diff --git a/.gitattributes b/.gitattributes
index e4d34bcdcc416500a60fd43d38916bd9745efd83..1a0e3544df3ae0eb2aebf66cf0ed3e8a401cdfb1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,3 +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/7f60b1a8e6ad528c88166c53d47e6926/earbud_case_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926/mesh/earbud_case_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e010e201006e9eb5948dcd9911303bc5f6797308
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f85d50bc485a45eaa967880ab669dc7c43819
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8388444e4b60ac442b7784844da3bac1e5ce8af9519a897f8c93c4cac0f97b70
+size 8450678
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b248bf77ea9c58e47788f5de0954e321a971c76f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a09ec40f8a1bd7754266e2e75d4ee504ae9bbcb3ff345e6df7996313d1c3632
+size 11633304
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.mtl b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61552f071bb51b430c036cd24d163cb73f3e3042
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_039_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/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ebcac70eb512ddad377daa4fa7e545b126873c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.obj
@@ -0,0 +1,116678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_collision.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091ac3e8dc674768ca8de7ec1f9a78c8f6fee23a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_collision.obj
@@ -0,0 +1,3677 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f85d50bc485a45eaa967880ab669dc7c43819
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8388444e4b60ac442b7784844da3bac1e5ce8af9519a897f8c93c4cac0f97b70
+size 8450678
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f85d50bc485a45eaa967880ab669dc7c43819
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8388444e4b60ac442b7784844da3bac1e5ce8af9519a897f8c93c4cac0f97b70
+size 8450678
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3606f5ad8cfec1e97f81e4804d47227472d8494d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3c4b9061fc1fefad2622c97ff0d58706695906
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision.obj
@@ -0,0 +1,3677 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f818e677a9987795e9b8bd47095736c548e01a94
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf9d7ee49db7bd89e76a086250cc9cad73e99cc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5795b9722209e33f9a784e539e1dee14c9003b13
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/mesh/tv_remote_039_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/tv_remote_039.xml b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/tv_remote_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b86f5f7c0313ebf075a26290608d1afc24bfd569
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mjcf/tv_remote_039.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tv_remote_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tv_remote_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_039">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" 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/8ceadbc0908d5e5fabf56e77c3fb7807/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8388444e4b60ac442b7784844da3bac1e5ce8af9519a897f8c93c4cac0f97b70
+size 8450678
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.urdf b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8953d65edfdff2d64e6e25873e704ec70fa40464
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_039">
+   <link name="tv_remote_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>8ceadbc0908d5e5fabf56e77c3fb7807</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 rectangular gray tv remote with circular pad and four buttons</description>
+         <min_height>0.0276</min_height>
+         <max_height>0.0276</max_height>
+         <real_height>0.0276</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174456</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031726 -0.100220 -0.016126</min>
+            <max>0.030051 0.099780 0.011444</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd
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+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b01e49d852fc0fd790b8ec9f76c56c805aa610906488e7a0ea053c339bd1f50
+size 4815564
diff --git a/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/video.mp4 b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..585f641cf50ecce971013b55dccb8e22ddd09223
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a12a9534cf888dd60852ceb351f03e89c985f851431ddcb6a98cf42858dfa7
+size 206745