diff --git a/.gitattributes b/.gitattributes
index 15b295f42120561469875ae684b2ad8fc0763d2d..4f739f30447319b0c6f7a28213e834911faa5bde 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3063,3 +3063,5 @@ dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf
 dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf/mesh/gamepad_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/mesh/mouse_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/mouse_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..faff154afa4e94904b89a891cb934fb2cc2e5e02
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..120a8daa138161a5deefeef8e9790b53dc08a7eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29af27c2ffeda0679f3dfea2e678bd949a659fe60ab1a7d4affab1cf8972a5d
+size 8895800
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.glb b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1a2f66a0855e4cdb66ba52d02b0454a37d80a202
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa77b32568fdf14dce00e562222059b8a57d814d45dd7fe3c2e4e7d62a6e3e74
+size 12162436
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.mtl b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd82b5c83c260b3078ade158e42e44085bb238e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_040_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/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.obj b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5500085f06cfc434f616e4f35afd797b223a137
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.obj
@@ -0,0 +1,109624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_collision.obj b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e336cc3b9cc606c1bd963256b4e39f1aa61f265
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_collision.obj
@@ -0,0 +1,2367 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..120a8daa138161a5deefeef8e9790b53dc08a7eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29af27c2ffeda0679f3dfea2e678bd949a659fe60ab1a7d4affab1cf8972a5d
+size 8895800
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..120a8daa138161a5deefeef8e9790b53dc08a7eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29af27c2ffeda0679f3dfea2e678bd949a659fe60ab1a7d4affab1cf8972a5d
+size 8895800
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040.obj b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f07a4ae7e0f664004a6fea0a292dd0b9d23fa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision.obj b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019d2238ac07e1f6dc445ec6f90ac03f822441b3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019d2238ac07e1f6dc445ec6f90ac03f822441b3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/mesh/tv_remote_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/tv_remote_040.xml b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/tv_remote_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e50e577ddbacf18168e9507ce306a41a3a40e012
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mjcf/tv_remote_040.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_040">
+      <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/e1d78bed666f5b6789c41e2175d6831d/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/textures/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29af27c2ffeda0679f3dfea2e678bd949a659fe60ab1a7d4affab1cf8972a5d
+size 8895800
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.urdf b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e9bf778702c70320b8aa1be09dbbcd227b85c7c
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+++ b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_040">
+   <link name="tv_remote_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_040.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_040_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>e1d78bed666f5b6789c41e2175d6831d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>gray remote</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim gray rectangular tv remote with many small front buttons</description>
+         <min_height>0.0202</min_height>
+         <max_height>0.0202</max_height>
+         <real_height>0.0202</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174518</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025450 -0.100334 -0.009479</min>
+            <max>0.025458 0.099666 0.010754</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>18</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/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.usd b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4877108
diff --git a/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/video.mp4 b/dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/video.mp4
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+version https://git-lfs.github.com/spec/v1
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