diff --git a/.gitattributes b/.gitattributes
index 58680623c5c280c2487d805c889a6e8460fe7ccc..c0c728dab0521cbb8a523bf2e1e7c5f8a8fab04f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2744,3 +2744,5 @@ dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_b
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/mesh/pill_organizer_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/43233f75d867539aa1b5b129547b14e1/pill_organizer_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.urdf b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..253b179bb1f9604c7c25a4fd23567ed231ce14c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_007">
+   <link name="glasses_case_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_007.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_007_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>44731c7fa47b50cd8a3c0609c794cd16</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>textured glasses case</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>textured black glasses case with a flap closure</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>20260427230401</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>2</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/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.usd b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/glasses_case_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373b48bd91952858008c5600da34833e0bb6f2eeda781d69b9945df1f026a38b
+size 4472553
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.glb b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..db8d432243a6bb5d159d8689f63567974c03ee27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7922120f60636f55eb445358ce9cca76370a5911794686269cb23c957d20ec
+size 14824856
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.mtl b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b51d305efd8baa5d1a227cc3ef95daaad445d1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.mtl
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+newmtl glasses_case_007_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/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c843691c6b7c95602048636721b6307b3d49fde0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007.obj
@@ -0,0 +1,110544 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_007_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_collision.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffa366498e2cd18f8fe7cdc3bf7336e7b6b1abd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_collision.obj
@@ -0,0 +1,8634 @@
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f729a0be38f92ee681f2b05fed16988e0abc596a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/glasses_case_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25eb35ab1d5bf250f82ce9018a5a74f623d19008924054d4414bbbaba72b4668
+size 12189417
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material.mtl b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..492697175dea128ba10eaf5dbeb0f7eda8ecbd96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material_0.png b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f729a0be38f92ee681f2b05fed16988e0abc596a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25eb35ab1d5bf250f82ce9018a5a74f623d19008924054d4414bbbaba72b4668
+size 12189417
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/glasses_case_007.xml b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/glasses_case_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ed9fc02de8b5b3a725d6a77dacd224f6e86183e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/glasses_case_007.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_007">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_007_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e073f82a1a727196315fd1ab61be306821f57de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007.obj
@@ -0,0 +1,110544 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_007_geometry_Looks_material_0
+v -0.013666 0.076241 0.026331
+v -0.013666 0.076241 0.026331
+v -0.013666 0.076241 0.026331
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+v -0.015269 0.072700 0.026094
+v -0.014916 0.072894 0.026116
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0bb7e807a4102c348c5c04b945257c2c1a0e5fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision.obj
@@ -0,0 +1,8634 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_007_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_0.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb577b36c4d2787b720bb02ad4bf1af94e495ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_1.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6377d12533369754940cb5cc8931cfb4209503
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_2.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbf6279b980586a76eebc0a5a4ba0fd69966eee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_3.obj b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544554a83efdcdca53870c89d2993bb5e2c7de3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/mjcf/mesh/glasses_case_007_collision_3.obj
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