diff --git a/.gitattributes b/.gitattributes
index a325262af437ceaa4dbfeb540c1b21af582de464..325a9034bd2fdfbe4e7a649d75a332826608ecea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2988,5 +2988,6 @@ dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b
 dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.urdf b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e473e41064f0bce9f54bde57976e35cfa7e62c12
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_control_85">
+   <link name="remote_control_85">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control_85.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control_85_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.328649</scale>
+         <version>v0.1.5</version>
+         <category>remote control</category>
+         <description>flat rectangular green remote control with minimal design</description>
+         <min_height>0.015</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.02</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014210430</generate_time>
+         <gs_model>mesh/remote_control_85_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears flat and lacks discernible structure or recognizable geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9531090259552</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.usd b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5055d67597c3dcf7fc27c09c32eca70a855ca3ec
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/486e664b896a5eb5bf7e81ac2beb4765.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88af107cc7727fccc222e19af96cd8968abc841587fe03a9d7970032188de56
+size 412829
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..771a09db72b3aab29dbe51914f52635bc029e0ca
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c28df0aa864c3d2a6fd24c4481244b7715c7662ffcdf96c80bdd59ae05afbf7
+size 1314123
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.glb b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b101bb9a30c863846d6fca5096c8f45c765a1c2e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c93995aeebc8b2e66f190e3a0ca4a54cc703d45b66082a2b3bc33c63f227d218
+size 1592252
diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.obj b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37d461c7a9774544c438b82b3630ba32eede75c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85.obj
@@ -0,0 +1,25312 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_collision.obj b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63affc2ffa0e457428cc340ec0095d30531738c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_collision.obj
@@ -0,0 +1,1521 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_gs.ply b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mesh/remote_control_85_gs.ply
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diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/486e664b896a5eb5bf7e81ac2beb4765.xml b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/486e664b896a5eb5bf7e81ac2beb4765.xml
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+  </asset>
+  <worldbody>
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+</mujoco>
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diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision.obj b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded8cf26c82124b82b154099cf1f6568c15839ca
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded8cf26c82124b82b154099cf1f6568c15839ca
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/mjcf/mesh/remote_control_85_collision_0.obj
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