diff --git a/.gitattributes b/.gitattributes
index 2d3ae897c0345f365298f4cab7b09d8665a18628..92af204ded867220ed5d38f5a4e5ca95ce9afa6b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2806,3 +2806,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/material.mtl b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec82807341c290e2ad6787eddf86f450ea932962
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_004_geometry_Looks_material_0
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+map_Kd pill_organizer_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/material_0.png b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/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/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f6d628edaa7f434a372a3d93f2f093f0c259de8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.mtl b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d73f0fdb5581ded3ec1cdb66b3c5aab2aec72e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_004_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/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b6da747c91fe68f2cf9c36c2971f3f6c60b64a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.obj
@@ -0,0 +1,118880 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_004_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004_collision.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0e3f0f02741fc2ec6d589472fbc15b9b80eaf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb04dcc44834735dba079080b185caa72783edb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision.obj
@@ -0,0 +1,8063 @@
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_0.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb5406c1eccc217a4b4f4d094baabc57846f890
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_1.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718588fc90949ec4a1744dafeb381ffe9d5d3eb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_1.obj
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+
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_10.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8399fba95c1502983aeee4027fe795d9af0d3f5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_11.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2a8bb9693d37dd20b241d6a3609f60f03f0dcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_12.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d8e56cc8d486d92c4403a52f316f559d37245a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_12.obj
@@ -0,0 +1,985 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_13.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af80a629f22e79a8dcfaba4c9db9f68fa2f7e818
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_14.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d1b4439f22d24f2588cc71cfd79bdc3a2273c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_2.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc5cc092a605bc7ff77045524a670d6594a3944
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_3.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4072767265e4c3d030b88677309a972a79d88df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_4.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ee95e13b9d15ac2cce1d0c838cb44a100bcdba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_5.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5718163774c8264ffe4d9354a57f0d7919df45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_6.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd31dd00c2136b01222fca0de4e40efaa040e59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_6.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_7.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942b186d22e750e865fc8e5b01ca680de315f1cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_7.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_8.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1659066c2472a471a4d7c1b82612760df5e658
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_9.obj b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0263f74b2ef923963dd572c187c7417e4cc97b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/mesh/pill_organizer_004_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/pill_organizer_004.xml b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/pill_organizer_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed92590d95f324023a9956e9c95be6c77b27601d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mjcf/pill_organizer_004.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pill_organizer_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pill_organizer_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pill_organizer_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pill_organizer_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_004">
+      <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/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.urdf b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1f9161cc7d53bea88f2b81fbe875fe3bbe4e001
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_004">
+   <link name="pill_organizer_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>a01ca156b3f15497868c985c34dd1a09</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>camouflage pill organizer</name>
+         <color>green,beige</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact camouflage pill organizer with zipper and external straps</description>
+         <min_height>0.1244</min_height>
+         <max_height>0.1244</max_height>
+         <real_height>0.1244</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231003</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd
@@ -0,0 +1,3 @@
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+size 5026254
diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/textures/material_0.png b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/video.mp4 b/dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/video.mp4
new file mode 100644
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