diff --git a/.gitattributes b/.gitattributes
index dcf81a7ba9da9f21f33d234feb3ad7fc41a8aafb..8a7929d038a713912290b14bed0b3d71d178eee2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,5 +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/840db9948e3b5f4dade1eb929e382a47/mesh/tv_remote_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47/tv_remote_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.urdf b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31437193ac8e4383b9db79967a5b5fa0f50b7684
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ac_remote_006">
+   <link name="ac_remote_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ac_remote_006.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/ac_remote_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>80b87e00a7ea54f4867b2872cc6d9252</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>ac_remote</category>
+         <name>standard remote</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact remote with buttons and display for air conditioner control</description>
+         <min_height>0.0122</min_height>
+         <max_height>0.0122</max_height>
+         <real_height>0.0122</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203603</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.usd b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1ac3ca1f36be6fe5066377826b91b8a433872d46
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/ac_remote_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d88c576175626eeba55e0bb95bb599f781bfe36b1473b1c05854591c242005
+size 4744211
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.glb b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9c6caafded3042fed2ac4836dd612e099bfe0627
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db32382a48ef46c5c62014e068301da5bb5ef66442310025d963eae77fa19d1
+size 11665280
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.mtl b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..012f3a3b0ca3b0c485b2c5886557c858c42ebdbd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.mtl
@@ -0,0 +1,6 @@
+newmtl ac_remote_006_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/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6764cde8de682e5e72d7dc9de85b973fa03061
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006.obj
@@ -0,0 +1,112388 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95f86ed6cb708b13d3f4512881702677947c6ea6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_collision.obj
@@ -0,0 +1,3241 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5a96cbd257b7e4466fc975ef712624a480348f4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/ac_remote_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490457d917aeafec7981e6c9d487fad9f2dd415f6c88c5e2b7926ecfc2033290
+size 8596542
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f780837ae6e087dd67cc384801ceff901a6a0dd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ac_remote_006_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 ac_remote_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5a96cbd257b7e4466fc975ef712624a480348f4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490457d917aeafec7981e6c9d487fad9f2dd415f6c88c5e2b7926ecfc2033290
+size 8596542
diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/ac_remote_006.xml b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/ac_remote_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bed766820fafc7e13c3f3be2ec2aaa3f2d373b4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/ac_remote_006.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ac_remote_006">
+  <asset>
+    <material name="material_0" texture="texture_0_ac_remote_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ac_remote_006_geometry_Looks_material_0" type="2d" file="mesh/ac_remote_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ac_remote_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ac_remote_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ac_remote_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ac_remote_006">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" 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/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a0cb8643e7a9a59cb12f11e9dd4edf5cce2a800
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006.obj
@@ -0,0 +1,112388 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8b37c34752043c628ef03918ce0fe9fb79818
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision.obj
@@ -0,0 +1,3241 @@
+# https://github.com/mikedh/trimesh
+
+o ac_remote_006_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feac77f14c87017b057e52927fdee63823ad60eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a73c7e476c4000eda48ce076e792d1446dbab46c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/mjcf/mesh/ac_remote_006_collision_1.obj
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