diff --git a/.gitattributes b/.gitattributes
index c559780a542a3c0ec69be9dc0c8e50adf0f24a06..1c295d5b21295d23a6e07ee249a052ba86f8963a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2998,3 +2998,5 @@ dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd
 dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.urdf b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..39eaed0f0e0b3c2449569b35a5785d59fd6bfcd4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gamepad_006">
+   <link name="gamepad_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/gamepad_006.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/gamepad_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>503f6ad26974523d9446a9e891f92d62</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>gamepad</category>
+         <name>ergonomic gamepad</name>
+         <color>blue,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact ergonomic gamepad with buttons, joysticks, and textured grips</description>
+         <min_height>0.0941</min_height>
+         <max_height>0.0941</max_height>
+         <real_height>0.0941</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506204452</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.usd b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7963e9375c93ec1221c7ccc1162993fedb14f678
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/gamepad_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b77fc524f08b0483554296f140616c6b2536602cc76f0e6ec367ec9cad43740f
+size 4980827
diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.glb b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..14832d594e60fe18ba1d3b39c02da4e324128281
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e747fa25c60b8c59634a74f0f53d667835d6c05241aa2ce8b0dc800c899c7471
+size 14628280
diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.mtl b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc042b4fd5c7ee81cd7acb0831399d8b9ae142eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.mtl
@@ -0,0 +1,6 @@
+newmtl gamepad_006_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/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d113e685825f934b28f3605b0342fe592eab7c4a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006.obj
@@ -0,0 +1,115876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl gamepad_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146dd418df8b96d9cd38fe80293530c453cd81e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/gamepad_006_collision.obj
@@ -0,0 +1,11013 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/gamepad_006.xml b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/gamepad_006.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/gamepad_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfaf06da1a36c32fee62324a60dae33ed02eeb3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006.obj
@@ -0,0 +1,115876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl gamepad_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b1ff3a225485650c008a42a2b8804ea642027e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision.obj
@@ -0,0 +1,11013 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84359cdc0b54eeb32622b8dd3321456675584238
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_0.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6940480f475dd0f9de7889b82f9b3d6e574926bf
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c7913a87ed6f77bd300c3f5cd844b613130335
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_10.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d54614ff2c78f982a8e3c214d1c2718667fc037
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_11.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a5dca75c6c7807d4d2e0848671c897716728af
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_12.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726c1a2d843c28fb251959314bd1dfc73d7cb1fa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_2.obj
@@ -0,0 +1,1051 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68950b161df82ca3002c42aa255ed5ee5b259b04
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293c9383cfedad8c55978245bf7ac4bc4fdbb548
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c01ee6bbf09d82037b7d72656f676d962884d04
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b9112fd8d8578615ae2b430c61f53dbe8c9447
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8ffbb9842017c4b1c421c85549224f194c488e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_7.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8867823d277e53e3a3922f03ac26e7be441fcff2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_8.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.03471697 0.04027690 0.01501986
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diff --git a/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893ceba421da84e2fbcc9152ee41de72a1384420
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/mjcf/mesh/gamepad_006_collision_9.obj
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