diff --git a/.gitattributes b/.gitattributes
index 3db2b74164cfe081f924ad96865b9bcf9a06b729..1e3dc4978a98a1d4a0332a723e681a322a39f6a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2825,3 +2825,5 @@ dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_b
 dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/mesh/storage_box_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/storage_box_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/material.mtl b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a33e09511a183b659f525e98841fa798900543b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_022_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pill_organizer_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/material_0.png b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84e04f17fa93b23784b5c780429c3ae5b3ab6ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/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/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f8943d044c284a2d53a10649c76bb3e0fe18270
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12569516
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.mtl b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36f0a77cd2aefe918610c5e27f6046a5385c0067
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_022_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac91d8b6c30e7b91a643f796fc154f2dac96af38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.obj
@@ -0,0 +1,109214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_022_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022_collision.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a739522fdf25d88d2f74bb7b36edc0007a6c72a
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84e04f17fa93b23784b5c780429c3ae5b3ab6ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9215594
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84e04f17fa93b23784b5c780429c3ae5b3ab6ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da76bb5614ee918b9ec21d13de6b9e8315e1123fe4763a29d14347b88af75e45
+size 9215594
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fafc046b4abf026ba60aac1b004ff7df0a4efc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad48342ff4b29dfeb13ed5fc702969e615195464
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision.obj
@@ -0,0 +1,40516 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_0.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9dd3d6455c46330f0885a6f5c995bb9b59e0688
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_0.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_1.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8071ae229a6be917d4d933859dbf3189553a1d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_1.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_10.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84225f9416fdee5177a0d673401eb4337779799
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_11.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c390b232f615c0b4f99f354887c07f93e36abee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_11.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_12.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392c91efd9a5e4d5171a2256f34802d0b476e66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_12.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_13.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9836058af7a024e73b76eb7ed9bbde6d468283c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_14.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797f16d9f2b45d8defd43f1d650a6bbb5d82d4fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_15.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b1976896d709b3f786cca5964cefbde989e991
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_15.obj
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_16.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79d5d2ae7f3e2c7d69710fe4a66dddd41466440
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_16.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_17.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d24c71eea46352292a2b5cb7ebf1c6568795bd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_18.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181bc3ef60a29e824fe53209cab81c8b09f311cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_18.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_19.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a851c3e4c83ab998f7943e86a35f8c21192fd568
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_19.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_2.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..825dc8acee436dfae91facede1d110affacdda34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_2.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_20.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9930c36e52e1b5ce384b7a90658e397900b9b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_21.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b410c4cf2e14dab3bd0a41bb984e546e776a108
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_21.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_22.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d285d4cd3c1971ce98ccbfd995538868985d29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_22.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_23.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9d1f2bfadfb4d8921c9b8649222b8048a5c18c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_24.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b8f897260a6d6bebb4f81c3715f3125de9123e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_25.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2318427f30fa2fa1b6add6c0d589e5eead4b225
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_26.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25a0391f828d13af3e9c8bf1fed09f93942970b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_27.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc402794795852c2824847916077c131b64cbaaa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_27.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_28.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd767f7c27bf833f0e793b833b57bb7e07ed8e5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_28.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_29.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e309f286227abc7db085860631d8c05ca420cec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_29.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_3.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c56cb10e26ebc685ac64bfda3bcdab49b7bfd35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_3.obj
@@ -0,0 +1,841 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_30.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db04368adf6e3190ff0062f59b3ded305fad8c90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01084457 0.07139603 0.00844732
+v -0.01084457 0.07120221 0.00926666
+v -0.01002937 0.07136933 0.00844732
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+v -0.01084457 0.06926308 0.01433495
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+v -0.00832034 0.06940844 0.01433495
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_31.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abe1eec82150dd7389ca1a3bbee62fb8dc43967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_31.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00115349 0.04529754 0.01542286
+v 0.00209974 0.02002691 0.01542276
+v 0.00115349 0.04541065 0.01686989
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_32.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf1da1a18b2cc19ff7547671593576b501b5f52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00683010 0.06043412 0.00042608
+v 0.00683010 0.06386699 0.00498406
+v 0.00935315 0.06386699 0.00495029
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+v -0.00127082 0.06386695 0.01542113
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_33.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81efddbd4d1501546d65ab52aea6f38e5e68d0fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_33.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_34.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e248f2d5e1620b859ca49cff5c3402451e7b6588
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_34.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_35.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76454cb85026fbe5534aee718bcb2c91b6d390b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_35.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_36.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abe428feeb3d4ed218722dbe9f2e46fd1d3ac350
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_36.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_37.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85cfaad68eee48d9c993fe29eb4d47f2efeba7c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_37.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_38.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56a8fb6660af78a6436b22cebc7add5b872bf89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_38.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_39.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0dfa95cf9dcf02cde81b2c11b1777ea2d15ce1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_39.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_4.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4f2efec16b21548ac2ebca9162e87d9ef62da1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_4.obj
@@ -0,0 +1,1225 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_40.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b49640ef481c161a6658b77573638e121e644cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_40.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_41.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555d615201342597cf69d04a7090b87a6655297d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_41.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_42.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba97b3ffe9be4ef487e77779a3408378d4607b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_43.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2792598ad357275524ebacb58eb332a25fc231af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03207980 0.07122364 0.00939051
+v 0.03198513 0.07120932 0.00939051
+v 0.03052655 0.07044114 0.01128016
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_44.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e17b5ba3885f9290f59325a72eaacc4a5ea3fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_44.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_45.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e4998efd762c7a90ea9e94695bc486154f4eaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_45.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_46.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45c8f6929d90c53afa1cb9f0d4499b060748d6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_46.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_47.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a37b8311d37993318bbdf1fc6f9bc131961ab1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_47.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_48.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a562ca68404d4805facfe705c33561ce36ea3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_48.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_49.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9cc5fe2c94aeb609c12e59d73a1f96e42644926
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_49.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_5.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb944f8145c96c7717c42feb4c7198c3ae000146
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_5.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_50.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df5ce12d259b4dadca255bee9a8e11a7d4fbf50a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_50.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_51.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76869f1abb6f9d4168598a256d4d1226c3b2169d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_51.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_52.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b0cb2356702b63a4c19ef0b2315d4229566def
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_52.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_53.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c9d0877900caa2148071c26f6dba96952b2176
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_53.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_54.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe768ff001ca995913ee27d952dae739bd953141
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_54.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_55.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7529f9a81578da9895c8ee1d88f1eb3ac5ccb57c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_55.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_56.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a9dcf6dbf900e1340a0c3aa3ec94080da8c3d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_56.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_57.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4895ffaad5974753153591c648f558f87b8c9851
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_57.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00178630 -0.04655283 0.01542260
+v 0.00272875 -0.03709264 0.01542223
+v 0.01220430 -0.04655283 0.01542260
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+v 0.00277159 -0.00700894 0.01606842
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+v 0.01187791 -0.04655283 0.01679496
+v 0.01145972 -0.00700894 0.01542234
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+v 0.00233708 -0.04655283 0.01694449
+v 0.01181161 -0.04655283 0.01702994
+v 0.01115577 -0.00700894 0.01650572
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+v 0.00456470 -0.04655284 0.01906490
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_58.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08119b6fb206346e5cd429c1d0eca99097ad621
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_58.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00115349 0.04558605 0.01870514
+v 0.00204916 0.04506261 0.01870514
+v 0.00115349 0.04558605 0.01929113
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_59.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbbf57708e073712e19a21ef06b6b76ceaab69f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_59.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.03023653 -0.00633318 0.00003234
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+v -0.03023653 0.00736781 0.00003239
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_6.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73bdca907ea84c4274278cb91e2bd68ffb6b426
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_6.obj
@@ -0,0 +1,1132 @@
+# https://github.com/mikedh/trimesh
+v -0.02658471 0.00003351 0.08895632
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_60.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01320a67246e7283000d54070799ff0cb2d3b417
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_60.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_61.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3769670602d3cab5c1c1b7a6f87909b16696f47c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_61.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_62.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e43bc2485a688bcf2c4aad0db6f0c66bac4f76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_62.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_63.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8380d4f72370a99fecf85750defd88fad2eed0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_63.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_64.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c5e9454096ab9e5aa6b6d454b6fb866a3c3905
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_64.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_65.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12689af7ce7c26fff0d9e759279ccc7a289a1eca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_65.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_66.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26588080ded39b7ac890634e750a6df2a8c47de9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_66.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_67.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3cb95dbda6067142b17b27002e267325d3cfe7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_67.obj
@@ -0,0 +1,688 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_68.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083a8c07d17290b5941fa7ffb5d49e8f04ab398f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_69.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d143a3b4db77c71a888ce9c1d3d1c7cb54720cf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_69.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_7.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f7569f8a9a2ae0279a184394fff47e3bdd87ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_7.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_70.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a322d423de38c14355de01bcaab7dd6d709c9ef7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_70.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_71.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fcaa86ea4b3df15cd67532852034633e6a6d315
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_71.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_72.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d49bf03821cbfb79f478c4c78116c0d36078047
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_72.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_73.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c122e21d4a1c7651a3e6043fe71051afbd876526
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_73.obj
@@ -0,0 +1,685 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_74.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152cade3aea0309d77b8d460ef6264dff6c68e8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_74.obj
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_75.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbe2b2e21370a72dfc108f0f0214538fcac2e43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_75.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00143668 0.00582062 0.01542558
+v 0.00144966 0.00582897 0.01542239
+v 0.00144966 0.00582062 0.01542239
+v 0.00185701 0.00582062 0.01659089
+v 0.00244707 0.02002691 0.01660283
+v 0.00209962 0.02002691 0.01542244
+v 0.01163542 0.00582062 0.01542239
+v 0.00198381 0.00582062 0.01672478
+v 0.00362419 0.02002690 0.01786958
+v 0.00323781 0.02002691 0.01745428
+v 0.01066097 0.02002691 0.01542244
+v 0.01151261 0.00582062 0.01594520
+v 0.01064499 0.02002691 0.01566588
+v 0.00363917 0.00582061 0.01789677
+v 0.00488618 0.02002690 0.01832168
+v 0.00372004 0.00582061 0.01792604
+v 0.00823284 0.00582061 0.01820223
+v 0.01026260 0.02002691 0.01608146
+v 0.00947686 0.02002691 0.01693292
+v 0.00821387 0.02002690 0.01819619
+v 0.00682908 0.01832343 0.01838138
+v 0.00682908 0.02002690 0.01838080
+v 0.00489317 0.01325750 0.01832108
+v 0.00489117 0.01578977 0.01832138
+v 0.00682908 0.01072523 0.01838309
+v 0.00490115 0.00582061 0.01831641
+v 0.00489716 0.01072523 0.01832020
+v 0.00682908 0.00819296 0.01838250
+v 0.00682908 0.00582061 0.01838191
+v 0.00490215 0.00819296 0.01831845
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 29
+f 1 29 26
+f 1 26 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
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+f 1 5 6
+f 1 6 2
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+f 2 11 7
+f 2 7 3
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+f 4 10 5
+f 5 10 9
+f 5 9 15
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+f 5 18 13
+f 5 13 11
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+f 8 14 9
+f 9 14 16
+f 9 16 15
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+f 12 19 20
+f 12 20 17
+f 15 21 22
+f 15 16 23
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+f 27 30 29
+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_76.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2835d88643ae8e5dd02c2335f89e6799015b0fc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_76.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01163830 0.00581937 0.01542274
+v 0.00145776 0.00581937 0.01542274
+v 0.01151339 0.00581937 0.01594559
+v 0.04462202 0.00503455 0.01542274
+v -0.01918439 0.00453603 0.01542274
+v 0.00143902 0.00581937 0.01542594
+v 0.00823438 0.00581936 0.01820171
+v 0.04462202 0.00482861 0.01609787
+v 0.04462202 -0.00433052 0.01542270
+v 0.00364376 0.00581936 0.01789680
+v 0.00198864 0.00581937 0.01672508
+v 0.00186373 0.00581937 0.01659126
+v -0.01918439 -0.00386842 0.01542271
+v -0.01918439 0.00449208 0.01582739
+v 0.00692902 0.00581936 0.01836996
+v 0.04462202 0.00478969 0.01614047
+v 0.00683533 0.00581936 0.01838167
+v 0.04462202 -0.00401785 0.01692631
+v 0.00993322 -0.00700895 0.01777393
+v 0.01115738 -0.00700894 0.01650567
+v 0.01145718 -0.00700894 0.01542269
+v 0.00372496 0.00581936 0.01792591
+v 0.00263820 -0.00700894 0.01542269
+v 0.00278185 -0.00700894 0.01606836
+v 0.00402475 -0.00700894 0.01733556
+v 0.00528639 -0.00700895 0.01825526
+v -0.01918439 -0.00370392 0.01610920
+v -0.01918439 0.00333683 0.01709423
+v 0.00491165 0.00581936 0.01831600
+v 0.04462202 0.00361058 0.01736435
+v -0.01918439 0.00207107 0.01823471
+v -0.01918439 0.00059059 0.01841111
+v 0.04462202 0.00059059 0.01904862
+v 0.04462202 0.00234356 0.01856269
+v 0.04462202 -0.00401408 0.01693661
+v 0.00866533 -0.00700895 0.01830992
+v 0.00683533 -0.00700895 0.01842883
+v -0.01918439 -0.00120130 0.01831315
+v -0.01918439 -0.00246830 0.01767244
+v -0.01918439 -0.00363234 0.01640595
+v 0.04462202 0.00053157 0.01904436
+v 0.04462202 -0.00399901 0.01695152
+v 0.04462202 -0.00189948 0.01882144
+f 1 2 6
+f 1 6 12
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+f 1 11 10
+f 1 10 22
+f 1 22 29
+f 1 29 17
+f 1 17 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
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+f 1 13 5
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+f 16 17 30
+f 17 29 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 30
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 26
+f 19 26 25
+f 19 25 24
+f 19 24 23
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+f 19 21 20
+f 26 37 38
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+f 26 40 27
+f 28 31 29
+f 32 38 37
+f 32 37 33
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+f 35 42 36
+f 36 42 43
+f 36 43 37
+f 37 43 41
+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_77.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddab73ce4e268346256a78888532db8194aed414
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_77.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.04888789 -0.01751914 0.00063619
+v -0.04850567 -0.01967341 0.00063618
+v -0.04846745 -0.01967342 0.00166380
+v -0.04884785 -0.01751915 0.00166381
+v -0.03101644 -0.01751914 0.00063619
+v -0.04796328 -0.02220662 0.00063617
+v -0.04836552 -0.01967343 0.00419810
+v -0.04792506 -0.02220663 0.00166379
+v -0.04874592 -0.01751916 0.00419811
+v -0.03252711 -0.01751920 0.01542086
+v -0.03122757 -0.02870674 0.01542081
+v -0.03029568 -0.02870668 0.00063614
+v -0.04756286 -0.02385163 0.00063616
+v -0.04754284 -0.02377935 0.00166378
+v -0.04825450 -0.01967343 0.00673241
+v -0.04782314 -0.02220664 0.00419809
+v -0.04767571 -0.02186276 0.00926527
+v -0.04749188 -0.02358879 0.00419808
+v -0.04863490 -0.01751916 0.00673242
+v -0.04807795 -0.01751920 0.01542086
+v -0.04527319 -0.02870674 0.01542081
+v -0.04604673 -0.02870668 0.00063614
+v -0.04721523 -0.02511878 0.00063616
+v -0.04719520 -0.02504541 0.00166378
+v -0.04813801 -0.01967344 0.00926528
+v -0.04853843 -0.01751917 0.00888608
+v -0.04768117 -0.02237311 0.00652254
+v -0.04746276 -0.02348365 0.00553688
+v -0.04742636 -0.02332705 0.00722594
+v -0.04737903 -0.02312772 0.00926527
+v -0.04731715 -0.02285831 0.01179957
+v -0.04761019 -0.02159225 0.01179957
+v -0.04714243 -0.02485595 0.00419808
+v -0.04714425 -0.02449234 0.00652253
+v -0.04817260 -0.01751919 0.01461903
+v -0.04771211 -0.01962419 0.01542085
+v -0.04577008 -0.02727092 0.01542082
+v -0.04588838 -0.02727091 0.01433386
+v -0.04538786 -0.02870673 0.01433385
+v -0.04600487 -0.02870669 0.00166376
+v -0.04619234 -0.02829707 0.00063615
+v -0.04655635 -0.02727086 0.00063615
+v -0.04651449 -0.02727087 0.00166377
+v -0.04630336 -0.02727088 0.00673238
+v -0.04800879 -0.01967345 0.01179958
+v -0.04841284 -0.01751918 0.01142039
+v -0.04852023 -0.01751917 0.00926529
+v -0.04695313 -0.02473768 0.00926526
+v -0.04683119 -0.02473769 0.01179956
+v -0.04723161 -0.02246733 0.01433388
+v -0.04665464 -0.02473770 0.01433387
+v -0.04751918 -0.02120127 0.01433388
+v -0.04619234 -0.02727089 0.00926525
+v -0.04820535 -0.01751919 0.01433390
+v -0.04782314 -0.01967346 0.01433389
+v -0.04747004 -0.02098772 0.01542084
+v -0.04653269 -0.02473771 0.01542083
+v -0.04607039 -0.02727090 0.01179955
+v -0.04556259 -0.02870672 0.01179954
+v -0.04595937 -0.02870669 0.00276229
+v -0.04585380 -0.02870670 0.00529660
+v -0.04568089 -0.02870671 0.00926524
+v -0.04839282 -0.01751918 0.01179959
+v -0.04716609 -0.02222640 0.01542084
+v -0.04823448 -0.01751919 0.01395614
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 26
+f 1 26 47
+f 1 47 46
+f 1 46 63
+f 1 63 65
+f 1 65 54
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+f 1 20 10
+f 1 10 5
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+f 1 41 42
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+f 18 34 28
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+f 50 57 64
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+f 53 59 58
+f 54 65 55
+f 55 65 63
+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_78.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004ecbf56ed27cd4212aa323ca4eb6a992ca7212
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_78.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.04211534 -0.03995011 0.03063455
+v -0.04264643 -0.03967581 0.03063455
+v -0.03837023 -0.03995011 0.03063455
+v -0.04241592 -0.03995011 0.03076975
+v -0.04324253 -0.03930673 0.03063456
+v -0.04258043 -0.03995011 0.03087423
+v -0.03759237 -0.03914059 0.03063456
+v -0.03728061 -0.03895103 0.03071445
+v -0.03706228 -0.03995012 0.03157788
+v -0.04335017 -0.03923537 0.03063456
+v -0.04335017 -0.03995012 0.03136586
+v -0.04335017 -0.03939705 0.03079742
+v -0.03735881 -0.03886741 0.03063456
+v -0.03515012 -0.03993674 0.03383480
+v -0.03515216 -0.03995012 0.03383480
+v -0.03651189 -0.03995012 0.03200499
+v -0.03655962 -0.03995012 0.03196043
+v -0.03673733 -0.03995012 0.03181294
+v -0.03723085 -0.03756058 0.03063456
+v -0.04335017 -0.02855997 0.03063460
+v -0.04335017 -0.03995017 0.04633003
+v -0.03435602 -0.03995013 0.03511305
+v -0.03722070 -0.03742120 0.03063456
+v -0.03721968 -0.03740335 0.03063456
+v -0.03717602 -0.03496253 0.03063457
+v -0.03805949 -0.02855997 0.03063460
+v -0.04335017 -0.02855999 0.03539886
+v -0.03981425 -0.03995017 0.04633003
+v -0.04335017 -0.03773347 0.04633004
+v -0.03721461 -0.03239794 0.03063458
+v -0.03725726 -0.03167428 0.03063458
+v -0.03729280 -0.03067186 0.03068683
+v -0.03332225 -0.03995014 0.03715641
+v -0.03732733 -0.03062614 0.03063459
+v -0.03803410 -0.02855997 0.03111395
+v -0.03476119 -0.03601181 0.03565233
+v -0.04119327 -0.02855999 0.03445554
+v -0.03375079 -0.03995016 0.04236161
+v -0.03949336 -0.02855998 0.03357059
+v -0.03992087 -0.02855998 0.03380412
+v -0.03297699 -0.03995014 0.03940872
+v -0.03832047 -0.02855998 0.03210644
+v -0.03346544 -0.03995015 0.04202975
+v -0.03887086 -0.02855998 0.03298831
+f 1 2 5
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+f 31 34 32
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+f 38 43 44
+f 38 44 39
+f 42 44 43
+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_79.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42404556d361ded8e500c4666d61e738315c45b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_79.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01444907 0.04537597 0.00226463
+v 0.03304779 0.03766413 0.00226460
+v 0.01444907 0.04548736 0.01542254
+v 0.01444907 0.05970751 0.00226468
+v 0.03304779 0.03782233 0.01542251
+v 0.03304779 0.05284040 0.00226465
+v 0.01444907 0.06043183 0.01542259
+v 0.01444907 0.06007972 0.00419812
+v 0.02450494 0.05639543 0.00226467
+v 0.03304779 0.05198002 0.01542256
+v 0.03207917 0.05332407 0.00226466
+v 0.01767904 0.06043183 0.01542259
+v 0.03304779 0.05275570 0.00419809
+v 0.01444907 0.06043187 0.00636856
+v 0.01735131 0.06043184 0.01424913
+v 0.02717413 0.05545708 0.00226466
+v 0.03304779 0.05212936 0.01433412
+v 0.03282384 0.05225418 0.01433412
+v 0.03268365 0.05218284 0.01542256
+v 0.03148197 0.05360044 0.00226466
+v 0.02938267 0.05456554 0.00226466
+v 0.02826656 0.05504474 0.00226466
+v 0.01759711 0.06043183 0.01507738
+v 0.03304779 0.05237009 0.01179785
+v 0.03304779 0.05251051 0.00926546
+v 0.03304779 0.05261304 0.00719033
+v 0.03304779 0.05267323 0.00595505
+v 0.03304779 0.05271781 0.00500701
+v 0.01749697 0.06043184 0.01473861
+v 0.02745998 0.05535010 0.00226466
+f 1 2 3
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_8.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1a1aed1d20eda9b675356f254922d1c2e0e0bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_8.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_80.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b7b75af77d693881f4a87c8e6e64679f6d8f3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_80.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_81.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5678ea3b05799bed3184d6e80b9935457bba3497
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_81.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_82.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a55b1b99ba6bee81a07270794f4976e43250e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_82.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_83.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d955b2be39fb98c0dd650dbcdb0a577a579aec27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_83.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.01238150 0.00637586 0.00177283
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+v 0.01163209 0.01535837 0.00177287
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_84.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc6d20262d00032f33f7b91ff4c1dfc73f09457
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_84.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_85.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4050deb5cf5a68e018a6df47e6c5f4ab7e1e426
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_85.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_86.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32414803f9b76582cc73578712f01df69c52c1c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_86.obj
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_87.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ddf865e6a719e339375c964b02277cbd1afbe7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_87.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04829764 -0.02855717 0.03063460
+v -0.03805915 -0.02855717 0.03063460
+v -0.04829764 -0.02855720 0.03825136
+v -0.04829764 0.00003373 0.03063470
+v -0.03811140 -0.02816532 0.03063460
+v -0.03803403 -0.02855717 0.03111326
+v -0.04758627 -0.02855720 0.03825136
+v -0.04829764 -0.02667353 0.03825136
+v -0.04829764 0.00003372 0.03153386
+v -0.04584703 0.00003373 0.03063470
+v -0.03921864 -0.02353872 0.03063461
+v -0.03832139 -0.02855718 0.03210562
+v -0.03949394 -0.02855718 0.03357066
+v -0.03887200 -0.02855718 0.03298837
+f 1 2 6
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+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 7 13 8
+f 8 13 10
+f 8 10 9
+f 10 13 14
+f 10 14 12
+f 10 12 11
+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_88.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b9e84ae36fbfc1a91cdb16688ca2e2516560e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_88.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03153617 0.04112548 0.04200159
+v -0.03156710 0.04112547 0.04230651
+v -0.03158463 0.04103243 0.04198927
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+v -0.03238066 0.04112549 0.03896016
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+v -0.04066677 0.04112544 0.05279521
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+v -0.03375721 0.03858864 0.03707215
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+v -0.04207013 0.04112544 0.05280445
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+v -0.03879013 0.03363239 0.03707213
+v -0.03322618 0.04112188 0.03707216
+v -0.03475534 0.04112549 0.03707216
+v -0.04207013 0.04112549 0.03707216
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_89.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb019838a3989e08ed567295f41b1b38bb6933b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_89.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.04604718 -0.02870770 0.00063614
+v -0.04565714 -0.02980492 0.00063614
+v -0.04561608 -0.02980493 0.00166376
+v -0.04596051 -0.02870771 0.00276229
+v -0.03029501 -0.02870770 0.00063614
+v -0.04505269 -0.03134063 0.00063613
+v -0.04503216 -0.03129475 0.00166376
+v -0.04497970 -0.03117443 0.00419806
+v -0.04494777 -0.03110000 0.00574239
+v -0.04550888 -0.02980494 0.00419806
+v -0.04585330 -0.02870772 0.00529660
+v -0.03122791 -0.02870776 0.01542081
+v -0.02342025 -0.03912426 0.01542078
+v -0.02325830 -0.03820543 0.00063611
+v -0.04448018 -0.03260713 0.00063613
+v -0.04445737 -0.03256125 0.00166375
+v -0.04440262 -0.03244094 0.00419805
+v -0.04444824 -0.03210239 0.00664552
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+v -0.04335339 -0.03487092 0.00063612
+v -0.04331005 -0.03487093 0.00166374
+v -0.04319601 -0.03487094 0.00419804
+v -0.04302038 -0.03476082 0.00926522
+v -0.04421331 -0.03233897 0.00926523
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+v -0.04408557 -0.03233898 0.01179953
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+v -0.04556134 -0.02870774 0.01179954
+v -0.04538799 -0.02870775 0.01433385
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+v -0.04005059 -0.03890706 0.01542078
+v -0.04002322 -0.03912425 0.01433382
+v -0.04077364 -0.03912420 0.00063611
+v -0.04254365 -0.03636584 0.00063612
+v -0.04252313 -0.03632914 0.00166374
+v -0.04246610 -0.03623228 0.00419804
+v -0.04242733 -0.03616803 0.00586684
+v -0.04238855 -0.03610074 0.00755590
+v -0.04295879 -0.03510140 0.00671933
+v -0.04234750 -0.03602732 0.00926522
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+v -0.04167918 -0.03749878 0.00419803
+v -0.04149214 -0.03740395 0.00926521
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+v -0.04036992 -0.03912423 0.00926521
+v -0.04023534 -0.03912424 0.01179951
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+
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_9.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10c653151530d075f3a76557f3b9b969a5bdfe7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.04929997 -0.00194569 0.01542300
+v -0.04927934 -0.00338793 0.01542300
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_90.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0a377e79a534a64e5fae46794e2dfd68c2811b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_90.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_91.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ac69c470b91bd57a6183554e06ee4801854c29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_91.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_92.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb0a95744929d3729dcc8ffcd636c351f3b40a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_92.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_93.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd19fc8ec42170ad9cf9a648d6481234c3628146
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_93.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_94.obj b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b888ff74445cc87d7dac7ba464812859c96b85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/mesh/pill_organizer_022_collision_94.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/pill_organizer_022.xml b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/pill_organizer_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..787f7b34b18604460898364ea9ecd030ea607fa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mjcf/pill_organizer_022.xml
@@ -0,0 +1,204 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pill_organizer_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pill_organizer_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pill_organizer_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pill_organizer_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pill_organizer_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/pill_organizer_022_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pill_organizer_022_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pill_organizer_022_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pill_organizer_022_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pill_organizer_022_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pill_organizer_022_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pill_organizer_022_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pill_organizer_022_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pill_organizer_022_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pill_organizer_022_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pill_organizer_022_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pill_organizer_022_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/pill_organizer_022_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_88" file="mesh/pill_organizer_022_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/pill_organizer_022_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/pill_organizer_022_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/pill_organizer_022_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/pill_organizer_022_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_94" file="mesh/pill_organizer_022_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_022">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_94" 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/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.urdf b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e96d3c48f3e01030db7642b00b425e1ab1fe82cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_022">
+   <link name="pill_organizer_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>c340b6a2c9d950278f257d570eeeb462</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>mint pill case</name>
+         <color>green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small mint-green hinged pill organizer with rounded body and side loop</description>
+         <min_height>0.1539</min_height>
+         <max_height>0.1539</max_height>
+         <real_height>0.1539</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133343</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059475 -0.060485 -0.035518</min>
+            <max>0.060525 0.074513 0.118417</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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":"Interior tray and dividers are split into arbitrary colors; base has stray fragments.","merge_groups":[{"colors":["Pink","Brown"],"target_part":"inner tray compartments","reason":"same storage interior, not distinct functions"},{"colors":["Purple","Magenta"],"target_part":"rim and hinge band","reason":"continuous boundary band around opening"},{"colors":["Cyan","Red"],"target_part":"outer shell","reason":"red body patches are small stray fragments"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd
@@ -0,0 +1,3 @@
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+size 4917235
diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/textures/material_0.png b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/video.mp4 b/dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/video.mp4
new file mode 100644
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+size 301713