diff --git a/.gitattributes b/.gitattributes
index c208127fd3a0739898e7318d384964d309e4fdaf..0515edc9c7e71724c33afb31458baaa616acdbc9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3025,3 +3025,5 @@ dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27
 dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/mouse_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a0ff960790455e618f5e151e3cb9d43b/mesh/mouse_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a0ff960790455e618f5e151e3cb9d43b/mouse_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b91781fb30f66035462d2f9d77016183660a1629
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbf5e37949e8e67c9f60532516580e2b983d1dac
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17246cd1409bf1c5f18a96ea65f75a25e8cc8855c0738f0addbb9518f904f1c5
+size 6986585
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.glb b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8046cf2cdfd89a8746117da394b841ebff7b7d32
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441b89b072a6b9bed0dda7af1d3e07c972011f49fe743ad4e0fc1e69bf2f8d48
+size 9920240
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.mtl b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a19d86b4198edd9abec5629f5e639c47cf9e4b84
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_028_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/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.obj b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e9959e8f2f9aab7f60d466186fca64d31da1d3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028.obj
@@ -0,0 +1,108292 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_collision.obj b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e963290c04c6000cd4cac738095fb02ba14afa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_collision.obj
@@ -0,0 +1,2088 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbf5e37949e8e67c9f60532516580e2b983d1dac
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mesh/tv_remote_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17246cd1409bf1c5f18a96ea65f75a25e8cc8855c0738f0addbb9518f904f1c5
+size 6986585
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbf5e37949e8e67c9f60532516580e2b983d1dac
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17246cd1409bf1c5f18a96ea65f75a25e8cc8855c0738f0addbb9518f904f1c5
+size 6986585
diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028.obj b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028.obj
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+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028.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/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision.obj b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aac9a79b45a1d8753ff3ef088bd4d749ecff081
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aac9a79b45a1d8753ff3ef088bd4d749ecff081
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/mesh/tv_remote_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/tv_remote_028.xml b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/tv_remote_028.xml
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+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/mjcf/tv_remote_028.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_028">
+      <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/ab2e0ff593d15d46bd7b260929df9305/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.urdf b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.urdf
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+++ b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_028">
+   <link name="tv_remote_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_028.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_028_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>ab2e0ff593d15d46bd7b260929df9305</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black tv remote</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black remote with numeric keypad and beige accent</description>
+         <min_height>0.0167</min_height>
+         <max_height>0.0167</max_height>
+         <real_height>0.0167</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174148</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025668 -0.100738 -0.007843</min>
+            <max>0.025344 0.099262 0.008853</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.usd b/dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.usd
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