diff --git a/.gitattributes b/.gitattributes
index 26e5af0c26a55acbdc40725f8eecba3e921701a7..6994debc8be5dee5dc7581f9cab5622dae54fd17 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3065,3 +3065,5 @@ dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/mouse_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3/mesh/mouse_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3/mouse_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.urdf b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fbaa25f91cf1b9ec11d7e16a7e14ca0b296b057
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ac_remote_002">
+   <link name="ac_remote_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ac_remote_002.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/ac_remote_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>e82e99536cd75478a0c623a26ecfd704</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>ac_remote</category>
+         <name>black remote</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular black remote with buttons and a small screen</description>
+         <min_height>0.0136</min_height>
+         <max_height>0.0136</max_height>
+         <real_height>0.0136</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203506</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>13</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.usd b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1c807cb6d45d098b7297f8a6ddb039232c26162e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/ac_remote_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754798feb54900f81657e4c59bd3565bd23effe4501f37af0b7ebe2813c6d6a5
+size 4623920
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.glb b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..472b0f3f1c0969cd772be6939a3366163e42b2eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a459170aa9fb208805e2d9b09a8ecc15a6705866574fb9618b79a025d605d5
+size 11495932
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.mtl b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff3b3259eb77a4e43e746bd275fdecc01dca8e0f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.mtl
@@ -0,0 +1,6 @@
+newmtl ac_remote_002_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/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.obj b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4042248dd573e7baa8f4c67235947cc62bc5c518
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002.obj
@@ -0,0 +1,118036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b4a45266e6e0b96897c7cf136fa5c5df54fe3a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de1f14d94f0297998191779ddff937226174219
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/ac_remote_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ea306e471e2665eb1173780f3623abdc95ab99871dad64a4ace989ca0f4f27
+size 8645536
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8300fe8224a16b73c67d0aa74be058efc89b5064
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ac_remote_002_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 ac_remote_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de1f14d94f0297998191779ddff937226174219
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ea306e471e2665eb1173780f3623abdc95ab99871dad64a4ace989ca0f4f27
+size 8645536
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/ac_remote_002.xml b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/ac_remote_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e04188ef17f0b31c28e829bf0c21c1c225be27b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/ac_remote_002.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ac_remote_002">
+  <asset>
+    <material name="material_0" texture="texture_0_ac_remote_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ac_remote_002_geometry_Looks_material_0" type="2d" file="mesh/ac_remote_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ac_remote_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ac_remote_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ac_remote_002">
+      <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>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002.obj b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3ce117735d37caa34f408184be678e92b0a6093
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002.obj
@@ -0,0 +1,118036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_002_geometry_Looks_material_0
+v 0.021366 -0.013962 0.003546
+v 0.021366 -0.013962 0.003546
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diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee3c489b2f9d001b57efac81aec86976924c311
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee3c489b2f9d001b57efac81aec86976924c311
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/mjcf/mesh/ac_remote_002_collision_0.obj
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