xml
@@ -0,0 +1,134 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pill_organizer_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pill_organizer_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pill_organizer_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pill_organizer_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pill_organizer_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pill_organizer_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pill_organizer_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pill_organizer_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pill_organizer_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pill_organizer_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pill_organizer_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pill_organizer_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pill_organizer_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pill_organizer_016_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pill_organizer_016_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pill_organizer_016_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pill_organizer_016_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pill_organizer_016_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pill_organizer_016_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pill_organizer_016_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pill_organizer_016_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pill_organizer_016_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pill_organizer_016_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pill_organizer_016_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pill_organizer_016_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pill_organizer_016_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pill_organizer_016_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pill_organizer_016_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pill_organizer_016_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pill_organizer_016_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pill_organizer_016_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pill_organizer_016_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pill_organizer_016_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pill_organizer_016_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pill_organizer_016_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/pill_organizer_016_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/pill_organizer_016_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/pill_organizer_016_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/pill_organizer_016_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_59" 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/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.urdf b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bce327b14b04a9e7a04636f691b3ef95a63fb343
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_016">
+   <link name="pill_organizer_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>0ecb2408c248539898a2d5424ff66bf6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>blue pill case</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rounded square hinged pill organizer with single compartment</description>
+         <min_height>0.1023</min_height>
+         <max_height>0.1023</max_height>
+         <real_height>0.1023</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171052</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044042 -0.040001 -0.026771</min>
+            <max>0.051909 0.039999 0.075546</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511eacda42018e825496d4be647bfb787e45a789b220a2be279742bc599d9b2c
+size 4914443
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/textures/material_0.png b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40aceef3e267c988121fa696d7206e6e13432a265e62f9bdd6dc72357bb645b
+size 9051801
diff --git a/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/video.mp4 b/dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/video.mp4
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