diff --git a/.gitattributes b/.gitattributes
index b7ff2a31a901ef57c8832321a1236106df697a3d..6efe9df772cb796f56a32f057d258444f0c3be26 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2994,5 +2994,9 @@ dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mouse_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/ac_remote_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/mesh/ac_remote_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/earbud_case_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/mesh/earbud_case_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb filter=lfs diff=lfs merge=lfs -text
+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/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2013b4ab513698bb7f89f48197e4b6c7c15601e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..623742536c22f38a9f8827dc1e360e282622d7fb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359b3bfb12bc97c0f88487d586db9f5499a362123989a9b7b6280d55d7f2160c
+size 6757265
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.glb b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f000222aa55e15d6443384bf40ce444e96977044
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041db2ff3418b4d726699805cbe8c9d2c08320cf068f8d5b26593331c6abd75c
+size 9862068
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.mtl b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2abf52161729c0f452ab27b9fb3164dd6a3a70a7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_015_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/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.obj b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b068b0c967bd7e65386eab5e379c39655b109eb1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015.obj
@@ -0,0 +1,110284 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_collision.obj b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2d9e0110d610150669c75354d57c031ac5e563
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..623742536c22f38a9f8827dc1e360e282622d7fb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mesh/tv_remote_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359b3bfb12bc97c0f88487d586db9f5499a362123989a9b7b6280d55d7f2160c
+size 6757265
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..623742536c22f38a9f8827dc1e360e282622d7fb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:359b3bfb12bc97c0f88487d586db9f5499a362123989a9b7b6280d55d7f2160c
+size 6757265
diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015.obj b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f963a0ef439407d1ca54bdbe5235d28e659f3b08
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision.obj b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642364a9619e7bdda794e2577c8fab4aa1317623
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642364a9619e7bdda794e2577c8fab4aa1317623
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/mesh/tv_remote_015_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/tv_remote_015.xml b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/tv_remote_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28571025f7019f39561b1cbc96ed4a613a386182
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/mjcf/tv_remote_015.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_015">
+      <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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.urdf b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.urdf
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+++ b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_015">
+   <link name="tv_remote_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <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>4ea9c570f49a57e5813ca9b329df79e7</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 keypad and beige top section</description>
+         <min_height>0.0168</min_height>
+         <max_height>0.0168</max_height>
+         <real_height>0.0168</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173756</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027029 -0.101000 -0.008056</min>
+            <max>0.027037 0.099000 0.008741</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
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+            <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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.usd b/dataset/desktop_supplies/electronic_accessories/4ea9c570f49a57e5813ca9b329df79e7/tv_remote_015.usd
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