diff --git a/.gitattributes b/.gitattributes
index c8fb03f493f4600b870d120e3b2acca932f73c7e..d66cd88c148aa6aead1a1a28c28239e1eb9496cd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2992,5 +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/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0869b386773f899690538d4882b3832255ef04ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f00e4c0befd6ff3be93a3096f7c7bb049210b7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170efe9969f5569aefe8edac4e3b29f3715b978565755da68cc65dbb1d71a335
+size 8788102
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.glb b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5274d81644da4df6d627cf00ddd28518fbe3cf2a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b81c1c87f962d9d795afb88f61c531be42abe5fb56a14ee6b4fe875bdb089d3
+size 11849600
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.mtl b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bdb0b0e18b59fbd12e8abdbe7efa1242ce0ec7ad
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_011_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/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.obj b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93213b027bf56736e786c18828b36e5aa6d27b8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011.obj
@@ -0,0 +1,112290 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_collision.obj b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..032e558914898c429bdd7b9133ccf0c1f6b26541
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..01f00e4c0befd6ff3be93a3096f7c7bb049210b7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mesh/tv_remote_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8788102
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f00e4c0befd6ff3be93a3096f7c7bb049210b7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170efe9969f5569aefe8edac4e3b29f3715b978565755da68cc65dbb1d71a335
+size 8788102
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011.obj b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011.obj
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index 0000000000000000000000000000000000000000..393122a9fd9fddad92088d6d54713b631469cba6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision.obj b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e373426c57eb0eb42bfdf722f0def92e5372dd26
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e373426c57eb0eb42bfdf722f0def92e5372dd26
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/mesh/tv_remote_011_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/tv_remote_011.xml b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/tv_remote_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e5b26d1031c54cc2eea05db763ab98a9eb64d3a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/mjcf/tv_remote_011.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_011">
+      <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/4a41969ca9cc5a8093023efcbea8f824/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:170efe9969f5569aefe8edac4e3b29f3715b978565755da68cc65dbb1d71a335
+size 8788102
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.urdf b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f001b2429ea66842bc372364f90d7324f5ef4703
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+++ b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_011">
+   <link name="tv_remote_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>4a41969ca9cc5a8093023efcbea8f824</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>samsung remote</name>
+         <color>black,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black remote with blue buttons and circular navigation pad</description>
+         <min_height>0.0211</min_height>
+         <max_height>0.0211</max_height>
+         <real_height>0.0211</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173658</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031039 -0.099787 -0.009517</min>
+            <max>0.030825 0.100213 0.011562</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>20</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/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.usd b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/tv_remote_011.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4743761
diff --git a/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/video.mp4 b/dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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