diff --git a/.gitattributes b/.gitattributes
index 719dc3166d8d3813b7cc1420ff7dd2b0559ec27e..d7677cce8f05f8329028e9416d3b508e0ae256b3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2769,5 +2769,5 @@ dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/basket_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/mesh/basket_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material.mtl b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7abf87e0361162f5861df50b15b8f1c03cfefe9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material_0.png b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..118ef3b91ae0084370cdaaba3179061b344f0f60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6828443ea03f0e540acc714d210179f7326115e2c68395f3edb6ad1a844e1481
+size 10822239
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.glb b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ad4da298c9751b6b478d5e5266340fe267b7d31b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c524066ddd3d2c4b065c62ff322536b7f9c9cdcadfa5404931e97505a494a1e5
+size 13613492
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.mtl b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36a8af58d2df4d2abec3d914985461985f86ce70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_031_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/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a063409fd786a9abc04b0c6cd2c1a0de00a2b1f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031.obj
@@ -0,0 +1,103848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_031_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031_collision.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bf0f2ad1fff275730d6f8f65a3335c6a65e797
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mesh/pill_organizer_031_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791ea3b7e2f1b544bd557749f1c1c8c5d7a88e41
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+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851b24c61a5bcfe8a0855b1b6eb74c6a25a3a113
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision.obj
@@ -0,0 +1,5687 @@
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_0.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab25f02947d7af7614c90ae0e64c7df74544971
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_1.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17613be403e97d2a1db6e27f65cadff1ec6fe4d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_10.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca26061b708070bc463bf845ee8b919679ddaf74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_10.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_11.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9afbe534f2e39af4ec1c3d26970162d89606567
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_12.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cf8177ec97800f5d6ea5ea0b08c939091ebf134
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01995531 0.00462022 -0.04176046
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+v -0.01571830 0.00462022 -0.04176046
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+
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_13.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a613616514634162cbc8a368184f36545bcf00d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03883357 0.00461675 -0.02630943
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+
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_14.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ee97794fbcf9bab8a68dd8dcb127c08ed66335
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_2.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5c43461315d7ef0f3d23e44dfefc909a12b67d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_2.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_3.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2849bde047696ef5cbd13c3309e5690ab440b1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_3.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_4.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a585d1902ea7e127d026891ad1ef90de8e46a3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_5.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..977318f03e04d4889a9ceb9b164963ea236c0bc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_5.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_6.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539c766c6beb29db02af487982c357e0d5b5f08d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_7.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e79704f1d3fd3a2231eaeee7705b19b28967c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_7.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_8.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73783ba59fbf2b3fdb20076c5f0b056085128221
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_9.obj b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bb5b08260df74b7aed2326e90182ec9cb80192
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/mesh/pill_organizer_031_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/pill_organizer_031.xml b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/pill_organizer_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b319781a00687e39b7a0b461e403c667dcd5807
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/mjcf/pill_organizer_031.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_031">
+  <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_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_031">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.urdf b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2b20a61ca76ea2c0b542802afc8bba3d117c1d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_031">
+   <link name="pill_organizer_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_031.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_031_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>6df622d908ba531a957a428e4fc4adee</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>square pill case</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent square pill organizer with rounded corners and dark base</description>
+         <min_height>0.0859</min_height>
+         <max_height>0.0859</max_height>
+         <real_height>0.0859</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133757</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038750 -0.038377 -0.043047</min>
+            <max>0.038745 0.041623 0.042881</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.usd b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..86215f357030be1ccd51f9a393f0f0542fd979b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/pill_organizer_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b5734e5d71741dc805b737499673faf874677f258f79c6b00c693a159f2470f
+size 4576403
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/textures/material_0.png b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..118ef3b91ae0084370cdaaba3179061b344f0f60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10822239
diff --git a/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/video.mp4 b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e27bb9079bb8f1b75604e93ae66e758277a1fdf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac1a676f5b60c1ea91fc663c24ceb98a75adc90e4a622dcd68ff77942da4ed2f
+size 735820