diff --git a/.gitattributes b/.gitattributes
index 9a5b85188786ceafb500b2b283cdab6704c2d9e7..791fbdea7132f7a0b6ea9ca73c1ad9ac53c98263 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3065,7 +3065,5 @@ dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/mouse_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3/mesh/mouse_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3/mouse_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e9e176a4afb455498d89858533410a5a/ac_remote_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e9e176a4afb455498d89858533410a5a/mesh/ac_remote_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f3009a10e49ae2cd682a0bd4d3af6fcf335cace
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_027_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 tv_remote_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7695b21a609a6635cf55de8c988f9f261a9c8225
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2a7f2dad240d4196b0ff0097d083d14a5092db6a02f959c56ad864c16f83f0
+size 8701210
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.glb b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ec16dddaa040f69abf37cf48691573f182ddc1a4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86378cac935cf2fdfc3ea5421288260991e3b7ca0cfe0479afd5c613e892b710
+size 11747388
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.mtl b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20a5b43c3495eeb5dc571ebca5e797d341f49394
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_027_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/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.obj b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fbab0f54f38bd3c74c7a0748dc0f280f018ca2f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027.obj
@@ -0,0 +1,115046 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_collision.obj b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b81ef20f9ea45cf2b288a5248b31531d285af711
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7695b21a609a6635cf55de8c988f9f261a9c8225
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mesh/tv_remote_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2a7f2dad240d4196b0ff0097d083d14a5092db6a02f959c56ad864c16f83f0
+size 8701210
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7695b21a609a6635cf55de8c988f9f261a9c8225
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2a7f2dad240d4196b0ff0097d083d14a5092db6a02f959c56ad864c16f83f0
+size 8701210
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027.obj b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027.obj
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index 0000000000000000000000000000000000000000..80625a301a2739ae9a3ff2468fce63565bd543ec
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision.obj b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119138e9a7abe0e1ff9fa5c872abbdd919257197
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119138e9a7abe0e1ff9fa5c872abbdd919257197
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/mesh/tv_remote_027_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/tv_remote_027.xml b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/tv_remote_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..790a8baa2788d1bdb9f2f37040d15c98f101988e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/mjcf/tv_remote_027.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_027">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tv_remote_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_027">
+      <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/f16a9d4d72b55703b92eeea6eea45eaa/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7695b21a609a6635cf55de8c988f9f261a9c8225
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2a7f2dad240d4196b0ff0097d083d14a5092db6a02f959c56ad864c16f83f0
+size 8701210
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.urdf b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b34d2fc2653747594e4545536f24eda632103181
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_027">
+   <link name="tv_remote_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_027.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/tv_remote_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>f16a9d4d72b55703b92eeea6eea45eaa</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>slim remote</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim rectangular remote with circular pad and numeric buttons</description>
+         <min_height>0.0169</min_height>
+         <max_height>0.0169</max_height>
+         <real_height>0.0169</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174135</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031265 -0.100242 -0.007465</min>
+            <max>0.031264 0.099758 0.009468</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.usd b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..53dc537b6e2a4e8b8c25a3229b6d900a2222b27c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76219982d1bbfeda07467922b2df074c66b211f4f206c3bf9cf1eca8052fc461
+size 4744033
diff --git a/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/video.mp4 b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4baaff25e86038568e57e403637e17ab6f8e389c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee5d726258e6254cb1a9fb7547695c1badd1f72307f83a159a88b032617bf71
+size 184603