diff --git a/.gitattributes b/.gitattributes
index 156e5bc23ff861e8f3ea94149806e85602e64c4a..ff43eec23886fe580a6e75817f373b0a0ae2f441 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2697,7 +2697,5 @@ dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_b
 dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/mesh/storage_box_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/storage_box_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/material.mtl b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d46326a943d02df21b633d1880851dbd645fdc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_024_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/material_0.png b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/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/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.glb b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.mtl b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85cf95103ed438d1a3e887fb6dc97f4f44e74f7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_024_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92febdbf5725ce11fe42c222c3b209fefb57bd0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024.obj
@@ -0,0 +1,122630 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024_collision.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c342769596fe6427328677ee1f326c43e64c6e03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mesh/pill_organizer_024_collision.obj
@@ -0,0 +1,7996 @@
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024.obj
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aee84f96aadbcb290e7a66fd5c1a27bfba46d00
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision.obj
@@ -0,0 +1,7996 @@
+# https://github.com/mikedh/trimesh
+
+o pill_organizer_024_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_0.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02676f3380f3c1a13c5fd180ff4f6e67eb97a630
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_0.obj
@@ -0,0 +1,1540 @@
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_1.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03dcc8deb87c9cabaa9bfa60320da028f969f9aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_2.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9c205d16fdfc6343c06ad0a3e46b4ae01b6e41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_3.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7ad59494a13a019425bea4481384eca051f3cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_3.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_4.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fcdb75d09965a8984cc0485627f454a3a85e558
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_4.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_5.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92957c1168b6917784ea32a1bb0243aac1b6b5c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_6.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81be86cabca49021ae124bf03d421f7df3aa32d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_6.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_7.obj b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a722fc5ecb93f7f9f799ee20a9baba69f361c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/mesh/pill_organizer_024_collision_7.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/pill_organizer_024.xml b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/pill_organizer_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9629c95f385850f3f20f41c599b9ab9a952ee2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/mjcf/pill_organizer_024.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_024">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.urdf b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3787ba5f8bf6685380846533819e4bdb729ba1f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_024">
+   <link name="pill_organizer_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_024.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_024_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>0e2f2c5606105a40bb937ea9f14be706</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>zip pill case</name>
+         <color>white,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular zippered pill organizer case with rounded corners</description>
+         <min_height>0.0819</min_height>
+         <max_height>0.0819</max_height>
+         <real_height>0.0819</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133453</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054520 -0.087504 -0.037964</min>
+            <max>0.065480 0.087654 0.043895</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.usd b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.usd
new file mode 100644
index 0000000000000000000000000000000000000000..22f55c0e22df13b4d40418d5e4e3e2a8178d673e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d1ae45175ee794cf8d59d4d4107f0e2e24895f1b60fc14423cafbda5fbcef4
+size 4996457
diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/textures/material_0.png b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b53e6edfab7656d81049fccc601550994eb64c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd714e900546ed53bb87a33e17eb45aa72c4298b72d32b7b9f68fe62fd415b2
+size 11731412
diff --git a/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/video.mp4 b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..def5b792f70e3dfe7e1b0a6bceb09401b1581112
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7972d6bb9985820bdc52d7e9884cb67ecb0b2d127548058211b36c58ffde04
+size 487096