diff --git a/.gitattributes b/.gitattributes
index d1834b1accb7b694b879f4844ae88ba6c9b56a94..c33f15d1286c73780f6df11534e764afad13c724 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3007,5 +3007,5 @@ dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4
 dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4/tv_remote_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.urdf b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..681316c7b6e805f9af69c1fa542245690c1ecc9f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="earbud_case_002">
+   <link name="earbud_case_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/earbud_case_002.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/earbud_case_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>622cb87e272d527db245c43a9707014f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>earbud_case</category>
+         <name>gray earbud case</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact gray earbud case with rounded edges and charging port</description>
+         <min_height>0.0211</min_height>
+         <max_height>0.0211</max_height>
+         <real_height>0.0211</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506204019</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>6</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/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.usd b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2b9a02dc16a721bcdc4707fba32a59681a7c7166
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/earbud_case_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12460b4dd03cfc6a0bc4b65147626305dc74ba2c0c1e45ce7c65aecef2f4bb68
+size 4832104
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.glb b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8da5b1fd5fdcdf84c026f183a1e2e547961f0cb9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847175b4a626c22cf36d770f96a4efe1fc4cf12e6fef684d1ad41c82b5c4f85b
+size 10148764
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.mtl b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dabd21ca7e01792585fbcbf1550b8f8f60ac0e52
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.mtl
@@ -0,0 +1,6 @@
+newmtl earbud_case_002_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/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.obj b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f27e14a65b0d3030a88afb8c51014c0e0a2dc95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002.obj
@@ -0,0 +1,105756 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a257afb8afb7a29af6b6dcc092e907c19ac8654a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_collision.obj
@@ -0,0 +1,27255 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1741770487df6215844c626f4109603aa2e9ec0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/earbud_case_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439b044165910ef3870a5fdd4c1d1bb67570fa0383ca8d4a1cb4e496659ec12d
+size 6942708
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f077c000aad09aaaf6c3d90c3631a786b3c119f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl earbud_case_002_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 earbud_case_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1741770487df6215844c626f4109603aa2e9ec0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439b044165910ef3870a5fdd4c1d1bb67570fa0383ca8d4a1cb4e496659ec12d
+size 6942708
diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/earbud_case_002.xml b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/earbud_case_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8e0b524df76eb75fe8076e62f1b64ad3a15e3145
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/earbud_case_002.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="earbud_case_002">
+  <asset>
+    <material name="material_0" texture="texture_0_earbud_case_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_earbud_case_002_geometry_Looks_material_0" type="2d" file="mesh/earbud_case_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/earbud_case_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/earbud_case_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="earbud_case_002">
+      <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/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002.obj b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a725d10cf7c469d74ec502812d4da5a9556d443
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002.obj
@@ -0,0 +1,105756 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d02e559108c077a885808da20f4004e71e8111
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d02e559108c077a885808da20f4004e71e8111
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/mjcf/mesh/earbud_case_002_collision_0.obj
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