diff --git a/.gitattributes b/.gitattributes
index 460e4de9ae607a5257780fd80064a3c9e580a72b..e52b25671b087dfed72587b8f456bd8f0d84d921 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2764,3 +2764,5 @@ dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_00
 dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.urdf b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41cb1ada4f7df733b64fcc668f932d5a195b3c8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_019">
+   <link name="glasses_case_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>62ba3a56292f5954a580d58108219b10</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>zip glasses case</name>
+         <color>white,beige</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>soft rectangular zippered glasses case with textured white exterior</description>
+         <min_height>0.0472</min_height>
+         <max_height>0.0472</max_height>
+         <real_height>0.0472</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170126</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023625 -0.059219 -0.022563</min>
+            <max>0.024672 0.070781 0.024589</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/62ba3a56292f5954a580d58108219b10/glasses_case_019.usd b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..feeceb844dfd16fc7f55484b9afa792ba9e5f5af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2ae3b400a56ce064c7753c106d6e9afd43dbecc14497c8d72149bc7eb8b498
+size 4988815
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.glb b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b0bf13de2a2749c0c61c0ac380c5b9e0bc8e8a6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a6575cbd85720ad1112825eb9ade0e5049e275ff74bc1a158da7626c155c9d
+size 22752136
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.mtl b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2eae63cf2bce58a8760ec64d99656f8de236c7d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_019_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/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e7321ed440415314a7d0ac3e5f0338376a61be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019.obj
@@ -0,0 +1,114100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_019_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_collision.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fabd3e64955e6832c95c3630c79e75a560be710c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6da2f53e4c2169c157e9d666716a9b801153655f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/glasses_case_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35cc97ba96b842375e96dbe46f679a9b8b415dc1c278375204e6d976ad2af9c
+size 19286958
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material.mtl b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35bd56be8bfe6ed23ca80ed00f4f23ee304f11b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material_0.png b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6da2f53e4c2169c157e9d666716a9b801153655f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35cc97ba96b842375e96dbe46f679a9b8b415dc1c278375204e6d976ad2af9c
+size 19286958
diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/glasses_case_019.xml b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/glasses_case_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a775935d556bf07d4f247c9847573b3dc7ddbc5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/glasses_case_019.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_019">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_019_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_019">
+      <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/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1d5dba573a27a9dc6474f2f119ef34b10e94e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019.obj
@@ -0,0 +1,114100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_019_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af46e7e69537f086d8abc26b29948ea13f3b5df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision.obj
@@ -0,0 +1,7342 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_0.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b4fdfacee899390ca95cb6da2ad9cd34e80b0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_1.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71006995c49b28a31b3741df65d8ca3f3a708abb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_2.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a7bd99e51656825f62b42494dfb144ffaddddd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_3.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd28d9e7ca96cbd89e8f23510a492f725de8018c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_3.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_4.obj b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58bdaab7d441b7dfd42eb9a82a5e50b7d5bbb33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/mjcf/mesh/glasses_case_019_collision_4.obj
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