diff --git a/.gitattributes b/.gitattributes
index 2cdc7e426eb4377348b437aece30a8deb9efc638..8e7e041ff14ebe8fe47814be2b9abc21e4a777b4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2794,5 +2794,5 @@ dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_01
 dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/jewelry_box_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/mesh/jewelry_box_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.urdf b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dce3e6799fc0c630bd96413f763262bbc4bd0e7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_004">
+   <link name="glasses_case_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>8c0c96f4567f5063bbcaaf0bb2e80d57</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>plastic</material>
+         <description>sleek black glasses case with rounded edges</description>
+         <min_height>0.0549</min_height>
+         <max_height>0.0549</max_height>
+         <real_height>0.0549</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230332</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>3</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/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.usd b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/glasses_case_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6066584fd05245b72c004d09fbf37b502980a9aa6336075945404469e925bfe
+size 4476761
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.glb b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a660040efa748a35916fd0c0a9b956458430fea2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62fc30fe2501d5241fab2f674b7cdcfa5d0a85b364d3c619b8e16e85d9072f03
+size 10219212
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.mtl b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54c7114c83e2f56aa0885649c938d81e135b69dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.mtl
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+newmtl glasses_case_004_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/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.obj b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84d2ffb3d29abd6fd3d40160a80ff5e20269e18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_004_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_collision.obj b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe137a3e31065c870ee2f508c10610ddf8b4990b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2319cbc981f4919a43fc6b4921b3cc366203378a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/glasses_case_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7157ee96f3eaf3bc8a963275837c4157a521ae7d52201a294c6d70b1aec08b92
+size 7580599
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material.mtl b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53e1371ce42ac7657eeaa46c37c6e92be07e3db1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material_0.png b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2319cbc981f4919a43fc6b4921b3cc366203378a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7157ee96f3eaf3bc8a963275837c4157a521ae7d52201a294c6d70b1aec08b92
+size 7580599
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/glasses_case_004.xml b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/glasses_case_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ef13f1208f5c51cd5881111ec5d70509425c798
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/glasses_case_004.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_004">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_004_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004.obj b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03beae2ec5cbb482756658fa0cfcf4bb961a4bed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004.obj
@@ -0,0 +1,104694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_004_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision.obj b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0f38be6f76461608fce9763eeaf85831c8f238
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision_0.obj b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0f38be6f76461608fce9763eeaf85831c8f238
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/mjcf/mesh/glasses_case_004_collision_0.obj
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