diff --git a/.gitattributes b/.gitattributes
index 87db3317d314cf12c0f4b2d743d4593b4c402e12..746359fade28bd9fdd001faac8fc3f4d9696e4a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2994,3 +2994,5 @@ dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mouse_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/ac_remote_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/mesh/ac_remote_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13e6f00bc00e621f674608c7e270d62f6721e463
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_021_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tv_remote_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155d5d2e8ab69ff11897f6ed40b96c88b6ac9152ec0c5cc440d9b19c1ee38ae8
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10380572
diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.mtl b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01968428122e79ea2b0c0b1e05fab0654abb8741
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_021_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/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.obj b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71cd0e3c79509808c2f4cb6ca608c6a2be394f08
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.obj
@@ -0,0 +1,110356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_collision.obj b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c021d8b52ea9f146fc326e4888e1b60b921a90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1227f1c403acdcd810b7d938743e9a0e1b8c4df3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155d5d2e8ab69ff11897f6ed40b96c88b6ac9152ec0c5cc440d9b19c1ee38ae8
+size 7267777
diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1227f1c403acdcd810b7d938743e9a0e1b8c4df3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155d5d2e8ab69ff11897f6ed40b96c88b6ac9152ec0c5cc440d9b19c1ee38ae8
+size 7267777
diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021.obj b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021.obj
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index 0000000000000000000000000000000000000000..813cb3f44c3e6583f348cdc9384cad67bc31c3b6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision.obj b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182022a074e14cbd680441aca068a9c8554aeace
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182022a074e14cbd680441aca068a9c8554aeace
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/mesh/tv_remote_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/tv_remote_021.xml b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/tv_remote_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e4bebd8f7aaad82e8d17a579c95b96b195d1be99
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mjcf/tv_remote_021.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_021">
+      <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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.urdf b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.urdf
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_021">
+   <link name="tv_remote_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>4ffb3c15ef6e5a9285ee3cb8763ad6bd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>tcl remote</name>
+         <color>black,green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black tv remote with mint circular pad and buttons</description>
+         <min_height>0.0212</min_height>
+         <max_height>0.0212</max_height>
+         <real_height>0.0212</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173935</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024979 -0.099840 -0.009841</min>
+            <max>0.024970 0.100160 0.011345</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/video.mp4 b/dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/video.mp4
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