diff --git a/.gitattributes b/.gitattributes
index 02c6c6718ebc4cc1d384884313e95dd3cd823f16..ade99a54c0607a75f8847d45877a18b4fb2f242a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2735,5 +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/3f3bb9c7b881526f8656d0e8f553c395/mesh/storage_box_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/3f3bb9c7b881526f8656d0e8f553c395/storage_box_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material.mtl b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..800948a8f8af40305693edc77e12a0212274f02f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_028_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/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material_0.png b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef23ad3f39e159856b655139df0d67f8319d380c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fa7e9a7f65c6471ac959721ba6bd6921a47122d321c98f9c37268798e88966
+size 11859237
diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.glb b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..960163334d2cefd9a7318de0cf3090268cbfc343
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113c746064d602f33e5a741bd3f059cb62ab772e648bef03ebe6242c57183f74
+size 15183612
diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.mtl b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2cd5f22337afbffbf85dccd4bbda3e5f2786eeef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_028_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/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadbc3bf44229547acdde96491c2e195b1f50f04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028.obj
@@ -0,0 +1,123184 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_028_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028_collision.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3831fa62b42361bb37d127958af1f59f830302
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028_collision.obj
@@ -0,0 +1,6743 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.02202797 -0.03869274 0.03194421
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mesh/pill_organizer_028_geometry_Looks_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/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028.obj
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7c5f25811c350119878db94fc2e2c877d30e3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision.obj
@@ -0,0 +1,6743 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_0.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf7f47585177acc9b0fd15b75998b1d63833399
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_1.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e577811d050dd5be70c0627c77e4ab8e54ab87ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_2.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13d93fc53a9993a399260c6bbc937054d9d82c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_3.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d4c87799e2b5859b63c5bfc70ea1fb2feb93a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_3.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_4.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90b8df8f87ba01819f95dae8a53d63f8e28c525
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_4.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_5.obj b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024b83193efbdf9d6e8cbb4f6f180e7f1c6d6ddb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/mesh/pill_organizer_028_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/pill_organizer_028.xml b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/pill_organizer_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78960f7d899d8acae9002b859236a475a62013ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/mjcf/pill_organizer_028.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_028">
+      <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/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.urdf b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a74704ec39251d5b3d8222e32ed0d74377148eb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_028">
+   <link name="pill_organizer_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>3ebf2cdd5df652c5a48442d796fd3f6b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>zip pill case</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular pill organizer case with zipper and front latch</description>
+         <min_height>0.0824</min_height>
+         <max_height>0.0824</max_height>
+         <real_height>0.0824</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133650</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055856 -0.084437 -0.038297</min>
+            <max>0.064145 0.084467 0.044058</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.usd b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..09fc6b145e012050a0d7f972c578be949e663ad1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a260169285d1a33384359ebc70f546ce31f95dffb093622c682666c18296d305
+size 4918276
diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/textures/material_0.png b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef23ad3f39e159856b655139df0d67f8319d380c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11859237
diff --git a/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/video.mp4 b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..606b738319b6cbe502f4df730e5ca182432a9046
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7250730d2ff476275fe103bcae59a572748e03217806722c0acd48769ac9b50a
+size 446285