diff --git a/.gitattributes b/.gitattributes
index 7c736e10867002de89a54ac368df72206f74ccff..4c4c680e294e737c2161accfde7529f537d93272 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2855,3 +2855,5 @@ dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/mesh/gray_bask
 dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/mesh/storage_box_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/storage_box_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material.mtl b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..303835eb61c59a25eaefcdc3c5964a829d624016
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_021_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pill_organizer_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material_0.png b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73a39a6ae1d3e48c5f164c9e218e0fbe9324987d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215b3334da5ece1121c9d57e11fc9e2b5948924bf35cef6afa8465b3d95987fe
+size 10966178
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.glb b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1d7f46802e76f65bef49309b64427ded876b8cfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083fb3376e9d135e3c733e70937c9f69772a2c4e9220062335413021a066e69e
+size 14370964
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.mtl b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17d3dbfe02490c0ee62a365531892044ff3c0ce5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_021_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d648dca324dcfaed62210f771d5bfef7a089261
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021.obj
@@ -0,0 +1,113526 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021_collision.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97c6511860b5d0b0384bffa851b79f622cf3393
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mesh/pill_organizer_021_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10966178
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10966178
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf84021ccf717752a83b3b21ed2665d037c24785
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision.obj
@@ -0,0 +1,12482 @@
+# https://github.com/mikedh/trimesh
+
+o pill_organizer_021_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_0.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290b77465ac1dbc5ef809aa9af3f64d06f492a06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_0.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_1.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa43533cd1295d2c3f5e7fd91c629785762b2e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_1.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_10.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe755fec9f7c6a6deca440820aaabc31539dfd7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_10.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_11.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9d6decef4f5b77e8ddad79eca879f0559b3bce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_11.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_12.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..566145f362fe53739f545aee48a45ec1a60cabb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_13.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13288244b80bd791d7906715eedab204a13ed03d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_14.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d66884f1689a419ae295d9471d8d6cb17b01ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_15.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d01fa63b38511983013cebb6894073bf9f27d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_15.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_16.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee5f5db088ff0bb58d1515da49812267187fc06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_16.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_17.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539bec535f0aba19e8a9baeb3ef28dd781c1302e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_18.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c589e4b37a0f5965f74e641d56d7c500336c25f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_19.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46770e9df8ae0d0aec1bec3bc9b89d4da755f04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_19.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_2.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36bc7281aed46867924864d91518b680f6e973c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_2.obj
@@ -0,0 +1,1870 @@
+# https://github.com/mikedh/trimesh
+v -0.04611329 0.04152581 -0.02828744
+v -0.04611329 0.04606243 -0.02827483
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_20.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f494aab50f5ed2db4afd675f1e0e119621b9f9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05591057 -0.02363339 0.00147435
+v 0.05590450 -0.03842308 0.00147430
+v 0.02611426 -0.02363339 0.00147435
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+
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_21.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c358dbfb9b42472eb711796c717e5dc89b5cb65f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_21.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.02111618 -0.04576090 0.00517922
+v 0.02201667 -0.04576095 0.01851300
+v 0.02736868 -0.03842459 0.02014451
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_22.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b20a2ff8f3fec1ac3fe1d3f5cf25b3709d380f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_23.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84741d616c666196dc16d3a434dcaaf1710244bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_3.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47875cf7d03deb9861411c3fdbaef63e4437b6a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_3.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_4.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640eab48014994a2726d4e9b574941f6f6778ee8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_5.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657b83c34e55ae992a058f34a46e710da9ff856b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_5.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_6.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf57d344a88671b21f0bcd345ba44df53376b10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_6.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_7.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fa53a45452e8c4a40b1bd4d5d9d33c3b319dd8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_7.obj
@@ -0,0 +1,1768 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_8.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8865235d10faeb435df671dec5fd50bce9efd77a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_8.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_9.obj b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..272bf893b7bb67164624461c5e6de21217b7a89e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/mesh/pill_organizer_021_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/pill_organizer_021.xml b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/pill_organizer_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c77857472bb7b337633d4fddfedccddfae6d962c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/mjcf/pill_organizer_021.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pill_organizer_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pill_organizer_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pill_organizer_021_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" 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/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.urdf b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a664d649c5b9d8bc99cfdd66a6ccefc47651057f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_021">
+   <link name="pill_organizer_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e170ecec6c9d5c41a70498f3638174e6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>gray pill organizer</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular pill organizer case with rounded corners and front latch</description>
+         <min_height>0.0647</min_height>
+         <max_height>0.0647</max_height>
+         <real_height>0.0647</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133318</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057785 -0.075430 -0.027856</min>
+            <max>0.062215 0.075461 0.036836</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.usd b/dataset/bedroom_supplies/storage/e170ecec6c9d5c41a70498f3638174e6/pill_organizer_021.usd
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