diff --git a/.gitattributes b/.gitattributes
index 58b1ee0d5066def0d12efbe42b8c1947b37af654..b1d79b50b3f19dd6a61ee335c1270c95be6a66ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2724,3 +2724,5 @@ dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/mesh/storage_b
 dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/storage_bin_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/mesh/storage_bin_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/storage_bin_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.urdf b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc61878f047c4f104639cd9778b91bf87009e2ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_010">
+   <link name="glasses_case_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>27ce1f191af953b6a90ad817d484bb19</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>woven glasses case</name>
+         <color>beige</color>
+         <shape>elongated</shape>
+         <material>wicker</material>
+         <description>oval-shaped woven glasses case with a lid and knob</description>
+         <min_height>0.0940</min_height>
+         <max_height>0.0940</max_height>
+         <real_height>0.0940</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230506</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>3</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>NO: {"summary":"Top lid and lower body are segmented, but latch/strap is inconsistently captured and not fully functional-part accurate.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.usd b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8ca0410316a1e31e971dd0e599d755a1cc0b86a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/glasses_case_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f89141f2bf67b091efecc664ca81ac275902f868a8cf77d19fc398bf05baf93
+size 5022353
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.glb b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cbf28ec88798541376785ec6adfa19f6d9fb9cf6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced27f5be7785a9f7fab15b6912137b663eb2430a78b4bbaebfe115ed32fe8fe
+size 19128484
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.mtl b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6479819d1cf1aa0cfac3954f089e8cb3ff3e1d28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_010_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/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d579566ff2d3545da390902910b19a33e0d66b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010.obj
@@ -0,0 +1,124880 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_010_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_collision.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3692cdac60239eaa8ed127f86b0c5ff66a43a60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4038a41bdc3f6f89490d1d9dcf4a3799f2178f30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/glasses_case_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6b2ac6c482885d05f5c0aac1c68aa94b419a1320e4f26a0c21d8e271039502
+size 15633932
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material.mtl b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3cf3a8355a48bda6aa9746ab7a73669dd614efac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material_0.png b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4038a41bdc3f6f89490d1d9dcf4a3799f2178f30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6b2ac6c482885d05f5c0aac1c68aa94b419a1320e4f26a0c21d8e271039502
+size 15633932
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/glasses_case_010.xml b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/glasses_case_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b5473e3aafb58f99ccc73c2c6cc812fcd5c714bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/glasses_case_010.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_010">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_010_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/glasses_case_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_case_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6beef109afa4a87e04e094fd115441fd4dc90e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010.obj
@@ -0,0 +1,124880 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_010_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96892eb0ee93aa67daece3e24e2fd967d371528
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision.obj
@@ -0,0 +1,7695 @@
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_0.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9f1d518c6f11962b608a0215bf77e1ff5088b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_0.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_1.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..636eae3ca00579040dcd63bd944d77c4512082f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_1.obj
@@ -0,0 +1,1432 @@
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_2.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8056c92b359e6f68fd26b864249b906f14077e6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_2.obj
@@ -0,0 +1,1552 @@
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_3.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f66b77a41f6bdf0ea106f6425517196d9e0322
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_3.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_4.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e69abcbdae89e3e72e06a1117e791ca56898820
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_4.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_5.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78db226da55b70e54cfa61a3c9f6947edec0fdb8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_6.obj b/dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/mjcf/mesh/glasses_case_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945829d48a96d5370324d4828905035cf90e74b4
--- /dev/null
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