diff --git a/.gitattributes b/.gitattributes
index 67db115dfa76b755fed8a272b483238c446f73ca..ef3f717292bdd9db790cb02be336f1f068e854f7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2984,5 +2984,5 @@ dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a
 dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a/presenter_clicker_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mesh/mouse_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mouse_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9/mesh/tv_remote_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9/tv_remote_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bae6c738288490fdc7833d071102fc6dc43e063
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37f829516916dafb16b0d31711d56983502bdb90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef374c16cf6ce9b5187809f61a3df6e1fbeacdf4766341a391d30fed4a6e9113
+size 4902045
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.glb b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4e84e6e476dfba4aa6e8f049c848536a0d9ccf69
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c492a551aac31196da0a0a04e1ad167f1e8981ae80a075e6bcfef306fd17e451
+size 7929720
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.mtl b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b6e8e9e6782a7e805bd8c1f486b209d96eea235
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_026_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/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.obj b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b788cb72da34c33d066c0c198545dbb43319d3d1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.obj
@@ -0,0 +1,113290 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_collision.obj b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360160dccddc15fe577edf2d22f9ee6f0c9c4501
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_collision.obj
@@ -0,0 +1,3945 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37f829516916dafb16b0d31711d56983502bdb90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef374c16cf6ce9b5187809f61a3df6e1fbeacdf4766341a391d30fed4a6e9113
+size 4902045
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37f829516916dafb16b0d31711d56983502bdb90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef374c16cf6ce9b5187809f61a3df6e1fbeacdf4766341a391d30fed4a6e9113
+size 4902045
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026.obj b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63af18061b8a4fc455568053d228af187d3c7d6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_026_geometry_Looks_material_0
+v 0.034861 0.074873 0.004161
+v 0.034861 0.074873 0.004161
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+v 0.029099 0.099204 -0.008125
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diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision.obj b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f68793f62574ae4372d9f76ee0f0e84e6516116
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f68793f62574ae4372d9f76ee0f0e84e6516116
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/mesh/tv_remote_026_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/tv_remote_026.xml b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/tv_remote_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..add14074b805b14e5ffd4aa37e6194df553b2b95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/mjcf/tv_remote_026.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_026">
+      <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/1e6248a00c78525e8f79d8ef4fb9181e/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37f829516916dafb16b0d31711d56983502bdb90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef374c16cf6ce9b5187809f61a3df6e1fbeacdf4766341a391d30fed4a6e9113
+size 4902045
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.urdf b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..550d4a1bb54422cef07fd117418672b88380d222
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_026">
+   <link name="tv_remote_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>1e6248a00c78525e8f79d8ef4fb9181e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black tv remote</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black remote with rounded corners and central buttons</description>
+         <min_height>0.0316</min_height>
+         <max_height>0.0316</max_height>
+         <real_height>0.0316</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174122</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035129 -0.095310 -0.015152</min>
+            <max>0.035162 0.104690 0.016491</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.usd b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bd89fd6c999d33b1b8aeda3c7364932fdd60e7c6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f42f7dc686457f7157d83d5cf98323b5960d809d0bb194da1014b9a600055990
+size 4724902
diff --git a/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/video.mp4 b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..263aa55bf2be357a4a0cca6c92ffce078cf375d7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b83f747ded166d87425a2a42cefe016eaa261cb2afc7840c5c685af3982f7aa
+size 116989