diff --git a/.gitattributes b/.gitattributes
index fb519ab9be8892781b3d362d2cff6fd1b0871cd8..6b50e8455ce489558cc6b0aaf786bff209890492 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2698,3 +2698,5 @@ dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_00
 dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/0d530bf4e9705aafbb2e7437ed4e2db6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.urdf b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70f509bde88d1e138eec1bd38f01c61fbc815876
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.urdf
@@ -0,0 +1,63 @@
+<?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>0.60</mu1>
+            <mu2>0.50</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>0ccf1d32363754e68165dcdcb18422d1</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>black glasses case</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>fabric</material>
+         <description>compact black glasses case with textured surface and visible branding</description>
+         <min_height>0.0693</min_height>
+         <max_height>0.0693</max_height>
+         <real_height>0.0693</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203056</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>7</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/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.usd b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1772a17ebcd72d38e643b3a24da9a8fe1702e186
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/glasses_case_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a736ecc3545061d8cb4823dc4086c2154fda463456780bac961b7d543d04ec94
+size 4945296
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.glb b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..be8f9d1dd76f953a907c916f9b1625aded219272
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eead428089e422d0782c27c629476ba81125675c9b0c90cefe70ff0ecf729076
+size 18919440
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.mtl b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6479819d1cf1aa0cfac3954f089e8cb3ff3e1d28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.mtl
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+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/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0782d8e99266ba1fcbbf3cda6ffb526f2537a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010.obj
@@ -0,0 +1,119842 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_collision.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1382b6452e2c84ed9bf9c2d00841ac28e2da41dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_collision.obj
@@ -0,0 +1,7198 @@
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diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2319a5525bfadc71ab90d10862f0a0559c2c9ba8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/glasses_case_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b582e42b595971f310e4f7418aa7c25cb5881ef4b1b949ce5df0a0685865d160
+size 15533942
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/material.mtl b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3cf3a8355a48bda6aa9746ab7a73669dd614efac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/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/0ccf1d32363754e68165dcdcb18422d1/mesh/material_0.png b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2319a5525bfadc71ab90d10862f0a0559c2c9ba8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b582e42b595971f310e4f7418aa7c25cb5881ef4b1b949ce5df0a0685865d160
+size 15533942
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/glasses_case_010.xml b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/glasses_case_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dc834996ec4e91db7c725ed986db8b0288446c98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/glasses_case_010.xml
@@ -0,0 +1,18 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991d07f911ab6ff5c603d134c4894f7571747839
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010.obj
@@ -0,0 +1,119842 @@
+# 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/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaeccc531ac45d07155b7ece296b4f7f57fc788
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision.obj
@@ -0,0 +1,7198 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_010_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_0.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a7ef230366b3d7f4451174de638c0e1fc7b43d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_1.obj b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2db10788ee6cec671fd2d4badb9afc6f1d4c7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/mjcf/mesh/glasses_case_010_collision_1.obj
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