diff --git a/.gitattributes b/.gitattributes
index 42903ab5fe0cb8b33ee39375aaab7e1485608a03..d7ab491772c1b61fdc6a5669eec6ee29e4f488f7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3067,10 +3067,6 @@ dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3
 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
-dataset/desktop_supplies/electronic_accessories/ee662dc4f7fb5b62913b7226fe21861c/mesh/mouse_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/ee662dc4f7fb5b62913b7226fe21861c/mouse_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/mesh/mouse_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/mouse_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/eba77d741d4f51009e6b7df90fb99f2b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/mesh/mouse_79.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/mesh/mouse_79_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.urdf b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1a5703980d1e98c6cc29147ec69d0c0ae2a3eb1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_control_86">
+   <link name="remote_control_86">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control_86.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_86_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.193378</scale>
+         <version>v0.1.5</version>
+         <category>remote control</category>
+         <description>compact oval-shaped remote control with minimal buttons</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251014211028</generate_time>
+         <gs_model>mesh/remote_control_86_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.076873064041138</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.usd b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.usd
new file mode 100644
index 0000000000000000000000000000000000000000..84c9705f790417cfd8c6e0fcd0b0b8a4cfdcdc6e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/e5e26dafbd57524684b42bf423c078ff.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59d065059efc0febb3fefdaa57e0c4095d00063e87317b0991418d3fa7c8bc6
+size 354637
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/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/e5e26dafbd57524684b42bf423c078ff/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c25817e90ff9f9679825ed09caac88fa5003a4af
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c66c22d008deb4c05136354f8ab20e00297ef363d821dfd3f24c462e6fd697
+size 1269286
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.glb b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fb5ebb0cb6ad54c9337f0edd509c00cf543efac7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327cd8d83e15e3680e736d08ff1ce8480a2d943b3d057f25bea9e2aa5342fd5c
+size 1514136
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.obj b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d4a43ea55db8c4b2efa2efb6d47f8b0713a9d3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86.obj
@@ -0,0 +1,22364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_collision.obj b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea4dbcb190b0acb0983243f0d2e113df6a9baed
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_collision.obj
@@ -0,0 +1,5529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_gs.ply b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0731507a3c6b8a3223952ca57ab3bb3a4f8e6aeb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mesh/remote_control_86_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce9b9674c5c99c504db30c160e80473e2e975713f7482d27eb4df6f5bcad753d
+size 13766506
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/e5e26dafbd57524684b42bf423c078ff.xml b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/e5e26dafbd57524684b42bf423c078ff.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25f1b95a351f38f4e7f97872fb38900455ba79e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/e5e26dafbd57524684b42bf423c078ff.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_control_86">
+  <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/remote_control_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_control_86_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_control_86">
+      <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/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c25817e90ff9f9679825ed09caac88fa5003a4af
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c66c22d008deb4c05136354f8ab20e00297ef363d821dfd3f24c462e6fd697
+size 1269286
diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86.obj b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8bb679ea1ab6d6239d2e50e50fe34a7d966b047
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86.obj
@@ -0,0 +1,22364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.012233 0.003715 -0.016562
+v -0.002661 0.003249 -0.016766
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+v -0.002114 0.006687 -0.016558
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diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision.obj b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797df9b09c42454af054aef68aecfc9a930ddba3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797df9b09c42454af054aef68aecfc9a930ddba3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/mjcf/mesh/remote_control_86_collision_0.obj
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