diff --git a/.gitattributes b/.gitattributes
index a9807dc1934c47849b3bc32956d5de5712fef617..8b7cecd36b65b04af9add87090fa9392b4b01ac6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3031,5 +3031,5 @@ dataset/desktop_supplies/electronic_accessories/9d0890d45fb25417aeff023cac28123a
 dataset/desktop_supplies/electronic_accessories/9d0890d45fb25417aeff023cac28123a/presenter_clicker_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/abcacb58055e5eef9fc366550e85311d/ac_remote_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/abcacb58055e5eef9fc366550e85311d/mesh/ac_remote_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/mesh/usb_drive_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/usb_drive_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..95f67ab0fa0cdd4fd3ca5609feef27fce2725e9f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_024_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_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d586f660206b86cf0d4557c83da1f848af7fea66
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b06bd601e5f1ebaa4d33ac8bb5e23d542a78d88e2d5d3bb1fb8d88b9f079799
+size 7003398
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.glb b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7b11d134ac91bc8d95789fc408105ef22c189b4f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d20c05fb444ab456e9ffb5f1d9221cbe521c6a5cc48fb2df343a6b8e43bc1cd
+size 10083144
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.mtl b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e615748911064f66464d3bf6c514fe0ca49dafc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_024_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/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.obj b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da5155dbff6cedb1db839205750ef670719f24e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024.obj
@@ -0,0 +1,110902 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_collision.obj b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7917b0d71c45b658a7870dd505b88fa56a30122b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_collision.obj
@@ -0,0 +1,2769 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d586f660206b86cf0d4557c83da1f848af7fea66
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mesh/tv_remote_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b06bd601e5f1ebaa4d33ac8bb5e23d542a78d88e2d5d3bb1fb8d88b9f079799
+size 7003398
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d586f660206b86cf0d4557c83da1f848af7fea66
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b06bd601e5f1ebaa4d33ac8bb5e23d542a78d88e2d5d3bb1fb8d88b9f079799
+size 7003398
diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024.obj b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024.obj
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index 0000000000000000000000000000000000000000..9ae11e0c33a3d7f58b0fa69366934c1eb1496500
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision.obj b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852779f0ab4266eb96fccf608785d59a7ab7848a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852779f0ab4266eb96fccf608785d59a7ab7848a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/mesh/tv_remote_024_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/tv_remote_024.xml b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/tv_remote_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42b7596cfe0ef88b320c4684996b3656ec5f97c6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/mjcf/tv_remote_024.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_024">
+      <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/acac82dd1e275f6190383e2f3d79249f/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.urdf b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.urdf
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_024">
+   <link name="tv_remote_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.75</mu1>
+            <mu2>0.55</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>acac82dd1e275f6190383e2f3d79249f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black remote</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black tv remote with circular navigation pad and few buttons</description>
+         <min_height>0.0252</min_height>
+         <max_height>0.0252</max_height>
+         <real_height>0.0252</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174058</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029866 -0.099275 -0.011940</min>
+            <max>0.029888 0.100725 0.013213</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.usd b/dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/tv_remote_024.usd
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+version https://git-lfs.github.com/spec/v1
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