diff --git a/.gitattributes b/.gitattributes
index 8a7929d038a713912290b14bed0b3d71d178eee2..6570a7e0bda15f7275a3b0c2b35840d3b1edfd20 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,5 +3015,5 @@ dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62
 dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/mouse_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/mesh/tv_remote_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/tv_remote_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.urdf b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f7a6fa479c192d95f0880ab839b9061e8c007713
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="earbud_case_001">
+   <link name="earbud_case_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/earbud_case_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>8441adbf505d5533acce8415e7261620</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>sleek, rounded earbud case with a hinge and charging port</description>
+         <min_height>0.0309</min_height>
+         <max_height>0.0309</max_height>
+         <real_height>0.0309</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145610</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.usd b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..df10a2dd9a53c7567dd6575be1f0d2d3adb45305
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895afcb3d6d6aa29b7961f0cd65a765e2456eb658e33374db8b2e4c9bf329ea0
+size 4475299
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.glb b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69af70e0aba9bd1bd1ac9796787ccf957bae976e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:633b8e31e56306d10747a697553974946d205401a6acd6f228267c4f0f80fdc8
+size 10381196
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.mtl b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9988f76fc1de6311f74d3d6846778850baa0ebf1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.mtl
@@ -0,0 +1,6 @@
+newmtl earbud_case_001_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/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.obj b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e587fb68cca364ccc543a307430ab15732c5de7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001.obj
@@ -0,0 +1,105088 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d673a7cd2a241190dbd235fd8652b94414e84fb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..458b4709303eb182aaac6c91cb0256079e3b9161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/earbud_case_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0d814737982b2b5f2d0b51b98d4618b330033bdf284b3b6793c16c7ee32722
+size 7754072
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29f4714d3c9bfbf9fb96c6657d1cd2f994d7666e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl earbud_case_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..458b4709303eb182aaac6c91cb0256079e3b9161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0d814737982b2b5f2d0b51b98d4618b330033bdf284b3b6793c16c7ee32722
+size 7754072
diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/earbud_case_001.xml b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/earbud_case_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed506dcfd7cafd6b7c064ca24888027f03272633
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/earbud_case_001.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="earbud_case_001">
+  <asset>
+    <material name="material_0" texture="texture_0_earbud_case_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_earbud_case_001_geometry_Looks_material_0" type="2d" file="mesh/earbud_case_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/earbud_case_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/earbud_case_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="earbud_case_001">
+      <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/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001.obj b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b9627fb776eca147cef66ad0a6bf7f2eb9554b4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001.obj
@@ -0,0 +1,105088 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl earbud_case_001_geometry_Looks_material_0
+v 0.009041 0.013180 0.015218
+v 0.009041 0.013180 0.015218
+v 0.009041 0.013180 0.015218
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diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7c511d670fc5159541b1949784ff2caa1c863
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision.obj
@@ -0,0 +1,23212 @@
+# https://github.com/mikedh/trimesh
+v -0.02243832 -0.01243066 0.00141376
+v -0.02243392 -0.01243064 -0.00246385
+v -0.02242952 -0.01342229 0.00141376
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diff --git a/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7c511d670fc5159541b1949784ff2caa1c863
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/mjcf/mesh/earbud_case_001_collision_0.obj
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