diff --git a/.gitattributes b/.gitattributes
index 296223bcc788e6b715694c2fa94105fb9adca7f1..5ea83ca461c9cddcc0c1f53b0e31f61a5efbddb8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3044,3 +3044,5 @@ dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7
 dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/mesh/mouse_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/mouse_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8334ecabfd8284be1f79f35a4a4c6f3b55e87594
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1db83f363329e81ab856bf1e3f8e50d8439b1b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059b8374c00cc53f14a4db4426f1a39f7ebb4d4980ff2d78faba1533837b456
+size 7289658
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.glb b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..52a6236e5644a4973720caf8daf7ff2d2acca93f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef9efb4c3d236794220f30ed2f7171e99078e8e26e17b421d049b74f5e6648a
+size 10419676
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.mtl b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6dc0871e9212a058da3c9df5ab9e6f74e2efdf3c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_019_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/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.obj b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04d6d574af3c2bc218b13f24acd8d62e371073b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019.obj
@@ -0,0 +1,113280 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_collision.obj b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ed47692e6bab0ada0550e75ab0d7f635f74ad0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_collision.obj
@@ -0,0 +1,2988 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1db83f363329e81ab856bf1e3f8e50d8439b1b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mesh/tv_remote_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059b8374c00cc53f14a4db4426f1a39f7ebb4d4980ff2d78faba1533837b456
+size 7289658
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1db83f363329e81ab856bf1e3f8e50d8439b1b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059b8374c00cc53f14a4db4426f1a39f7ebb4d4980ff2d78faba1533837b456
+size 7289658
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019.obj b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba167c3bbae3e25fe0a0b4a5c448c7abb5d5580
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+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision.obj b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd939000eafef8bf0485f45d53360abeb47feb6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision.obj
@@ -0,0 +1,2986 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd939000eafef8bf0485f45d53360abeb47feb6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/mesh/tv_remote_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/tv_remote_019.xml b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/tv_remote_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fda39f1b9f690b90633a9291dc91ca6af87664e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/mjcf/tv_remote_019.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_019">
+      <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/c8ce1b253c385e3f84f00aed96e1cae1/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/textures/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059b8374c00cc53f14a4db4426f1a39f7ebb4d4980ff2d78faba1533837b456
+size 7289658
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.urdf b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.urdf
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_019">
+   <link name="tv_remote_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_019.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_019_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>c8ce1b253c385e3f84f00aed96e1cae1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black tv remote</name>
+         <color>black,silver</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black remote with buttons and silver top panel</description>
+         <min_height>0.0181</min_height>
+         <max_height>0.0181</max_height>
+         <real_height>0.0181</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173856</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029325 -0.100523 -0.008319</min>
+            <max>0.029377 0.099477 0.009733</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>NO: {"summary":"Buttons and end cap are merged into main body; code cannot fix missing part boundaries by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.usd b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.usd
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+size 4792171
diff --git a/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/video.mp4 b/dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/video.mp4
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