diff --git a/.gitattributes b/.gitattributes
index e25d2f52f1c9116cd65f134cc9f7e19caffaacf8..20f9d57e93519b32d905d7e6b318b9aba0d728e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2984,7 +2984,5 @@ dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a
 dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a/presenter_clicker_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mesh/mouse_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mouse_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/mesh/presenter_clicker_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/mesh/presenter_clicker_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/mjcf/mesh/presenter_clicker_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/presenter_clicker_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da42fa04bc6a3e55d676543e638e354af1170e53
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl presenter_clicker_006_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 presenter_clicker_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..229087bf69d809dda1a33bb54c690fce5762528f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb20c24ad321ad45cbc8c9f4875d5e3259fd510a9b3e99c4c51daae5f61f8801
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.glb b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d550624c1100c28633f80d17b2250a2d2662b85
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5427156d83a7250e735e347b3fe2721b2e58c0eabd85f5113d901c6d616e17b5
+size 10561608
diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.mtl b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d66ae75915f7ace0581648f9d5314cb7ee868f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.mtl
@@ -0,0 +1,6 @@
+newmtl presenter_clicker_006_geometry_Looks_material_0
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+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/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd5132240fd98bb42aa231b2bed9538e2422057
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.obj
@@ -0,0 +1,96562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl presenter_clicker_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5669b8f97fc5afdcd981c1fce87585d72988a41e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006_collision.obj
@@ -0,0 +1,1810 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7942802
diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bb20c24ad321ad45cbc8c9f4875d5e3259fd510a9b3e99c4c51daae5f61f8801
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006.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/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c38b1622216d3b00b45f36923eeef3dfd9721ae5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision.obj
@@ -0,0 +1,1810 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1262371d97eb2500f31d7079b157de561b75608
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_0.obj
@@ -0,0 +1,949 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a000dcea67ccde3919e838c3aff92f11faca70
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/mesh/presenter_clicker_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/presenter_clicker_006.xml b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/presenter_clicker_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd18331d11dc90afc557bd006cd90a2346424b10
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mjcf/presenter_clicker_006.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="presenter_clicker_006">
+  <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/presenter_clicker_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/presenter_clicker_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/presenter_clicker_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="presenter_clicker_006">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.urdf b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.urdf
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+++ b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="presenter_clicker_006">
+   <link name="presenter_clicker_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/presenter_clicker_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/presenter_clicker_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>1ee3974965df527084ac3b303dfa0d7b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>presenter_clicker</category>
+         <name>sleek clicker</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact presenter clicker with buttons and laser pointer</description>
+         <min_height>0.0175</min_height>
+         <max_height>0.0175</max_height>
+         <real_height>0.0175</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506205511</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>5</part_count>
+         <visual_seg>
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+            <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/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd b/dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd
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