diff --git a/.gitattributes b/.gitattributes
index dbc2aa0852db15eebde8d3ae4d6ad5641a2012fd..b66518e4ddfc20f58fe535e07c3154da42ec410c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2735,7 +2735,5 @@ dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/remote_holder_
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/mesh/pill_organizer_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/pill_organizer_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/41c958049fb8570c83387e38059c41a7/mesh/storage_box_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/41c958049fb8570c83387e38059c41a7/storage_box_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material.mtl b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..729818d49df110c86a099b1562cd9b332782447f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_038_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd remote_holder_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material_0.png b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39ac6f9d0c9811419ba9ed2311d88e322c7e073f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d998c712de921a447cbe586fb3563c50fa81b1cb9a8fe1dd105ccfca16ca79e
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.glb b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11d29c263425246b231850f220541ce902e0d017
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13034140
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.mtl b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5932abf401f32e6d43ea65198a7fc0e9c9ab60d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_038_geometry_Looks_material_0
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+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/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2d8f301643153b79166be361a77fc3556c9b1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038.obj
@@ -0,0 +1,113980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_038_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038_collision.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43126802305104c9a3584aae5228f9eab345329a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mesh/remote_holder_038_collision.obj
@@ -0,0 +1,10515 @@
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0eb945d0afa28170b50ff517eede97a46534148
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision.obj
@@ -0,0 +1,10515 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_0.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796965d03eda73bf36e89bf81fe5784a5794279a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_1.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab76d5dd05ee37168a99c4d20e9fd48c70454f3b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_2.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9293f5043eb1e38af224d54421298a8ba3cd7ef4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_3.obj b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3a5f2203e625e6c95b08a5d0ccb70e72ad24a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/mesh/remote_holder_038_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/remote_holder_038.xml b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/remote_holder_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6511d08b435b0c8a20fc8a97e83f77a00f5f83b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/mjcf/remote_holder_038.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_038">
+  <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/remote_holder_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_038">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.urdf b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e39e4d10d70e074f651e35cebdf3612c83c3cc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_038">
+   <link name="remote_holder_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_038.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/remote_holder_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3750" />
+         <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>3e60f6cb55c0566e9d4b209e0ca1c844</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>black remote holder</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact black plastic remote holder with rounded rectangular body</description>
+         <min_height>0.1213</min_height>
+         <max_height>0.1213</max_height>
+         <real_height>0.1213</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135049</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052158 -0.039999 -0.057559</min>
+            <max>0.058737 0.040000 0.063753</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>NO: {"summary":"Missing clear functional parts and includes noisy fragments; only main body and top opening are consistent.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.usd b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.usd
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+++ b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/remote_holder_038.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4920612
diff --git a/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/textures/material_0.png b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/textures/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/3e60f6cb55c0566e9d4b209e0ca1c844/video.mp4 b/dataset/bedroom_supplies/storage/3e60f6cb55c0566e9d4b209e0ca1c844/video.mp4
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+size 464338