diff --git a/.gitattributes b/.gitattributes
index d2034d5892c314e1db80c0cbf4b4e9ccab570d56..4c2f6d25e4f06a730189572cf722f7f0a2b33dc3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2734,3 +2734,5 @@ dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/glasses_case_0
 dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_case_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_case_017.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.urdf b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b67ec98c9393d8ba941ce8fca25e5079c18a1e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_005">
+   <link name="glasses_case_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>2c6d71720024501fbeee599ad1cf2d9b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>checkered glasses case</name>
+         <color>black,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>checkered glasses case with rounded edges and compact design</description>
+         <min_height>0.0662</min_height>
+         <max_height>0.0662</max_height>
+         <real_height>0.0662</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230346</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_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/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.usd b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b1fc19d7d972d821097cdf2a53e8c1e986f1deae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/glasses_case_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262e857f0c4b7b74b88724c0f511cb161ecc43f86b7d33f76d2bfe4e3015cc01
+size 4443982
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.glb b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bcce914bf39cdd552eb8da6483d175e1cd845eb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98d68bf17180fbc303574494905bfca612b3a1ab6afb460ed16a842c5993afc
+size 11274196
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.mtl b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b4ab1b4c59cd917c58c2dc63d7a73b55c54d5b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_005_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/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.obj b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2df9e557d0c149be813e85fa0bf9cc2ccd25911
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005.obj
@@ -0,0 +1,103398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_005_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_collision.obj b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66478c62d8d5520e9d5fb447eedebc50a3f8a1f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27bac34d978c5718fd808f249f7425e602d245ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/glasses_case_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4c7a1a35bb002a49fdf77681efe592798c09bf9016e57b986416ff7f8ec12c
+size 8709902
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material.mtl b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f3e240d20b4c648f753d691600c0c268bfb080db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material_0.png b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..27bac34d978c5718fd808f249f7425e602d245ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4c7a1a35bb002a49fdf77681efe592798c09bf9016e57b986416ff7f8ec12c
+size 8709902
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/glasses_case_005.xml b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/glasses_case_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3e596b52a4556ca254611d1086039aa7dc695e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/glasses_case_005.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_005">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_005_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005.obj b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357cd8efbe22b7f545511486bd440493a80e9caa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005.obj
@@ -0,0 +1,103398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_005_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision.obj b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee6a518daefdd546b3fe8df4a053bc30d0b7a9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision_0.obj b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee6a518daefdd546b3fe8df4a053bc30d0b7a9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2c6d71720024501fbeee599ad1cf2d9b/mjcf/mesh/glasses_case_005_collision_0.obj
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