diff --git a/.gitattributes b/.gitattributes
index 5b087f68dacfed5f91d209da4a38898f5648c258..c9dc5c71e17af51487cdcd4833433b8cea286200 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2859,3 +2859,5 @@ dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/mesh/storage_b
 dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/mesh/pill_organizer_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/pill_organizer_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/material.mtl b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2d3c210b585fba4713d3500f97b37256547365
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/material_0.png b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/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/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.glb b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.glb
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.mtl b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1e551c624e0ad99b1e1118522c2e89585287bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.mtl
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+newmtl pill_organizer_036_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31bb4aa1794eda9eb949851c27d76a469bf30d96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036_collision.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46832be065c8eafd9901a141c3b5297f763c6c87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c83b77c4c5537b60a0743bc6dab4376dad3dcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision.obj
@@ -0,0 +1,8106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_0.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..643d70573025592ae1c59613f16abcec2dbc55ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_1.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5728367845b6b83bf07dcf31621fb880e7ca4a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_10.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595532627f69670b86db67286a51f44fa36e9c73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_10.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_11.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affd40fdd16e788e7a7abd02050a693c27246349
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_12.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5cac2f7611d3a757338f6ca93866933577d656
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_12.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03831036 0.03147152 0.02102684
+v 0.00758777 0.03147152 0.02102684
+v 0.03843708 0.02745512 0.02102682
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+v 0.00695724 -0.03060345 0.02102661
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+v 0.03852980 0.00823594 0.02102675
+v 0.03843708 0.02745530 -0.02739285
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+
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_13.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b0f9045a36fe50f7b9e3d601b80933dd5e1a1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_13.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.03491043 0.00666910 0.04537461
+v 0.03639684 0.00815499 0.04509816
+v 0.03639593 0.01112372 0.04509817
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+v 0.03639318 -0.01114323 0.04509571
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+v 0.03714096 0.00964089 0.04471922
+v 0.03639409 -0.00965734 0.04509571
+v 0.03713730 0.01360327 0.04471685
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+v 0.03053276 -0.01559784 0.04469768
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+v 0.03583417 -0.01763101 0.04519817
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+v 0.03784660 -0.00965733 0.04397317
+v 0.03784843 0.01112373 0.04397325
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+v 0.03713913 0.01260962 0.04471685
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+v 0.03784660 -0.01411194 0.04396601
+v 0.03784751 -0.01262606 0.04396839
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+v 0.03859255 -0.00075422 0.04317242
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+
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_14.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240b71713e474c277b8bc777b8f037f816cff45a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_14.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01419092 -0.03906067 -0.02738288
+v -0.02460628 -0.03905686 -0.02738288
+v 0.00695372 -0.03905686 -0.02738288
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+v -0.02524467 -0.03904181 0.02102658
+v -0.02609469 -0.03904924 -0.02738288
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+v -0.02907151 -0.00015916 -0.02738274
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+v -0.02907151 -0.03898469 0.02102658
+v -0.02907151 -0.00015934 0.02102672
+f 1 2 6
+f 1 6 10
+f 1 10 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
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+f 10 16 13
+f 11 12 15
+
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_15.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d0379a312524578e93354b02b1952773cf5adb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_15.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v 0.03989477 -0.00355643 0.04137542
+v 0.03989477 -0.01114204 0.04137172
+v 0.04182501 -0.01114204 0.04039806
+v 0.04182461 -0.00223568 0.04039625
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+v 0.03989477 -0.01441838 0.03963014
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_2.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd671613f1ea9a2e88ffed987d867abf42f9d97e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_3.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c65863e1e1248daa100a795277c622c153b9bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_4.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cd235592f79eafb2893046e70fd3bbffb90af9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_5.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f208fa989f2a1f17f973c22ac9cbe88866e9009f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_6.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bceba11f968737873efa7a1c8e65b82066590455
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_7.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9528cd0836aba69664719a3663e36c9b86be2421
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_8.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fdb55247aad0ed2850e23f364ab7f365fd36cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_8.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_9.obj b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d08a0ac400b4b4afa8674cdd60fde0286919b25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/mesh/pill_organizer_036_collision_9.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/pill_organizer_036.xml b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/pill_organizer_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e90c40b8ab8f0a5f03880c7cfa5cdc69c718dc22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mjcf/pill_organizer_036.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_036">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" 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/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.urdf b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d5e348035d5d440ee44727dce7d5ecbaecc81f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_036">
+   <link name="pill_organizer_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_036.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_036_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>f4c8f23f7a8e5874b57050b850002819</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>square pill box</name>
+         <color>transparent,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent square pill organizer with rounded corners and top latch</description>
+         <min_height>0.0903</min_height>
+         <max_height>0.0903</max_height>
+         <real_height>0.0903</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134011</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040849 -0.040009 -0.045031</min>
+            <max>0.043744 0.039991 0.045235</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd
@@ -0,0 +1,3 @@
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+size 4749380
diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/textures/material_0.png b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/textures/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/video.mp4 b/dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/video.mp4
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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