diff --git a/.gitattributes b/.gitattributes
index c272065c315a1ba1880e9b10ac0db067223e03aa..b7ff2a31a901ef57c8832321a1236106df697a3d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2994,5 +2994,5 @@ dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mouse_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/ac_remote_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/mesh/ac_remote_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/mesh/tv_remote_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/tv_remote_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.urdf b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65c6d91bcfa8e326d007a66f7143b653b161c9da
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="earbud_case_007">
+   <link name="earbud_case_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/earbud_case_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>50530a3bfeb150c18207d3c9be2dd24a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>earbud_case</category>
+         <name>compact earbud case</name>
+         <color>gray</color>
+         <shape>ellipsoid</shape>
+         <material>plastic</material>
+         <description>small, rounded earbud case with usb port and smooth surface</description>
+         <min_height>0.0184</min_height>
+         <max_height>0.0184</max_height>
+         <real_height>0.0184</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506204157</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/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.usd b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c0fcd8d4a1f430b7ee1b7e6faedba667d6d2f41a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9262153491a2f9f651965de0378a1509e0efb415c56aac8a4800443a67e4ba32
+size 4832232
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.glb b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56e7c64f4c73b4ec3deeff0d8d95d88dfc146e49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed15d2c384a67385b82aece74f61068683fb1cdb421282ecc0a4d4b02d3afc96
+size 9991360
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.mtl b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c727769072d9630bea8b596b5edee97aa6cd0be8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.mtl
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+newmtl earbud_case_007_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/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.obj b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5595ed83a7c612e4edf2b43ce977ce0fc790eb59
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e38bafccc82c5285c08cbe0ed21c14b229a884
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..44fe3a96450b6291491abd1bd493a9cb79d67da2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e641ddb84c0686618bf909eee9f528e5cc801e65907a6ed9b2ee42f9398375e
+size 6780015
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2fb1858b4dc4ff0642c0d7fc0a63aa8d183e1ffd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl earbud_case_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..44fe3a96450b6291491abd1bd493a9cb79d67da2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e641ddb84c0686618bf909eee9f528e5cc801e65907a6ed9b2ee42f9398375e
+size 6780015
diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/earbud_case_007.xml b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/earbud_case_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f9682605a93ac42bfcc440d7f291559798774289
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/earbud_case_007.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="earbud_case_007">
+  <asset>
+    <material name="material_0" texture="texture_0_earbud_case_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_earbud_case_007_geometry_Looks_material_0" type="2d" file="mesh/earbud_case_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/earbud_case_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/earbud_case_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="earbud_case_007">
+      <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/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007.obj b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435469546aecd85e8485b426fd5b7d57b3ac8e09
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007.obj
@@ -0,0 +1,104696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165b3efb2d8de5bb7603a5f32cca0e2f8eac3c99
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165b3efb2d8de5bb7603a5f32cca0e2f8eac3c99
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mjcf/mesh/earbud_case_007_collision_0.obj
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