diff --git a/.gitattributes b/.gitattributes
index 09e5ec13319a74fdd799b617900f4bfe69c10824..4f042d521df538adbbb7c24cc099542d643c05f3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2785,3 +2785,5 @@ dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/mesh/remote_ho
 dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/remote_holder_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/mesh/pill_organizer_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/pill_organizer_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.urdf b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70887dec4ef2ec4191c34fd4dd2cf8675f0f9c7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_006">
+   <link name="glasses_case_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>7bd4e9121e2b5837b34cfd64d95e6cf8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>vintage glasses case</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>metal</material>
+         <description>colorful rectangular case with vintage-style prints and a clasp closure</description>
+         <min_height>0.0785</min_height>
+         <max_height>0.0785</max_height>
+         <real_height>0.0785</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203031</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>11</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/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.usd b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..422a109406dac49824c7557bd8e02692aaabf99c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8c6f3106bc45327a6a28a1e8dac171b43dcf56be0ecc48ea28971bc9368c67
+size 4650168
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.glb b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f08bcf04d407c5206b16131adb5eb11243893e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087755100d4b47037a85c007c6e33cc1aea83406af01c3198e699f1e5b568fd7
+size 17345992
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.mtl b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..283621c3ff2bb9da69dbac5460ee986f32511579
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_006_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/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1a4cb39b7c29a28a24a809ec094998e1b6a4e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.obj
@@ -0,0 +1,107550 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_006_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_collision.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d69feab6f0f36f3ec47165647c7fd40e8df928
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b2fe8849650ae5369d5597fef117c1d17d18f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d627be44adf95f1c963f47c7280e95b70c555d91efa088f65b96d4eb03d6b1ac
+size 14423299
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material.mtl b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef7e6f06958ba1e2a4814e240c1f1e5ee30f5fd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material_0.png b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b2fe8849650ae5369d5597fef117c1d17d18f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d627be44adf95f1c963f47c7280e95b70c555d91efa088f65b96d4eb03d6b1ac
+size 14423299
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/glasses_case_006.xml b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/glasses_case_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..520d577308216bb8966762c04f4ee578ff5ddbc5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/glasses_case_006.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_006">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_006_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/glasses_case_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_case_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_006">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b3ba81c81477766858f2067993444a0075120c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006.obj
@@ -0,0 +1,107550 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_006_geometry_Looks_material_0
+v 0.055042 -0.010401 0.027085
+v 0.055042 -0.010401 0.027085
+v 0.055708 -0.010352 0.027153
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0ca6260c0676081d2e3192da30095e90490770
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision.obj
@@ -0,0 +1,6984 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_006_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_0.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80da028e6c4ce2750a5bf2e03155e3fc5ff29cdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_1.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fede0d5e9b6f515270a593c21953d8c87e9b8345
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_2.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853db331e2bcad0716ab6b521ac5959119ce9a1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_3.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e78f4f6747df558d967bc5d85e8072b53e03554
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_4.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de26f100ccf37f2c6bd04e3a362754588eb763a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_4.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_5.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d637ad3e501df04d9928b67c37e67e4ab73fc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_5.obj
@@ -0,0 +1,1516 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_6.obj b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431b0642e4f573d45914c3691054cbf6be70f1df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mjcf/mesh/glasses_case_006_collision_6.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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