diff --git a/.gitattributes b/.gitattributes
index 85143c2ebcd6e610a37b102e9058463f91b5f1be..58680623c5c280c2487d805c889a6e8460fe7ccc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2742,7 +2742,5 @@ dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_bask
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_bin_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/basket_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/4581ce08678b59de916b3bb04cac49c2/mesh/basket_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material.mtl b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1bd908eb6abc7e0d1534b7961b2d3814ba16e36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material_0.png b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5589ee040170048429b8c9b0ca7a13312cd0660d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953b223c886252d870df45804cbc072a49aece968fba017a074a370acc15e95f
+size 6751410
diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.glb b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0aa269c42a91651e8c3529005a028813884ced23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a5c97cacff78488f3e816f030896ec7699bec5e9ffef7fea39c4d50dc209f3
+size 10143428
diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.mtl b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0030f458373ad29498316147c0241003a69e6376
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_029_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/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6fc5e13f1937abd542603b5dcb7e9907921c5e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.obj
@@ -0,0 +1,108984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_029_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029_collision.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c8e053c2571fdf62b17a1aad64259071ea66d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029_collision.obj
@@ -0,0 +1,11131 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.02000884 -0.00057894 0.04332587
+v 0.00000416 0.00310111 0.04325660
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/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/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029.obj
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa4f63e101822f761903a767d630c99e71f2989
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision.obj
@@ -0,0 +1,11131 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_0.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a456133756045dab8c2dfafe72d54a50a94207
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_0.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_1.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc8c7072771923f0d6e3ee9a910bc5b49d27e12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_10.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1defe69d5e575ed94546137992cde4e9f25b5565
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_10.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_2.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf157eb2463f6662975423622c261e21394e270
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_2.obj
@@ -0,0 +1,2119 @@
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_3.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03fcd25f9baa9b7cb63660692a88b8fc8f003cfd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_4.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283890c03a24ee6f48a8f277a2d48a9853c13a0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_4.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_5.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edea6355c9288e3c8446facaa868ec6eed24093b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_5.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_6.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e2c1865b7bb837185bf92f0fe380438828266e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_6.obj
@@ -0,0 +1,2122 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_7.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf19d08ae38aa64b883ea8daef4c2f90d265581f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_7.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_8.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057e0a1cdc93b1060077674ecceab508fa494996
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_8.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_9.obj b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1eb0559b1f5b76a28ad3b382276a09c9b392878
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/mesh/pill_organizer_029_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/pill_organizer_029.xml b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/pill_organizer_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..190cafc6d2bbaa050640e72fcffc54e3b22e0c0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mjcf/pill_organizer_029.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pill_organizer_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pill_organizer_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pill_organizer_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" 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/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.urdf b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a08f9935fa9db53589a073d28950e3f226801adb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_029">
+   <link name="pill_organizer_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_029.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_029_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>43233f75d867539aa1b5b129547b14e1</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>gray pill box</name>
+         <color>gray,green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact gray plastic pill organizer with green band and rounded square body</description>
+         <min_height>0.0582</min_height>
+         <max_height>0.0582</max_height>
+         <real_height>0.0582</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611133711</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045005 -0.043121 -0.027448</min>
+            <max>0.044995 0.043149 0.030767</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/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.usd b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.usd
@@ -0,0 +1,3 @@
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+size 4938010
diff --git a/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/textures/material_0.png b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/textures/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/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/43233f75d867539aa1b5b129547b14e1/video.mp4 b/dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 502836