diff --git a/.gitattributes b/.gitattributes
index 78dd56cfde4c0f177762d96f076c29ac0d4a5c45..c2376ab1e36e04ed1e0d3832ce0c32fa6c7a9024 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2857,5 +2857,5 @@ dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/jewelry_box_00
 dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/mesh/jewelry_box_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/mesh/storage_box_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/storage_box_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/mesh/storage_box_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/storage_box_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material.mtl b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a812d22f901affce7e437b60ab960b7d5023813d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material_0.png b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce7fbb7b2c5e51ecc4141122b7c45293843ae7a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cef86a00f6caf3b5cd9bd6426da9fec01ba1e932f86172f515edd6088b182cd
+size 12034985
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.glb b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0261ae81257d1d310737be5ed3a74d7eb856db02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07cbbd44e0607c411818d87430f511f9fd7235ca491735b562bc41019073c248
+size 15575288
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.mtl b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e71720ee13ea9f563f745a1a4a7151ae783b168
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_009_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/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75032c1cee615562d819e6285acae4c815b9a67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009.obj
@@ -0,0 +1,115690 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009_collision.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040e125944be1a1bce4a86ef3a217b238a1e8c43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mesh/pill_organizer_009_collision.obj
@@ -0,0 +1,12533 @@
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3014aaf907209f85603f4b1555cc5ff2dfa18c08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision.obj
@@ -0,0 +1,12533 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_0.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261f90431478d4494a9b398442069ef622afcb9c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_0.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_1.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5a95a6491bb6118c44dda1ee7bda4cdde21486
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_10.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8088e08c1e5594d261ef24809e5c572e43ede112
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_11.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43339a27ed4867cf924e5cfc8a8bb60182d89b53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_11.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02096820 0.07609497 0.00929134
+v -0.02096820 0.07609489 0.03121700
+v -0.02096820 0.14508292 0.00929159
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+v 0.01832718 0.07609489 0.03121700
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+v -0.02096820 0.14760148 0.02916120
+v -0.01419459 0.15679006 0.02084468
+v -0.01180979 0.15902159 0.01568734
+v -0.01096357 0.15870163 0.01246803
+v -0.00397456 0.15775820 0.00929164
+v 0.01832718 0.14636275 0.00929160
+v 0.01832718 0.14603451 0.03121726
+v -0.01822952 0.15009552 0.03121727
+v -0.01545238 0.15317204 0.02946598
+v -0.01165208 0.15875084 0.02084468
+v -0.00763639 0.15989943 0.01568735
+v -0.00763639 0.15924312 0.01171471
+v -0.00254753 0.15802892 0.00929164
+v 0.00747249 0.15564975 0.00929163
+v 0.01049580 0.15843091 0.01273845
+v 0.01103046 0.15878367 0.01568734
+v 0.01316139 0.15551023 0.02084467
+v 0.01101507 0.15867699 0.02084468
+v 0.01223440 0.15573994 0.02582387
+v 0.01214978 0.15435342 0.03121729
+v -0.01308296 0.15432881 0.03121729
+v -0.01075201 0.15834062 0.02414555
+v 0.00252979 0.15989122 0.01568735
+v -0.00254753 0.15949744 0.01093350
+v -0.00763639 0.15912001 0.02084468
+v 0.00761481 0.15912001 0.02084468
+v 0.00057579 0.15834068 0.00929164
+v 0.00252979 0.15834887 0.00929164
+v 0.00761481 0.15900520 0.01183490
+v 0.00761481 0.15972715 0.01568735
+v 0.01047657 0.15828319 0.02397814
+v 0.01213054 0.15436983 0.03121729
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+v 0.00252979 0.15848009 0.02425930
+v 0.00761481 0.15839805 0.02418418
+v 0.00761481 0.15552661 0.03121729
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+
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_12.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d9f655f1167ba76f06eafc57e91cc22206ba00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_12.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01234228 -0.05670018 0.11721380
+v 0.01224814 -0.05670018 0.11732990
+v 0.01873163 -0.06774050 0.11721376
+v -0.00819464 -0.05670018 0.11721380
+v 0.01270312 -0.07403703 0.11880430
+v 0.01778636 -0.07403702 0.11810549
+v 0.01778636 -0.06881990 0.11759659
+v 0.00761596 -0.05670018 0.11773609
+v 0.01909640 -0.06881990 0.11721376
+v -0.01779632 -0.06842342 0.11721376
+v -0.00804559 -0.05670018 0.11731179
+v 0.01270312 -0.07454355 0.11884662
+v 0.01778636 -0.07454354 0.11814526
+v 0.01975141 -0.07078134 0.11721375
+v 0.01729216 -0.07454354 0.11821550
+v 0.00420752 -0.05670018 0.11777214
+v 0.00761596 -0.07454355 0.11894054
+v -0.01821992 -0.06917970 0.11721376
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+v -0.01272484 -0.06881990 0.11820807
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+v -0.01949465 -0.07454354 0.11721374
+v 0.00252880 -0.07454355 0.11894258
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+
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_13.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f14f13567647179760220297b9bf71590b05ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03418290 -0.14084305 -0.02875727
+v -0.03306529 -0.14130568 -0.02875727
+v -0.01781104 -0.14780597 -0.01528744
+v -0.01781104 -0.14781858 -0.01012222
+v -0.01781104 -0.14781232 0.00019538
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+v 0.03972732 -0.15392233 0.00019535
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+v 0.04125201 -0.15256593 -0.00521399
+v 0.03694440 -0.15048738 0.01499721
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+
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_14.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83df0d6a1a4038e54198dbb1ac8f8ca7d88e87c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_14.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.03090777 -0.14084323 0.01500427
+v -0.02122188 -0.14515238 0.01500426
+v -0.00602518 -0.15531600 0.01788392
+v -0.01054420 -0.15526708 0.02251953
+v -0.03120371 -0.14084323 0.01721672
+v 0.03457400 -0.14084323 0.01500427
+v -0.01780662 -0.14664244 0.01500425
+v -0.00255394 -0.15559222 0.01763106
+v -0.00255394 -0.15685026 0.02084789
+v -0.00768082 -0.15585585 0.02081980
+v -0.01336759 -0.14829349 0.01500425
+v -0.00763283 -0.15606896 0.02601029
+v -0.01050421 -0.15521974 0.02601029
+v -0.03557876 -0.14084342 0.06749207
+v -0.03446700 -0.14084336 0.05181526
+v -0.03406709 -0.14084334 0.04665989
+v -0.03364318 -0.14084332 0.04149751
+v -0.03321127 -0.14084330 0.03633512
+v -0.03306730 -0.14084330 0.03474777
+v -0.03274737 -0.14084329 0.03149581
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_15.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec15b0d878f39c5c5fe1899d87ff642e9e4c951
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_15.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_16.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b168fed101c412fb40e512392330f36ef956d6f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_17.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93741107c693b5e184b7ef5650b1710cefab14f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_18.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e4331704b095e41e3f28574a39ac4e0fb66ae92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_19.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2679b68e8333bb28b44316356e73353f5de11a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_2.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d734ade3f561bbc882e70391c64968159533526b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_2.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_20.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d533d30501d333779c3bee705824abae97e3d0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_20.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_3.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fecded4578b77cf31324bc3f7771c8bec2aaff28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_3.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_4.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79ad2337ad6cf99cda9f6768baedee3ac1db79a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_5.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7735530030481056170a1f7657690f53164d6d38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_6.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a102dec206a7446a806b6112fa7ae2aae64d1ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_7.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf33e1e49fa13b90aa6284bd8ba021a56b7d5d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_8.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59712b5a408b50943b7a007bf18bea80c49d04c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_9.obj b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5c830b6503cac21c88c2491f536f1c3fc2863f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/mesh/pill_organizer_009_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/pill_organizer_009.xml b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/pill_organizer_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..625a0ac2c9e34b7abc7daebb19272375df453068
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/mjcf/pill_organizer_009.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pill_organizer_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pill_organizer_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pill_organizer_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_009">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" 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/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.urdf b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd36e2a4f6af64b3ca59eb3b243b7e92765acb31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_009">
+   <link name="pill_organizer_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>f219e36f78dd54c79f9953660fcb5c02</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>medical pill organizer</name>
+         <color>orange,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>orange medical organizer with red cross symbol and multiple compartments</description>
+         <min_height>0.2459</min_height>
+         <max_height>0.2459</max_height>
+         <real_height>0.2459</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231235</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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>NO: {"summary":"Object/category mismatch; segmentation misses clear lid/body split and uses colors for decorations/hardware, not functional parts.","merge_groups":[{"colors":["Yellow","Brown"],"target_part":"main soft case body","reason":"Panels and surrounding shell are one continuous body"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.usd b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cfebdcd5004e8f77cb746d3d269b00ca306899d945ede92b390749812f96ac
+size 5039653
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/textures/material_0.png b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12034985
diff --git a/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/video.mp4 b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796122bbdd42a2a7a19d7342cf1cfd8f3c855a66e04fb9b203b77df3e2c42c5f
+size 558247