diff --git a/.gitattributes b/.gitattributes
index 89f605c4c1dedfe581529d384b78760f368c13d2..607ba6980ba3390f1fc5b9670682cfeb48cd11d3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,5 +3015,7 @@ dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62
 dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/mouse_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926/earbud_case_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926/mesh/earbud_case_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/mesh/tv_remote_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/tv_remote_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d16f1880090d0309ec7349efe53d8cde7c18ab2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c111d0f38602fb18650db655194d19b45b0ae356
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce6c79bbdd72d6d8382b745a459e61533e361618b00ab78ce07d688929d6c6e
+size 8505053
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.glb b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..295f6bcec666f31cecb4e91baa80929db0571b6a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e40d3b6bf9230a9cc5a68a3ee3039bc8a411d6a8a2b7e156d478cac2fc77bf
+size 11685128
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.mtl b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2b081e26c80b6bdafc288722abde1a870caaace
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_031_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/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ea8d71591997c713188c20e2b2df2fa16d8cc9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031.obj
@@ -0,0 +1,110110 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_collision.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b4ef4a6d83202289ea5f291eef5c30aeea745d3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c111d0f38602fb18650db655194d19b45b0ae356
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mesh/tv_remote_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce6c79bbdd72d6d8382b745a459e61533e361618b00ab78ce07d688929d6c6e
+size 8505053
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c111d0f38602fb18650db655194d19b45b0ae356
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce6c79bbdd72d6d8382b745a459e61533e361618b00ab78ce07d688929d6c6e
+size 8505053
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86ece2636fdfd43de4d070e4111f07da17125b6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c92a36ec45231fe1c4e17edd8dd81f3962d590
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision.obj
@@ -0,0 +1,2287 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc238a09ce083da058684910be6cf5593776b70
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b01470efb12fec5d8cab172f877f3a41781776
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/mesh/tv_remote_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/tv_remote_031.xml b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/tv_remote_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..55b51543453bf64309717e664c6c2772bc4dad3e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/mjcf/tv_remote_031.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_031">
+  <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_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tv_remote_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_031">
+      <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>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cce6c79bbdd72d6d8382b745a459e61533e361618b00ab78ce07d688929d6c6e
+size 8505053
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.urdf b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.urdf
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+++ b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_031">
+   <link name="tv_remote_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_031.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_031_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>8c205e0deef75de78b027808cad2cef0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>blue tv remote</name>
+         <color>blue,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim blue-gray remote with black dial and blue buttons</description>
+         <min_height>0.0184</min_height>
+         <max_height>0.0184</max_height>
+         <real_height>0.0184</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174233</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024110 -0.098863 -0.008552</min>
+            <max>0.024147 0.101137 0.009889</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/8c205e0deef75de78b027808cad2cef0/tv_remote_031.usd b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.usd
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+size 4813130
diff --git a/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/video.mp4 b/dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/video.mp4
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