diff --git a/.gitattributes b/.gitattributes
index 91b2c087536236d701b3ca10345fb537854bdb20..b00865f60967e4f92a6a507a392151ed234e98b0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2756,5 +2756,5 @@ dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/mesh/pill_orga
 dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/pill_organizer_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/mesh/remote_holder_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/remote_holder_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5018a9a9831b51de98abe9e5cb72159a/mesh/storage_box_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5018a9a9831b51de98abe9e5cb72159a/storage_box_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material.mtl b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b71337f61a043701650b01ee5600c287c6bd0e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_033_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material_0.png b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b9953de697c447a24452878b7e0e9217a861c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260dbbe0cb60b94b52283346d71aebe67404cfae6c8b5b1a3c6387c5943c34e0
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.glb b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6850aa859c6f32643acfd42ea45dde3b16c13861
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12833020
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.mtl b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f400d5559c831a1d24e2f3f59699c0bec97a9d1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.mtl
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+newmtl pill_organizer_033_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2d1af358e5ddcc9164c1749398e1f3552143f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033.obj
@@ -0,0 +1,109282 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033_collision.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c6901ea9bd86357af52bd7001c8b05f9dc173b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_organizer_033_collision.obj
@@ -0,0 +1,18094 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154b4feb2b1566980c73f5d0aa3824d4d7b2fa13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision.obj
@@ -0,0 +1,18094 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_0.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5009baf7bac61cca17c0a7582ec24b97f48e88de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_1.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8f627482a43d9e6dba05e75502299f2599b390
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_10.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b7130d505dd50aff9576692e455c812af1e060d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_10.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_11.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e2cd3777e125e792d3e9de59a96e9875412b92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_11.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_12.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1192dadc2106e24959eb2077ef7e2d98bcc6cd06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_12.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_13.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec161ae6e30e55755816b8a26aaec09e6724ebe8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_13.obj
@@ -0,0 +1,76 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_14.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84578fffbb900ce6ec64ed548e92ee11bfb69d78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_14.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_15.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468c0f0012c3d4f2e635dc3e3c1ba0e7877e8b53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_15.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_16.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2763f4e532b0b1d742c03544f567a7da55bdf7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_16.obj
@@ -0,0 +1,1084 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_17.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd065ce5dfc4b8e81c7928c06a70609689f8ef72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_17.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_18.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74351d91d0969a940316a78e61d62888f88e5ef5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_18.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_19.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2fefdf2dce451b3bdd9d6f3e8b1968cb0a78aa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_19.obj
@@ -0,0 +1,1123 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_2.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce912185de30c301e96b716f07b61bad88f88a32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_3.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9b33af2cb8de47e894aa230438d8de80054459
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_3.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_4.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d01c5448f0e150546cc37c0c7de1a8235e1b62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_4.obj
@@ -0,0 +1,1333 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_5.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0914aeb41350f90e59751b9b80b4b80a189dca0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_6.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2123df061900e3adcca97c3d6143f0522c188e01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_6.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_7.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e21beee93277b0de39455ed4294685224d69b46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_8.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c92858e41af36e18633ad3131ab688adc21f0ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_9.obj b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e8a55c46388b635282ecd134416aebb3480be06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/mesh/pill_organizer_033_collision_9.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.02678484 0.00883605 0.00127169
+v 0.02634037 0.00883603 0.00413486
+v 0.02633463 0.00057289 0.00413483
+v 0.02677767 0.00446463 0.00127168
+v 0.01213749 0.00883605 0.00127169
+v 0.01213749 0.00883603 0.00413486
+v 0.02676333 0.00057210 0.00127166
+v 0.02561775 0.00057208 0.00413483
+v 0.01213749 0.00057210 0.00127166
+v 0.01213749 0.00057208 0.00413483
+f 1 2 3
+f 1 3 4
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+f 7 8 10
+f 7 10 9
+
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/pill_organizer_033.xml b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/pill_organizer_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dfb9e84c4a4112d4cf829ac853a9068f8c4e66d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mjcf/pill_organizer_033.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_033_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_033_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_033_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_033">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.urdf b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4890cc35a2c2810e163fb39f3c9252392acc66ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_033">
+   <link name="pill_organizer_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>569093bcfa4459ea91dad5a2f71bbca6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>gray pill case</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rounded rectangular pill organizer with central latch</description>
+         <min_height>0.0350</min_height>
+         <max_height>0.0350</max_height>
+         <real_height>0.0350</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133848</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034415 -0.030015 -0.017278</min>
+            <max>0.043655 0.029985 0.017746</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/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c432c7177096696f5d67159e0fb6273ad2a2613a882b20a9dc38e3013d4f1d
+size 4907132
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/textures/material_0.png b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b9953de697c447a24452878b7e0e9217a861c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:260dbbe0cb60b94b52283346d71aebe67404cfae6c8b5b1a3c6387c5943c34e0
+size 9502810
diff --git a/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/video.mp4 b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 258776