diff --git a/.gitattributes b/.gitattributes
index 94b83dcdc5b6eb8f105d2223365c5656e3f8cafd..4888761c2d02bf4238ad67fda2facf5fc80b0fff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5287,3 +5287,5 @@ dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone
 dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/06ee0da31e54554ba445ef020d5131a1/mesh/mouse_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/06ee0da31e54554ba445ef020d5131a1/mouse_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.urdf b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..196d227638ea9d3c0212abf814f894df5ecc5c52
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="earbud_case_003">
+   <link name="earbud_case_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/earbud_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/earbud_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="0.0750" />
+         <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>0ac20a9784e55ee2bbf2f9eefcb3251c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>earbud_case</category>
+         <name>compact earbud case</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>sleek black earbud case with rounded edges and charging port</description>
+         <min_height>0.0132</min_height>
+         <max_height>0.0132</max_height>
+         <real_height>0.0132</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506204031</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>NO: {"summary":"Lid-body boundary is missed; only whole case and port are segmented, which is not actionable.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.usd b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c2c82f9a679ee920378a6561d63bdeb6cd4ac38c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24960aea39c1bed04eb0fbcc4c8422e23460280db3ae89dd12bd39f6e15a325b
+size 4837684
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.glb b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5aa56ac711672b49bce86bf70bf9b80834a5bd13
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb32483b921ce09bf9c13bce8de143bfb69b7923f828544aec6de8d1b4e1301
+size 12848700
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.mtl b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df89d10f32427f102ddce10fcf83c1e415a2c34f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.mtl
@@ -0,0 +1,6 @@
+newmtl earbud_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/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.obj b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b38e2370fa8064a34e9be72c258a3ebccc055e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.obj
@@ -0,0 +1,112252 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78fe8b7e188e957f6400624744d1fdb163a28f98
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_collision.obj
@@ -0,0 +1,9522 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7da066f06ef7a18edf8fe3e90d3c866f527e64a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf727b880ef8ea2025a367b04461ac7411545be1ecea271ae0a7290c28101a1
+size 9627659
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5543002a29df979bda681c73187ea0a714a73a6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl earbud_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 earbud_case_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7da066f06ef7a18edf8fe3e90d3c866f527e64a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf727b880ef8ea2025a367b04461ac7411545be1ecea271ae0a7290c28101a1
+size 9627659
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/earbud_case_003.xml b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/earbud_case_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75a38a005461e6cd1099a8c6d991bdb5f2cd20bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/earbud_case_003.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="earbud_case_003">
+  <asset>
+    <material name="material_0" texture="texture_0_earbud_case_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_earbud_case_003_geometry_Looks_material_0" type="2d" file="mesh/earbud_case_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/earbud_case_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/earbud_case_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="earbud_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003.obj b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5bc30c7d6377ab6c368ebff72ec2e854b2ad30
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003.obj
@@ -0,0 +1,112252 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd8427175bba2e95e7300e83c1e28678c666e3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd8427175bba2e95e7300e83c1e28678c666e3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mjcf/mesh/earbud_case_003_collision_0.obj
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