diff --git a/.gitattributes b/.gitattributes
index 5dae20e4a1a83f45141c1558c916e801da37aab5..2ab167a608a5b6e695f730085a3ec1d37d6555e5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2777,8 +2777,5 @@ dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_03
 dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/72470241ed5155b8bce4153f3d51143b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.urdf b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae0d618c59d8c6ec4d2844145311c39bcaa1b403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_009">
+   <link name="glasses_case_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>7260bc66424c5e1e9ab27162389f7143</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>decorative glasses case</name>
+         <color>golden,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>oval-shaped glasses case with golden frame and iridescent decorative stones</description>
+         <min_height>0.0973</min_height>
+         <max_height>0.0973</max_height>
+         <real_height>0.0973</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230444</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>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_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/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.usd b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/glasses_case_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370cad15e3bc3d27753f36c20e1db9af2f97273d0cf29e77b31bb97624595b86
+size 4950704
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.glb b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fbc15cf05f54c00ffc2d3d33cb883aaf4f71772f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16982412
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.mtl b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7395288f9109b682e36e771cf3a646fd31530bb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_009_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/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d7eced505d18a3966b580792ff62bc8c17c5f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_collision.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54571cef83e0a2cd32446ff48141e53b4069d9f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c87adf3b1fe26402a2e92900e167ee1c22c729f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/glasses_case_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b9ce866b674952e85632f1939312a8f9d7475c8be998af7b59e76810027e25
+size 13591936
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material.mtl b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2cd6ef41c88f3001ef9e614fbf06011058cbc42a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material_0.png b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c87adf3b1fe26402a2e92900e167ee1c22c729f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b9ce866b674952e85632f1939312a8f9d7475c8be998af7b59e76810027e25
+size 13591936
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/glasses_case_009.xml b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/glasses_case_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e0fdc3bce22d26743fd33f925fb1a206322969eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/glasses_case_009.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_009">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_009_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8bae493ff78c266eaa8ed563a0bb70ca34efb93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009.obj
@@ -0,0 +1,124168 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df9614eef89f46cfe0b888df9e49de390c4b8f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision.obj
@@ -0,0 +1,7229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_0.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f503ab27db20bd9016de2e5de8aae15b176e91
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_1.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711616b727161f12eeab626a090ccd5890d50976
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_2.obj b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf61a1364b0b998df56d6f1ebc195ce7dc8f5ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/mjcf/mesh/glasses_case_009_collision_2.obj
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