diff --git a/.gitattributes b/.gitattributes
index b15a69c23af7bd8052757e11bcd0f9fc137e8b60..8fd86707df05e0b3878ab6a095d29ba2f0224788 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2863,7 +2863,5 @@ dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_orga
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material.mtl b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fcf9c933f34f2cedf1f3bda0870228d28928d9b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material_0.png b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5012d4420602a2dba22b3f72fedc3c833cf1116e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29854b603344a2e54820665cb381bd5a7a8ca8c0ee3fba07e91cae52b6ea968e
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.glb b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b69e4517f9d2461c44ddd843797c75b202e5ef82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b9ff246691b93dfa5c6822a617d53a309d5c1d9a3ee014ff16cbd0d7d54ca8
+size 17069200
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.mtl b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81900c2945def1ec29ccc74312a161ba9b46c641
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_015_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/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84e32cf5d82fe261160e95615ea0f4c265946a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.obj
@@ -0,0 +1,110828 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_015_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_collision.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e707503ba922dd3acbd69f8f1095a3b2094140
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_collision.obj
@@ -0,0 +1,28896 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5012d4420602a2dba22b3f72fedc3c833cf1116e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13784663
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5012d4420602a2dba22b3f72fedc3c833cf1116e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13784663
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a60a7b4d3f718623d6381500255bb78165c1e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04f2d733f44ac01728193d9e93c2a2a3b1e3a0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision.obj
@@ -0,0 +1,28896 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_0.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009029d9893a6dc68d250da13e079b23780585f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_0.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_1.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca05f59741a8c42a4ac63622f62ba98b51c3e41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_1.obj
@@ -0,0 +1,2365 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_10.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e519e510dc96e22d394d844d73408cc19cf6a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_11.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018ddfa389edae05d9f3ff837c7600fe829f7292
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_12.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b0528a2663c0471408b87e5c1ed34642f1d7a14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_13.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985760181607fb444887b2499a199d7046701a32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_13.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_14.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64187542391ae6aa25f321101dd0890f267de2e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_14.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_15.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374b88fdc4216d27c30d7eded7aa7d63061a0e67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_15.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_16.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec419361936803205d307d1fd4b2f3447904c9cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_17.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f8124c6b4155d5b142acb10971a0a6a0a423dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_17.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_18.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c278a7c7a0b48008b42d532dfe1cbe1d61f3d24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_19.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf80b92a438d787505985233c9d61b80d38f94c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_19.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_2.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9031a1dc9d499a0b8f7600e7923f9a36b0a90fda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_20.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ba04e9d5d736a23eea3fa89d64f6113eb3f54d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_21.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f09f5c92303fc9d44bdcd2c81593607c8875ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_21.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_22.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3189617d472e1e8cc322d912b4b7b192cbb558a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_22.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_23.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379f64b81915ee6a73ec9a7de42c02c9bfea82db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_24.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acd5c90441845acaf643bb4f093ecefe16e04e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_25.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69279efff43aec7f70738cb95a2807fc202ec4b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_26.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8adac0119c6a79191582621cd1236ff9159b690f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_27.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fca0ad018481d8e16c063362da42169ab62ca10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_28.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b51c75a5d1e6d5b95656ba17592759e4af93f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_29.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b974bebbc9e1f920aa2ad84c26706d24400e0d02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_29.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02267283 -0.02567358 -0.02837037
+v 0.02541677 -0.00867833 -0.02837427
+v 0.02935742 -0.02567358 -0.02837037
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_3.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574adf9bd2eb331c5e948b667b454e158ec47ffd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_3.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v -0.04331748 0.01502111 0.04640793
+v -0.04329963 0.01304591 0.04742714
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_30.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d700c4f056efa05a6d47e4ba73ebaf05034c671b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_30.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_31.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43404c482f51455040ea9e07658611fcbaa127eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_31.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_32.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8221bd592ce9a06dcc21e14e799114b40fb6c7ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_33.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4b53264ceaf4872a44fc4ec5697c2f943aa616
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_33.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_34.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57a9059ad6f72bf7ca148f0592c9544e616b568
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_34.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00177480 -0.05014838 0.00231546
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_35.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0a25886e8be28f90b4ee404ba8a6543589ea22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_35.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.03920952 -0.02567358 -0.02819259
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_36.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35e3f91f1793068b94dfb4313b8afd4971e6b86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_36.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_37.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd1c3d40c19f73430bf49daf12641f4f9fae98f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_37.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_38.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda819d575783d67a14e6d7cad27b926763fa45b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_38.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_39.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7b692cfee3afd6a778a0ddb25a4e50b68af4d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_4.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6304b5ea091e66c443f91fd6228ad8f430f8609
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_4.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_40.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9edf4fd61a6168bae4c00b92b29468ebcdb8ca6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_40.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01687293 0.01501913 0.00205020
+v 0.01687293 0.01699551 0.00175538
+v 0.01567011 0.01699551 0.00175835
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+v 0.01687293 -0.01009702 -0.00065100
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_41.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa8f6ee056ecbccc11caa7b471d103963511ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_41.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03930790 0.01502302 0.00199507
+v 0.03930790 0.01512327 0.00198910
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_42.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9be1a52252032830174771ccf21819127a3edef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_42.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.01687304 0.05009015 -0.00929314
+v 0.02864791 0.04721028 -0.00929315
+v 0.01687304 0.05048623 0.00018857
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_43.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f44150c79093c4b3f58d76104921988142d3b9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_43.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04051536 -0.04103063 0.02970761
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_44.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fafdb350a8f6117d2796d21ff1b706c95d8ecda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_44.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_45.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39ff917d0551c95330f80848c5c2e9b4659a85d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_45.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_46.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90efbdc38eb8245b06b11e045c0cd701358af237
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_46.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_47.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7858d91e15cb3890d049507d6bb73c06b5190856
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_47.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_48.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1496fc0046f452f65c8619c819eeac81c1185f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_48.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_49.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1073ffaed3a29e600ff005d418e4fdedb134abee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_49.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_5.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7303b0adacf386707996197904ce7d08f9999b85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_50.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466a38cd296ad59340dc9fa91e5b13ce0b0fbf0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_50.obj
@@ -0,0 +1,772 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_51.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac5b5584d38382c219a29c672f5d46fd7c32b86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_51.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_52.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48cfef324b4622e58e626802fdc28379ebf55543
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_52.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_53.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..699d03f04651a5b21496d2117a80406996d68a6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_53.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_54.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e72ef261a0af68f8a3bc6ad109c01ddf390b6e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_54.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_55.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3c6fe1aa51dd26e46236fdecbc6690cbdbe3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_55.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00651872 0.01502249 0.00198360
+v 0.00651872 0.01699648 0.00174555
+v -0.00155858 0.01699577 0.00177693
+v -0.00155858 0.01502249 0.00199442
+v -0.00155858 0.01400587 0.00162543
+v 0.00651872 0.01375528 0.00145013
+v 0.00651872 0.01801311 0.00121102
+v -0.00155858 0.01812449 0.00124348
+v -0.00155858 0.01361393 0.00145879
+v -0.00155858 0.01298283 0.00063101
+v 0.00651872 0.01311776 0.00018736
+v 0.00651872 0.01807166 0.00079334
+v -0.00155858 0.01848359 0.00018847
+v -0.00155858 0.01277222 0.00021333
+v 0.00651872 0.01267657 -0.00178091
+v 0.00651872 0.01815518 0.00018738
+v -0.00155858 0.01868921 -0.00178089
+v -0.00155858 0.01240528 -0.00178091
+v -0.00155858 0.01194768 -0.00905996
+v 0.00651872 0.01261374 -0.00294521
+v 0.00651872 0.01898408 -0.00898743
+v -0.00155858 0.01924109 -0.00905993
+v 0.00123400 0.01221111 -0.00905996
+v 0.00651872 0.01232248 -0.00898745
+v 0.00651872 0.01257091 -0.00374702
+v 0.00123400 0.01901834 -0.00905993
+f 1 2 3
+f 1 3 4
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+f 1 20 25
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+f 1 24 21
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+f 1 16 12
+f 1 12 7
+f 1 7 2
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+f 21 26 22
+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_56.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b45fec6a80adeb28895f12268805440cb83f0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_56.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02143622 -0.04791956 0.00238573
+v -0.02143622 -0.04693974 0.00173715
+v -0.02004842 -0.04791956 0.00247839
+v -0.02143622 -0.04791961 0.01551196
+v -0.02143622 -0.04660730 0.00152096
+v -0.01989807 -0.04791956 0.00248977
+v -0.01989807 -0.04651154 0.00157460
+v -0.01659127 -0.04791961 0.01540305
+v -0.02143622 -0.04103125 0.01322810
+v -0.02143622 -0.04583652 0.00106743
+v -0.01792832 -0.04773141 0.00276611
+v -0.01918615 -0.04791956 0.00263444
+v -0.01989807 -0.04552363 0.00099753
+v -0.01865352 -0.04533481 0.00110482
+v -0.01659127 -0.04103123 0.00908948
+v -0.01659127 -0.04791956 0.00329766
+v -0.02143622 -0.04103120 -0.00109289
+v -0.02143622 -0.04562006 0.00094227
+v -0.01659127 -0.04745763 0.00295631
+v -0.01792832 -0.04791956 0.00289778
+v -0.01796958 -0.04607592 0.00172415
+v -0.02143622 -0.04451010 0.00037659
+v -0.02143622 -0.04422553 0.00023517
+v -0.01989807 -0.04422553 0.00035383
+v -0.01796958 -0.04428892 0.00078623
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+v -0.01659127 -0.04103120 -0.00008018
+v -0.02094200 -0.04103120 -0.00106200
+v -0.02143622 -0.04156662 -0.00091245
+v -0.01659127 -0.04728905 0.00285227
+v -0.01659127 -0.04567334 0.00189808
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+v -0.02143622 -0.04294968 -0.00034027
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+v -0.02143622 -0.04250529 -0.00052884
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+v -0.01659127 -0.04342779 0.00079598
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+v -0.01659127 -0.04236503 0.00037496
+v -0.01921176 -0.04103120 -0.00082955
+v -0.01883802 -0.04103120 -0.00074340
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_57.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1e20d0c2312cde54e9a43e96ebdc2a7b7d7fd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_57.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02317248 -0.00642700 -0.02837083
+v 0.02429149 0.00232752 -0.02837377
+v 0.02429149 -0.00642700 -0.02837083
+v 0.01687377 -0.00642700 -0.02836786
+v 0.01950683 0.00317113 -0.02837080
+v 0.01687377 0.01226785 -0.02836779
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+v 0.02429149 0.01226785 -0.02837076
+v 0.02429149 -0.00642706 -0.00997108
+v 0.01687377 -0.00642710 -0.00113907
+v 0.01687377 0.01226775 0.00073598
+v 0.02429149 0.01226778 -0.00876057
+v 0.02404678 0.01226777 -0.00571669
+v 0.02141227 -0.00642710 0.00018706
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+v 0.01705531 -0.00642710 0.00018706
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+v 0.02077761 -0.00642711 0.00145386
+v 0.02061059 0.01226774 0.00169127
+v 0.02114432 0.01226774 0.00149547
+f 1 2 3
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+f 1 22 17
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+f 20 26 27
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+f 24 28 25
+f 26 29 27
+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_58.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8216aabe702f5dfa8a9546dadf9ef598996b05d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_58.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02429149 -0.00642700 -0.02837249
+v 0.02429149 0.00514749 -0.02837245
+v 0.02541785 0.00119844 -0.02837439
+v 0.02738755 -0.00642700 -0.02837249
+v 0.02429149 -0.00642706 -0.00997055
+v 0.02429149 0.01226785 -0.02837050
+v 0.02738755 0.00119844 -0.02837439
+v 0.02738755 0.01226785 -0.02837242
+v 0.03132776 -0.00642700 -0.02836865
+v 0.03264798 -0.00642706 -0.01034880
+v 0.03264798 0.01226778 -0.00903156
+v 0.02429149 0.01226778 -0.00876083
+v 0.02935724 0.00119844 -0.02837247
+v 0.02935724 0.01226785 -0.02837050
+v 0.03132776 0.00317113 -0.02836862
+v 0.03264798 -0.00642700 -0.02836481
+v 0.03264798 0.01226785 -0.02836282
+v 0.03132776 0.01226785 -0.02836666
+v 0.03264798 0.00712201 -0.02836476
+v 0.03210484 0.01226785 -0.02836474
+f 1 2 3
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+f 1 10 5
+f 1 5 12
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+f 1 6 2
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+f 13 14 15
+f 14 18 15
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+f 17 19 20
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_59.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c27aa71e0959b2c57960b1389e69761acfc3501
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_59.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_6.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653b407b8f2ad9e769ebd8714fe43c291b4d4f46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_60.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3921c3c7996b3535a2597d0459965af3be6f2621
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_60.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_61.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946d5c6bfad68b403628ede45532b54ccd17011c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_61.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_62.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8680972c7a86da6f78d67156bee8cbb6aad52abf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_62.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_63.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f61125c29a7f04ad3ed7e87d42726c8328ec29a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_63.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_7.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315dafc33607b9daa2cba98a05ec0e704042101e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_8.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c71d38d874f249fb962c0a32b053d3eb8a803d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_8.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_9.obj b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb53c5c49aefb94a65727df5bc2d9ebddca1c376
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/mesh/pill_organizer_015_collision_9.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/pill_organizer_015.xml b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/pill_organizer_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47f0615584a262a3ecefec11a0b344a8d782c047
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mjcf/pill_organizer_015.xml
@@ -0,0 +1,142 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_63" file="mesh/pill_organizer_015_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_015">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_63" 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/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.urdf b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..caf5b1f58fced832c1b5bd2ca66e33b3656313d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_015">
+   <link name="pill_organizer_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>faf9cc68708d513583fd0b60cb48907d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>wooden pill box</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>oval wooden pill organizer box with hinged lid and divided compartments</description>
+         <min_height>0.0898</min_height>
+         <max_height>0.0898</max_height>
+         <real_height>0.0898</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171010</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042918 -0.059787 -0.027733</min>
+            <max>0.052520 0.060213 0.062116</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.usd b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.usd
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+++ b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.usd
@@ -0,0 +1,3 @@
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new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/video.mp4 b/dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/video.mp4
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+size 370637