diff --git a/.gitattributes b/.gitattributes
index d3f1db0af683178fa918a8188bb7e236fc6ed26d..dadaa52b08985e18274b5de7d496765227b7d34f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3015,3 +3015,6 @@ dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab
 dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab/mesh/gamepad_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab/mesh/gamepad_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab/mjcf/mesh/gamepad_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.urdf b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f942ca8dfbdb1a3b5f45bc34039f0692b38d5a90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_control">
+   <link name="remote_control">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control.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_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>0.226236</scale>
+         <version>v0.1.5</version>
+         <category>remote control</category>
+         <description>compact black remote control with rounded edges and button layout</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>20251006022859</generate_time>
+         <gs_model>mesh/remote_control_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.483216285705566</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>14</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/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.usd b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3a6b59fc56635e600c6b1d7d34bb6539b0e7d84c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/7461b85091e35d028c955d7a4d709a85.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c22458daac2ea4a3af7a1a3a213a3b7780387aa5eff6698a9a726c93189a827a
+size 466027
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/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/7461b85091e35d028c955d7a4d709a85/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62c296f3b1d7865a3923fb3249f4d156161fb481
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8707625d0d94441f8ccde28c158121b98e81dae824a12df14a83c14b33d5ae90
+size 544454
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.glb b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a510d85766a140ec09ca69e7a72985524b43406c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1f23bd2e314ec3549cca5ba2146dacd8aa18debefd43e98c51e5abc5099433
+size 858968
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.obj b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2334472478df84fa257afdcc6dd716e9ea50849
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control.obj
@@ -0,0 +1,28666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_collision.obj b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20920286936eadc00d8ff0c6670e5711bca1a8e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_collision.obj
@@ -0,0 +1,6543 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_gs.ply b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c8df00f55f3f7230d265594a2f3b9ca81c0172f0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mesh/remote_control_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07675b7bc99410bc20b1e28e37d64e0d54005ef943601db7716ae219651e5ceb
+size 14682218
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/7461b85091e35d028c955d7a4d709a85.xml b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/7461b85091e35d028c955d7a4d709a85.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9bb9100f871702920088d22a2c7fc2cef0ef7abb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/7461b85091e35d028c955d7a4d709a85.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_control">
+  <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.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_control_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_control">
+      <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/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62c296f3b1d7865a3923fb3249f4d156161fb481
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8707625d0d94441f8ccde28c158121b98e81dae824a12df14a83c14b33d5ae90
+size 544454
diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control.obj b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ceb0d0c4fbadfdb8f5f392715cf4b9008e3a79
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control.obj
@@ -0,0 +1,28666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.025289 -0.009456 0.016397
+v -0.026315 -0.009147 0.016707
+v -0.025547 -0.009420 0.016133
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+v -0.013340 0.006305 -0.018025
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diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision.obj b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bc42909b0f2aa5f04146d11a78d8124d936e0d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bc42909b0f2aa5f04146d11a78d8124d936e0d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/mjcf/mesh/remote_control_collision_0.obj
@@ -0,0 +1,6541 @@
+# https://github.com/mikedh/trimesh
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