diff --git a/.gitattributes b/.gitattributes
index 2e327b450d5f9685d646f4228d12b5b12281e7df..0c8ad3d3043c1784acd0bfcc12c8b4f551fb3ab4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2855,5 +2855,5 @@ dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_bask
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/mesh/remote_holder_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/remote_holder_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/material.mtl b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bd342d94d959da100fc0e5908ca7e3ad1435f9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/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/ebd921247dc15db9abe00eef639a24a2/mesh/material_0.png b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.glb b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.mtl b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7bc6200dc383f3dca8adf09b0fc7d61c90704fc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_012_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2004c97c9b6e036144084644d27c208e837cedec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012.obj
@@ -0,0 +1,119278 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012_collision.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c904b5b1ae5f86dedb3161c6ca9475c2a00e1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mesh/pill_organizer_012_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012.obj
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8545c5c186ee33ab437b644163d4bf70e9d312f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision.obj
@@ -0,0 +1,8948 @@
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_0.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a903edd9459729edd4cc775d74ec1be5096ce73f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_0.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_1.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545d06cde80b406e6d611838dc85eeef0c56c3f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_1.obj
@@ -0,0 +1,4411 @@
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_2.obj b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5617dd4b01bb6fd5cb1e3960198874efb083f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/mesh/pill_organizer_012_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/pill_organizer_012.xml b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/pill_organizer_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef680f77c09b729023127106d17fbc785af5c465
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/mjcf/pill_organizer_012.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_012">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.urdf b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e0029d27f2304072ca12ec0ed68f6c545f143b5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_012">
+   <link name="pill_organizer_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_012.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_012_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>ebd921247dc15db9abe00eef639a24a2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>zip pill case</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>dark gray rounded rectangular zippered pill organizer case</description>
+         <min_height>0.0568</min_height>
+         <max_height>0.0568</max_height>
+         <real_height>0.0568</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170842</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040254 -0.064927 -0.028612</min>
+            <max>0.036154 0.065073 0.028159</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Top, bottom, and zipper band are merged; zipper pull is separate but main functional parts are not.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.usd b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.usd
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+size 4894092
diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/textures/material_0.png b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/video.mp4 b/dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/video.mp4
new file mode 100644
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+size 560454