diff --git a/.gitattributes b/.gitattributes
index 65865fef21ad44581cc4f5057ab9a31b476dedce..8df3d2a285a6e7dd81bfce6e39ca681550c94a3f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2773,3 +2773,5 @@ dataset/bedroom_supplies/storage/6bc601ec4e3a52b8b37f9aea1b2d954e/mesh/basket_gs
 dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/70a4da9adf73595aa8fd8c07a2665ccb.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.urdf b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8899dc9e18f41cd0c6b3d5be7380a9bd50ff031
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_032">
+   <link name="jewelry_box_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_032.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/jewelry_box_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>70b3b9417e76510889df5c2cd28cecbe</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>gray jewelry box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>rectangular gray jewelry box with rounded edges and front clasp</description>
+         <min_height>0.1030</min_height>
+         <max_height>0.1030</max_height>
+         <real_height>0.1030</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132931</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.079750 -0.099984 -0.048867</min>
+            <max>0.085407 0.100017 0.054130</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.usd b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6fd0ceea9757adc3204570ea907af44827e544c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718a69d8fd8b9774b62a278a6d4b39508013b7216abf8bf7ec9dd9856db51b21
+size 4657802
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..43d82c5d0e894936ab1d58252570692b6814bc85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdeef8e3d2bbec06cbed1b41f3cfe831a6f24920e1c7ab0222d39bbf7a9c98b9
+size 12727148
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.mtl b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..282456a58c3ddcf2d952613d7e6953335770c825
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_032_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/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5984e30659f313a916d5fd0f8daeae967273c978
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032.obj
@@ -0,0 +1,109298 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_collision.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e32a6f21a6d61720de5061824eb01c67b0f833
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83313bbf305557610c7da2ab3cd2fdaade011f23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/jewelry_box_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4a3dc8d8f29ed259074be9ab0cc14a42be08347e2147098678a94fa5a91fb6
+size 9793258
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material.mtl b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2f851d6cf4ebb98c992564fc8f5a445b5c6f0ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_032_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 jewelry_box_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material_0.png b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83313bbf305557610c7da2ab3cd2fdaade011f23
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4a3dc8d8f29ed259074be9ab0cc14a42be08347e2147098678a94fa5a91fb6
+size 9793258
diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/jewelry_box_032.xml b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/jewelry_box_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a59a3c94ddf07d9ced62028837c0ea09e0a971f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/jewelry_box_032.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_032">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_032_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_032">
+      <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/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a917c7ca5873759d1407e1c22d7964837bab1a18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032.obj
@@ -0,0 +1,109298 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_032_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71a51f6fece64dacbd82da40f1d98a79ff6c803
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision.obj
@@ -0,0 +1,5234 @@
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_0.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0edc61a45ee89d4d499e7317578ec98a9237c56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_1.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa3c3b8f2db5cd0e3627ba334cc492e078ba4f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_2.obj b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b697311801869998d823c062e033da7a0610723
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/mjcf/mesh/jewelry_box_032_collision_2.obj
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