diff --git a/.gitattributes b/.gitattributes
index eb3fe6a49e7cfc66e7185a8184e278b2d995b33c..fd048c7903ae8b0fc3501933b451ebf3c4d86634 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2777,3 +2777,5 @@ dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_03
 dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/mesh/storage_box_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/storage_box_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material.mtl b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4988260b1192ad62a584926872bb1fcb418a8053
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_039_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd pill_organizer_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material_0.png b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13cd2fd5a484b91fac3bb4ccd0154f3d1d831ba5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.glb b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ebf33f3f1e1d97e85f590a6a762e205d6b5a441b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.glb
@@ -0,0 +1,3 @@
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+size 13016872
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.mtl b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..281937b3eeee3bf83e99087c6de4fea1372b0695
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_039_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3aeaf2dcec6a07e10d869cf6a501436120b7202
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.obj
@@ -0,0 +1,109122 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_039_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039_collision.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb897c8d9aaeb13e30f9e81695852e8e88c65bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13cd2fd5a484b91fac3bb4ccd0154f3d1d831ba5
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfbb9d6b7b97d891388a0a548e6720bff3c46fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision.obj
@@ -0,0 +1,15639 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_0.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ce05c6cc370b1b773aaa345f66a5dc26c7c3f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_1.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5af3bf001563cd170e375ccaeef976997830dfb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_1.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_10.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3551d1da4514c3b0e0058f53771d79696ab6242
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_10.obj
@@ -0,0 +1,2026 @@
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_11.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f2ed2fe8ca0f6fc7f9cfe1f34168445868ecd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_11.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_12.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587e4884246598c2471c10c3f1decfd0e9748fe5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_12.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_13.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0215d307ecdf52397dd62a4b7c3c7bbb4313aeae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_13.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_14.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797d7aae330a7fe9e6a3d90e03aad5c258281989
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_15.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384f33e9db7ca303255a829659927f56367e86d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_15.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_2.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cc8191368769aaa49e584af7cf33a724824aee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_2.obj
@@ -0,0 +1,1801 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_3.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2126dfc9ced9154c15136f0f6901ac8d70ded4ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_4.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaef7e7030cb710b89eb2e3f50d681d52065ed62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_4.obj
@@ -0,0 +1,1408 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_5.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f48b1b57d52fe15f30c2aff062f29122eb2e808
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_6.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fd2810abbdf4afcbb19a43259781c1f1ca57aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_7.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60eeb35c98437d9296bb3981076e9871dc7e962d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_8.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6595febcca1b8f8be94e9b2a2371829dc94c7f2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_9.obj b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f97618cbd40c034aa38964f6f33a46e767b3738
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/mesh/pill_organizer_039_collision_9.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02880935 -0.00005806 -0.00007916
+v 0.04021381 -0.00005806 -0.00007916
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diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/pill_organizer_039.xml b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/pill_organizer_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8349722578f4e943acfe8c80afe95ba91672e779
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mjcf/pill_organizer_039.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_039_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_039_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pill_organizer_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.urdf b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e544db174f36e2fa37440837350d3b34594b275
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_039">
+   <link name="pill_organizer_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>790249952b2559a7a068499035b78e16</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>gray pill case</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rounded rectangular gray pill organizer with latch and hinged lid</description>
+         <min_height>0.0371</min_height>
+         <max_height>0.0371</max_height>
+         <real_height>0.0371</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134118</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045514 -0.030010 -0.017671</min>
+            <max>0.055264 0.029989 0.019426</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/790249952b2559a7a068499035b78e16/pill_organizer_039.usd b/dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.usd
new file mode 100644
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