diff --git a/.gitattributes b/.gitattributes
index a81eea57310e15b10a3b6a2b6e59d46bad7036f2..cd998f0f9d6ab6d93059322d660fcb68baf6c7fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2839,5 +2839,5 @@ dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/mesh/storage_b
 dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/storage_box_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/basket_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/mesh/basket_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/glasses_case_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.urdf b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..059cb788daa219a1f5dca3a306636aab5f576237
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_014">
+   <link name="glasses_case_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_014.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/glasses_case_014_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>d2a33e9d0c925736b94a81eea7dd56d9</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>zip glasses case</name>
+         <color>beige</color>
+         <shape>elongated</shape>
+         <material>leather</material>
+         <description>light beige textured zippered glasses case with rounded rectangular body</description>
+         <min_height>0.0545</min_height>
+         <max_height>0.0545</max_height>
+         <real_height>0.0545</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165353</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023613 -0.061070 -0.024191</min>
+            <max>0.023662 0.068930 0.030270</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.usd b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf554bd4763e8c1939a53d8cea4c445fb01878f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095f888ae858fa5eddfd97574720652663a51d8de73e073419235b73ec4d42d6
+size 4987264
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.glb b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..88a495930cd7daf24545e48ace50cb86a16665f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:676e3d5d735ef372fc98b8633392a231ad83a7c8c5295f1919a2d870c1e567b3
+size 22402692
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.mtl b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75e8eee5672ea6b6fa4aa3d77c4dd6a4a06ede52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.mtl
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+newmtl glasses_case_014_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/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439f44114b98370a8cd0482c2d4a0fb9abcf3547
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_collision.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7444ffffe09271ac6986d37405bcc2667e85ed58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d318bcf8eef4c09744f6ee9b8d60f965f2c98bb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_case_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c0d45dd68c3a141cdc3f501c20e0821d7511a67fdc03ee8f6ecf54d4264598
+size 18945256
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material.mtl b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efdf6871f2271feec26eff4e544b5541ae71e03f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_014_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 glasses_case_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material_0.png b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d318bcf8eef4c09744f6ee9b8d60f965f2c98bb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c0d45dd68c3a141cdc3f501c20e0821d7511a67fdc03ee8f6ecf54d4264598
+size 18945256
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/glasses_case_014.xml b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/glasses_case_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f8394c73fc93c2b94e604b430d09f57538d46162
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/glasses_case_014.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_014">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_014_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f52fa346bc8170b05e047c39be2c1d452e22e20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014.obj
@@ -0,0 +1,108194 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fa3e156d07f119fd999c47049a8125b99b1330
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision.obj
@@ -0,0 +1,6382 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_014_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_0.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1d24db30d95b1fade34158df4db8fa7239dba1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_1.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba50b6e106d0ec0531d6512d72eafe444a97f9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_2.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d965fc8c321496508dacb2c787e541766e503717
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_3.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da1e9e16ac755d0ac37fb0953335d1baed45cca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_3.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_4.obj b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0df6126171f346d85cf7d76c75f1f4546775e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mjcf/mesh/glasses_case_014_geometry_Looks_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/d2a33e9d0c925736b94a81eea7dd56d9/textures/material_0.png b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/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/d2a33e9d0c925736b94a81eea7dd56d9/video.mp4 b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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