diff --git a/.gitattributes b/.gitattributes
index 687f413e35c84bdf1cc97759b3905829aad91846..35cca9d715e58f88209f068b46afe68e04aa119f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3046,5 +3046,5 @@ dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0
 dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/mouse_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c93f12fc131d58579c3ebf2630052fd5/charging_head_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c93f12fc131d58579c3ebf2630052fd5/mesh/charging_head_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a4a33b1bd268fcb7b660fbc9e5c277ad0b05703
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4930e8af3c0a73a153518bb172cf87c8f02ef305
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66d5d3cf6a003d2eebcfdad34632b7e1c81cb0ed49680d58915ea8baba68843
+size 8334346
diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.glb b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..57311e5c4e7d75ab1a658b590a5ef75d52c94d85
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920f0e191a96b63697f0614c0d59781d66cf5f18604763a85ffbca84b0c0633f
+size 11382940
diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.mtl b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..985aca730c35c6eceee48a94a5fc725e0d9b8977
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_034_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/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.obj b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3addb3481722339ac5ad859fcdd9ffe39895396
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034.obj
@@ -0,0 +1,107358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034_collision.obj b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d286026cdffacee6b24f73c33245d494ba4d12b1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034_collision.obj
@@ -0,0 +1,4776 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mesh/tv_remote_034_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034.obj b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034.obj
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+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision.obj b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38352adf49175387ca34e2e9260f1dc04d272474
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38352adf49175387ca34e2e9260f1dc04d272474
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/mesh/tv_remote_034_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/tv_remote_034.xml b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/tv_remote_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9628a477612d0c42463a8b4058f20a2ff4f0442f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/mjcf/tv_remote_034.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_034">
+      <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/cb09443b8c875958b27b4edc7fc36349/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4930e8af3c0a73a153518bb172cf87c8f02ef305
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66d5d3cf6a003d2eebcfdad34632b7e1c81cb0ed49680d58915ea8baba68843
+size 8334346
diff --git a/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.urdf b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c7cbd19214e903c6c126cdbe35f3a5205e96321c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_034">
+   <link name="tv_remote_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_034.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_034_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>cb09443b8c875958b27b4edc7fc36349</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black remote</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black tv remote with turquoise circular navigation pad</description>
+         <min_height>0.0227</min_height>
+         <max_height>0.0227</max_height>
+         <real_height>0.0227</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174333</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035839 -0.099672 -0.010961</min>
+            <max>0.035875 0.100328 0.011708</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>17</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/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.usd b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..81d2cabb229e7ef95b4cd874dbc7227cc92f8c25
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/tv_remote_034.usd
@@ -0,0 +1,3 @@
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