diff --git a/.gitattributes b/.gitattributes
index f34a3c0c8c8506236947c24fd11b306201d1f8b0..db557789749bb0a4a83a88475b2d85e03991bfb9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2845,3 +2845,5 @@ dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/mesh/remote_ho
 dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/remote_holder_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/mesh/storage_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/storage_box_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/material.mtl b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bb88ad4d0f407950875ad5f72930c33af114709
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_035_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd pill_organizer_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/material_0.png b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccfe00dc92928026289c6ec39d4a5759d33894dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/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/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.glb b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..72264d050fcc2cf0d030ab2752540a8480bd1f71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.mtl b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1b1848cda7f77f1cf875f40e1108a814fa8d6fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_035_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a83dd423b0fb2e70552889ab45e91aa0afffd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035.obj
@@ -0,0 +1,113538 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_035_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035_collision.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ea3789657a71828e2cc396c28321f5a09429c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035_collision.obj
@@ -0,0 +1,18748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mesh/pill_organizer_035_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d312f8f9571e22a27e442358481a24a8ab9cb6e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision.obj
@@ -0,0 +1,18748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_0.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9745f3b9db8c4c08eae6c5045e19b9dfedf5f6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_1.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8177a37e9e22fd4344fbbf5bafaedba26b434c34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_1.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_10.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0486a5ccdde49e68cdcf08e05a60a80f2021eaeb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_11.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51db3b6f6d0dafe427636e8a2db2ee3ba4c45fab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_12.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c365e64c44a63f16b021efc6543e57f3e60e8f08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_13.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb793c6650874543291422d65c8bd0b5cd87af4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_14.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a570f40ed02402515ebf2dfa3b6b9d8c3e75ee2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_14.obj
@@ -0,0 +1,793 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_15.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da074c872a1ec8d5930607d96598da70d3d5668
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_15.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_16.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f2ede4d0fb20f5171027df6577df028fb73f75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_16.obj
@@ -0,0 +1,670 @@
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_17.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fea275527ac3d588fe51a64fe4e9a56e58aadce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_18.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1353c87a142d31110480f1d041bc2371a425b5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_19.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8f4193c78f9aabdaaf0af927a6f01f852db7c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_19.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01299796 0.00011212 0.01039893
+v -0.01299796 0.01352958 0.01039898
+v -0.00369019 0.00011212 0.01039893
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+v -0.00369019 0.01352958 0.01039898
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+f 1 4 6
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_2.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28b38f954fc4f7683c9caa14318113d2a18eee4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00807510 -0.03634949 0.00605280
+v 0.00807510 -0.03634912 0.00605280
+v 0.00950071 -0.03634912 0.00637006
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+v 0.00807510 -0.03957153 0.00691950
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+v 0.00544938 -0.03962523 0.00685443
+v 0.00282171 -0.03962560 0.00685358
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+v -0.00505543 -0.03962633 0.00685316
+v -0.00636927 -0.03961604 0.00686761
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+v 0.00676126 -0.03985067 0.00773518
+v 0.00544938 -0.03985692 0.00773518
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+v -0.00505543 -0.04004486 0.01039700
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+v -0.00901459 -0.03876135 0.01039701
+v -0.00933619 -0.03634913 0.00773520
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_20.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e35b27db60a3ed59b9e9bfd3287a706988f081
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01294608 -0.01806523 0.01039874
+v -0.01294608 -0.01806529 0.02733626
+v -0.01294608 -0.01333623 0.01039876
+v 0.01085610 -0.01806523 0.01039874
+v -0.01294608 -0.01333628 0.02568812
+v 0.01085610 -0.01806529 0.02676421
+v 0.01085610 -0.01333628 0.02566823
+v 0.01085610 -0.01333623 0.01039876
+f 1 2 5
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+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_21.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804d37dba49adaa84455f416fa806b569311f0d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01174928 -0.00848685 0.02627988
+v 0.01174928 -0.00980308 0.02626897
+v 0.01174928 -0.00729172 0.02627806
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+v -0.00111598 -0.00059081 0.02894337
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_22.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdfd684dbbab7a5ed3545583a51e08a1cfa2dc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_22.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03302792 0.00011211 0.01249740
+v 0.02953962 0.00204315 0.01249741
+v 0.03302792 0.00599194 0.01249584
+v 0.03364226 0.00011211 0.01249740
+v 0.02953962 0.00011211 0.01257285
+v 0.02953962 0.00207337 0.01249741
+v 0.03302792 0.00730688 0.01250686
+v 0.03434115 0.00730688 0.01250686
+v 0.03434115 0.00599194 0.01249742
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+v 0.03434115 0.00862314 0.01269235
+v 0.03565437 0.00862314 0.01305391
+v 0.03565437 0.00730688 0.01289357
+v 0.03565437 0.00599194 0.01288255
+v 0.03565437 0.00335941 0.01288097
+v 0.03565437 0.00011211 0.01288096
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_23.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067bcf2c16d7f4009712b34d5bf2835892f1b98c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_23.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_24.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7472ce1903fd08feaef364f9095f4d89fa328db7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_25.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5982e0fd520e1f8da52f395301716d277c7c24d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_25.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_26.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1a331445026cbe3af0a5224dddcdfb043bcf3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01089365 0.01849456 0.02739137
+v -0.00225361 0.01849456 0.02628005
+v 0.01089365 0.01353084 0.02566448
+v 0.01089365 0.01849462 0.01039722
+v -0.00225361 0.01849462 0.01039722
+v -0.00225361 0.01353084 0.02437848
+v 0.01089365 0.01353089 0.01039720
+v -0.00225361 0.01353089 0.01039720
+f 1 2 3
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+f 1 5 2
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+f 2 6 3
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+f 3 8 7
+f 4 7 8
+f 4 8 5
+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_27.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d88e9afa748925427e355b34260ea433cc03f68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00225465 0.01849456 0.02627997
+v -0.01295761 0.01849456 0.02800355
+v -0.00225465 0.01353084 0.02437885
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+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_28.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8aed22ea12f4c7856553c756f49c0b0b7a957a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_28.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_29.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926b15e05ed2dd53739cb9ed0b06bd23b2df0924
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_29.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01015608 -0.01333577 0.01039889
+v -0.01015608 0.00011081 0.01039894
+v -0.00355545 -0.01333577 0.01039889
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+v -0.00355545 0.00011081 0.01039894
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_3.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c34581a797e4eb6910296d3918178928e670f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_3.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_30.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e7374410aaa2d00418319bf197c16dbf113330
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_30.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_31.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0301dffc236ec9f18fb0002c7966a81e8b54703d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_31.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_4.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eb2b85cede1459d414b0edd899f33f75290e74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_5.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811f8d624a5c55e4338b0ab22747b8533317439e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_6.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50c2ac03609301a60e9fb498072726f80f88551
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_7.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd22b7e0c4590296f018b0eb2ddf7f6a0e8c7a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_8.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7cc47bc9b8401b854a4e1876fc0e886ac1ef1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01185874 -0.01115461 0.00382384
+v 0.02745738 -0.01115461 0.00382384
+v 0.01185874 -0.01115464 0.01039711
+v 0.01185874 0.01342490 0.00382393
+v 0.02786103 -0.01115464 0.01039711
+v 0.02964765 -0.00478598 0.00382386
+v 0.01185874 0.01342487 0.01039720
+v 0.02808743 0.01342490 0.00382393
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+v 0.02978454 -0.00412674 0.00382386
+v 0.02836648 0.01342487 0.01039720
+v 0.02966520 0.00625507 0.00382390
+v 0.02978629 0.00468396 0.00515902
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+v 0.02978454 0.00559824 0.00382390
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+v 0.02977050 0.00162354 0.00726302
+v 0.02911237 0.00072850 0.01039715
+v 0.02915975 0.00204217 0.01039716
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+
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_9.obj b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5277167d7d7c8a6119a7cf6f28d0ae5b6fc88331
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/mesh/pill_organizer_035_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01185874 0.01342490 0.00382393
+v 0.02808733 0.01342490 0.00382393
+v 0.01185874 0.01342487 0.01039720
+v 0.01185874 0.03533650 0.00382401
+v 0.02836612 0.01342487 0.01039720
+v 0.03109060 0.01708509 0.00382394
+v 0.01185874 0.03543342 0.01039728
+v 0.01185874 0.03534081 0.00396492
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/pill_organizer_035.xml b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/pill_organizer_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18302d6b8a8592fb9ffc1b4990d3785cb6f190b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/mjcf/pill_organizer_035.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_035_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_035_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_035_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_035_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_035_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_035_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_035_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_035_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_035_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pill_organizer_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pill_organizer_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pill_organizer_035_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pill_organizer_035_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pill_organizer_035_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pill_organizer_035_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pill_organizer_035_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pill_organizer_035_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pill_organizer_035_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pill_organizer_035_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pill_organizer_035_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_035">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" 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/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.urdf b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e309e27753b9c18dbb071a59ea2c3d8e6ab45d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_035">
+   <link name="pill_organizer_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_035.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_035_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>d60dbae6bf3d51068aff2367c4bbaa72</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 square pill organizer case with rounded corners and front latch</description>
+         <min_height>0.0620</min_height>
+         <max_height>0.0620</max_height>
+         <real_height>0.0620</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133941</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034608 -0.039931 -0.030454</min>
+            <max>0.036341 0.040069 0.031542</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.usd b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/pill_organizer_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4887409
diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/textures/material_0.png b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/video.mp4 b/dataset/bedroom_supplies/storage/d60dbae6bf3d51068aff2367c4bbaa72/video.mp4
new file mode 100644
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