diff --git a/.gitattributes b/.gitattributes
index 4937317b94944c91dda184a45e55a6984fb33067..d423d18cf14bfc3ba89e3baaa544f8a8a77cfe3e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2775,5 +2775,5 @@ dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/mesh/plastic_b
 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
-dataset/bedroom_supplies/storage/70b2e8bc787a5fd0835e1fbaeaaa1d87/mesh/storage_box_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/70b2e8bc787a5fd0835e1fbaeaaa1d87/storage_box_011.usd 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
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.urdf b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef793532d95fab9baaaba090deb276ae51ba9ba5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_003">
+   <link name="glasses_case_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>72e82fe5cde854519099e1bc64d8ccea</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>textured glasses case</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical glasses case with textured surface and central clasp</description>
+         <min_height>0.0539</min_height>
+         <max_height>0.0539</max_height>
+         <real_height>0.0539</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230315</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>5</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/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.usd b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8f137042b4a482c738c654c11079614dc1849719
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/glasses_case_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b53a30bffa1e6ddbca55a157ee97020dd283b82b3aafe78d77d6dd0e292019d
+size 4474178
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.glb b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d05fb4fc2b674ee29bcfc1d4407c262a5733ef5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e562b16c5a81cb400e6959318fa9a71623f789de76f81539cb7b9fa97f64b58
+size 16408308
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.mtl b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b71f4c0b90983c1a1f26fe9e83034cc660d0f3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.mtl
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+newmtl glasses_case_003_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/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b808ccffe84e4771a0632a5a87e3efe27e325009
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003.obj
@@ -0,0 +1,109174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_collision.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fd50b8f7f7225045baf5f8f206b4bb66483caf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed34dad0fbe3c36c3f655f3c5ab093af7ac3d154
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_case_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d3797d97f31376afcb022350860d9fb1924557d56405b54670570dc4cb4513a
+size 13776030
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material.mtl b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14d229de4a6be973e3922c27944712bd42ee2b38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material_0.png b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed34dad0fbe3c36c3f655f3c5ab093af7ac3d154
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d3797d97f31376afcb022350860d9fb1924557d56405b54670570dc4cb4513a
+size 13776030
diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/glasses_case_003.xml b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/glasses_case_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cab5771fb42c631c40c95dd7f7fd3267464b57b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/glasses_case_003.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_003">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_003_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_003">
+      <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/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3bbfcff00c7c36cad03d8cfe686b0568ee3b01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003.obj
@@ -0,0 +1,109174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9bc47528cc7b680b61200a650bef3e289d64faa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision.obj
@@ -0,0 +1,6077 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_003_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_0.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8454d921dc4cc3cd5c07d11ebaf02699c54f90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_1.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fc3b9cd427d2ad50f83a023b4b0b6cc7f4d261
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_2.obj b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7034330fcf5534c551169b94006f50cb8a240d94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mjcf/mesh/glasses_case_003_collision_2.obj
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