diff --git a/.gitattributes b/.gitattributes
index e022af0ed18a105950fc4db291aaa33abab7c87b..8128e854798ba1329660e6406a0731d6ffe4f65a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2699,3 +2699,5 @@ dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/mesh/storage_b
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/storage_box_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/mesh/pill_organizer_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/pill_organizer_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/material.mtl b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..681cb26caf9626b30ed560b2b90dff447245e8c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/material_0.png b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.mtl b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffb6c348c6a00e93eb372aa3e3d87f9883bd765a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.mtl
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+newmtl pill_organizer_026_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7028011e1ef27189418f7fd830d00717247d6dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_collision.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ce8f7405025851d619c833cbc45d5db86e974a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_collision.obj
@@ -0,0 +1,11411 @@
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f465d6e4189d94eaa8986e9c5bfaa36dd07934f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10074024
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10074024
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aeacd3d28939deda0c048a02133211162017d45
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+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd849bb1764cdd676645575bab531d0591b9d18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision.obj
@@ -0,0 +1,11411 @@
+# https://github.com/mikedh/trimesh
+
+o pill_organizer_026_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_0.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307b43e2ab55494c789f9c499798d5f9347a4a49
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_1.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d128634d7ec5ec23c99b0aa052c03ba9e759d4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_10.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7539957e2f55d6b55c58c614760b029dd8a46ec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_10.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_11.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59490aa312e445224652cf51972f994a1ca726e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_11.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_12.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4eb185bd0387abe1a84fc9613fbc2946ac9b7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_12.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_13.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd17b4ad7a708ee4dba4f0f275eeb04d8ce258d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_13.obj
@@ -0,0 +1,913 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_14.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f5e1920a0e74de185490ae5036bf2735965f35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_15.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fcb938a1854be980289697877e96c5adb70925
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_16.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d61f4be269d684d8f5f3a75be368359ebe486d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_16.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_17.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2229b0e2fca4c550a76160d8b35a44072e454fcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_17.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_2.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc71f0153539501b5e25f55f544494f7f942233
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_2.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_3.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9721016b6c269858c8e249577363bad1c12967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_3.obj
@@ -0,0 +1,1735 @@
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_4.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbdadd9f87932673bf5078e45bba9570644c2ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_5.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e8a975b4515f61649bd8350db278b5081806f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_5.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_6.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df74bea6208e619edba5811298a1f712df9f12e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_6.obj
@@ -0,0 +1,970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_7.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41daa259046e0fb273ddef3980ea966be2a4106
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_8.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af02593c454889f6f471ead5f3479a0574e49bff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_8.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_9.obj b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4023747bd8d93e74246eaf0b1486e17ce4d0a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/mesh/pill_organizer_026_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/pill_organizer_026.xml b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/pill_organizer_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0b99e4443769501b416e204a83837461fc40d248
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mjcf/pill_organizer_026.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pill_organizer_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pill_organizer_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.urdf b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd5f11a9aad1d6eccb579ed2f0ef2010a807e913
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_026">
+   <link name="pill_organizer_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>07b29b97b1cb561c90ffa670996ebba6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>latch pill box</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact square plastic pill organizer box with latch and rounded corners</description>
+         <min_height>0.0493</min_height>
+         <max_height>0.0493</max_height>
+         <real_height>0.0493</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133542</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043752 -0.044829 -0.025464</min>
+            <max>0.046248 0.045158 0.023886</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ee6e7f927f4a93fb51d0cde74e4194eee13e4b926242451894e15f89425b02
+size 4942806
diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/textures/material_0.png b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/video.mp4 b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/video.mp4
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/video.mp4
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