diff --git a/.gitattributes b/.gitattributes
index 6117ae526bf39bf17ddf1c38d1869b7f2d3180b3..4790daa6e3ffc1fd0a2deddfe25cf1f436ffd8ae 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2833,3 +2833,5 @@ dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs
 dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/d213a2ef0295527084273d3c38aa4c6d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/basket_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/mesh/basket_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material.mtl b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6943449ae175812547a72f5d43c7f86de313769
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pill_organizer_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material_0.png b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cb76d59b57da95062430c7b2a119bcf3ca17f56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068370d7ce4f35eeacc90094e0b4d28607235ab82f894b43c2a9772f8395f3da
+size 9786537
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.glb b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..08645713f4d60f61b41e789044e1cbfd3addfb55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94738d8da9bcf2773947498c2eb0ad6206a30a6c4cb0719866ccbe10e1c697ad
+size 13108952
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.mtl b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff6511441139d1282baa2ad70e86e4f6907eb6e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_002_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/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022b6f94f8f5ac75f1f91df797d54b13d1dca8a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002.obj
@@ -0,0 +1,106244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002_collision.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1508a81761b969c478a2d589ae8c29dc02ea8eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002_collision.obj
@@ -0,0 +1,10965 @@
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mesh/pill_organizer_002_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002.obj
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index 0000000000000000000000000000000000000000..b314fc3d52ebc20e81822df69426da3cd75fc0c0
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+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002.obj
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0a6794a7779b48685b71fc7f06d0274518a4b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision.obj
@@ -0,0 +1,10965 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_0.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d27cb435848894392ead1e981f06fe5d99db6c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_1.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd3683af4f3961aaaa08d149ff582500ee3e7d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_2.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567e8a5a5a79565fd1264c33879c9ed67bb0c8a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_3.obj b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e537b010d1f889f4238f2ecfeb84b658b0f20f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/mesh/pill_organizer_002_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/pill_organizer_002.xml b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/pill_organizer_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..20480e354c1318b78bfbb338ead4ddee22b774be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/mjcf/pill_organizer_002.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_002">
+      <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/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.urdf b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57ec848ef6f6661c7a95e72e373419d56241a96b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_002">
+   <link name="pill_organizer_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>cf3f7c78518f5ec08a013aeec04ae271</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>compact pill organizer</name>
+         <color>transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>transparent compact pill organizer with rounded edges and secure lid</description>
+         <min_height>0.2222</min_height>
+         <max_height>0.2222</max_height>
+         <real_height>0.2222</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230902</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.usd b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/pill_organizer_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7669be47d883faaa7e806f44fa3746d2818118d46ed0321f5904ccaa1aba452
+size 4904385
diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/textures/material_0.png b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/video.mp4 b/dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/video.mp4
new file mode 100644
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+size 291768