diff --git a/.gitattributes b/.gitattributes
index 6dff9b4538b50a5476e8e90543ddf6ec50d645f2..d4be5af1b0d43d4175f6a1f5d0c53b05f67b34b5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2760,11 +2760,5 @@ dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_orga
 dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/mesh/storage_box_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/storage_box_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5e2e520b3e85510bb6acf96f2ef4e1b1/basket_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5e2e520b3e85510bb6acf96f2ef4e1b1/mesh/basket_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material.mtl b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c34cd507c7af3a5fb10720ac4d16f5f0e8979674
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_030_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
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material_0.png b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbbd0ef9e279065c228eafdf31cf433031d3489475fddbcc2908a49c145f0f20
+size 12664679
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.glb b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f44bc6ebdff99d99b19c96bfbc1b95c4cc10df958dc085433bc8e91ab00efbf
+size 16077744
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.mtl b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d007fe1ed769d643c1b592e4c928cb60107c273
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_030_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/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f85108f9e8111f14c2f364cd0c70a3165800f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030.obj
@@ -0,0 +1,127586 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_030_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030_collision.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968fa0336c1c6265077be88aba6e18daa0e88e1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mesh/pill_organizer_030_collision.obj
@@ -0,0 +1,7535 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2b88203cc6ec3f0a5fa6d89172ce82b841fc44
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision.obj
@@ -0,0 +1,7535 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_0.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100815c9f35780d771ab6633a238c6b3814cfc9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_0.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_1.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72a0d15f995b27f9d91d7610d72d2f2abb765a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_1.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_2.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d206e807216d8b874e7cb21d6826cfe27f73e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_2.obj
@@ -0,0 +1,2902 @@
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_3.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfd95f73a41dc6a6b537681301f3daeb9667670
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_4.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9426a9774b302b8356a52a16ce859e46eb9644
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_5.obj b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88e879c7d6d928ee9eb683380d4177cfa1a4e2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/mesh/pill_organizer_030_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/pill_organizer_030.xml b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/pill_organizer_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4d651ae16dcbae5069af86e8ef54fce5e1ba73a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/mjcf/pill_organizer_030.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_030">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.urdf b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b860354ad3b5f90f74dc0b58d9cbd785cfa95ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_030">
+   <link name="pill_organizer_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_030.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_030_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>600c4b818f0456f4a0d5f796373ec99d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>zip pill case</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small translucent rectangular pill organizer case with zipper and rounded corners</description>
+         <min_height>0.0773</min_height>
+         <max_height>0.0773</max_height>
+         <real_height>0.0773</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133732</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054442 -0.082322 -0.037433</min>
+            <max>0.065558 0.082707 0.039872</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.usd b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.usd
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+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/pill_organizer_030.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4990832
diff --git a/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/textures/material_0.png b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/textures/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/textures/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/600c4b818f0456f4a0d5f796373ec99d/video.mp4 b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/video.mp4
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/video.mp4
@@ -0,0 +1,3 @@
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+size 471745