diff --git a/.gitattributes b/.gitattributes
index d791ee82c760bc252040dd36557503d26dbaf837..8a93f012b2b219c56725abaac03a65da37d9ce44 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,3 +3015,5 @@ 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/8615eea2f9465160bef23bf1c29e5db1/mesh/tv_remote_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/tv_remote_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fad2b26440ab305791994453087d8b50854ae82
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19959e1e5388fc8a83e428e7fc4157166d45e70c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20dd378be673e8392d630520d70da0175703278dcbc09e92a4239a1f6ef209b
+size 9467360
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.glb b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5c75ed2e2f9351ff0b8b32f17bb8ec4a74c08902
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194af1658deadc683fd4015002b798ecdf4520f84f5d33f01cbd7fbc45f6943b
+size 12643504
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.mtl b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30d227e2db76cc4022e59215b028009701e33218
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_030_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/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.obj b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d8d751c26a4b58677b10d9171a9dcef5fcded1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030.obj
@@ -0,0 +1,110826 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_collision.obj b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d807e93c833dc7dc06ed9c90c50b3ca86df8083f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_collision.obj
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19959e1e5388fc8a83e428e7fc4157166d45e70c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mesh/tv_remote_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20dd378be673e8392d630520d70da0175703278dcbc09e92a4239a1f6ef209b
+size 9467360
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19959e1e5388fc8a83e428e7fc4157166d45e70c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20dd378be673e8392d630520d70da0175703278dcbc09e92a4239a1f6ef209b
+size 9467360
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030.obj b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9f6f617407c0389c6e48a6bcef42033a8e09ef
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030.obj
@@ -0,0 +1,110826 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_030_geometry_Looks_material_0
+v 0.030037 -0.003969 0.006991
+v 0.030037 -0.003969 0.006991
+v 0.029977 -0.009023 0.007187
+v 0.029977 -0.009023 0.007187
+v 0.029995 -0.008514 0.006924
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diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision.obj b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cc609d3fb5fbb137a06b570dd9df8dc5d0a306
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cc609d3fb5fbb137a06b570dd9df8dc5d0a306
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/mesh/tv_remote_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/tv_remote_030.xml b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/tv_remote_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95a1668171282a642967201aad57f7e4dc94f10d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/mjcf/tv_remote_030.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_030">
+      <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/85b81e91b75c5f8f8636825673197b14/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19959e1e5388fc8a83e428e7fc4157166d45e70c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c20dd378be673e8392d630520d70da0175703278dcbc09e92a4239a1f6ef209b
+size 9467360
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.urdf b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2910ca7754ada19d607bd1a91819f214a1a38b47
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_030">
+   <link name="tv_remote_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_030.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_030_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>85b81e91b75c5f8f8636825673197b14</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>panasonic remote</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray panasonic tv remote with black buttons and rounded rectangular body</description>
+         <min_height>0.0234</min_height>
+         <max_height>0.0234</max_height>
+         <real_height>0.0234</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174219</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030399 -0.099759 -0.010998</min>
+            <max>0.030606 0.100241 0.012435</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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":"Misses most functional parts; only partial buttons are segmented and many distinct buttons are merged with body. Not fixable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.usd b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..78a9b27955e7052d0a6f1fb4afed9756dfd794df
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8088229b118a0f954e76bfdfcc051f5ba17c810266783e84dfd51c8dba659854
+size 4816306
diff --git a/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/video.mp4 b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6eb71e249d807fc47795007933649b2c9d921c0e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554ac51ca90e7cd97b9cf80400575ccf3a0b87527ff3a73084ac3a4e5ea52688
+size 247134