diff --git a/.gitattributes b/.gitattributes
index 3102ef95e78f6c60e89fb76eda0de6db5143bc04..a649796d719f9ad40d48d578a5b29b52a62f2d69 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2992,3 +2992,5 @@ dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1
 dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1/tv_remote_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mesh/mouse_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mouse_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cadbe0bd3c6fce35636588a93e1997239a33551a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47ba3cf0222dba4efac99d14dccb90189d6a636a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6142a6db92569d186dcf47caea46fc4b48315c7ca24a7fecd2f8102a796f5283
+size 7981450
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.glb b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7b1dc572a7ee6bc2b65454828c765d26e2fc493
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed37343a5fdaa72997ff41125491c2c2c45b513a21e59d419e86bf9aa3b818e0
+size 11133968
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.mtl b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21f3b8f86034e15a301a650f7307f0dc654c6487
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_005_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/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.obj b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f005a76e1099b6b48f97f12ef495454d5b36d4a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.obj
@@ -0,0 +1,107424 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6b79f2edbcd29743e74f1756af90b350fbf6d1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_collision.obj
@@ -0,0 +1,2325 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47ba3cf0222dba4efac99d14dccb90189d6a636a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6142a6db92569d186dcf47caea46fc4b48315c7ca24a7fecd2f8102a796f5283
+size 7981450
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47ba3cf0222dba4efac99d14dccb90189d6a636a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6142a6db92569d186dcf47caea46fc4b48315c7ca24a7fecd2f8102a796f5283
+size 7981450
diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005.obj b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c757a3761db1c6f16d5728ae28757e27482a8a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac490c7564efec60c4129ba962bbd8b914b9da1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac490c7564efec60c4129ba962bbd8b914b9da1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/mesh/tv_remote_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/tv_remote_005.xml b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/tv_remote_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1471dca83ff7b549fcf0558042f7765c878ed43
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+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mjcf/tv_remote_005.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_005">
+      <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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.urdf b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.urdf
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+++ b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_005">
+   <link name="tv_remote_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>4d3c815af1875470badf7f44c2397ab8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>gray remote</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>sleek gray remote with circular dial and buttons</description>
+         <min_height>0.0141</min_height>
+         <max_height>0.0141</max_height>
+         <real_height>0.0141</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506205726</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
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+            <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/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.usd b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/video.mp4 b/dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/video.mp4
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