diff --git a/.gitattributes b/.gitattributes
index b37b43f181403b21769c527f379e3c03a0600482..435ac0c9c8edf39e76dc3b3586667530dc4943f7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3008,3 +3008,6 @@ dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6
 dataset/desktop_supplies/electronic_accessories/68dc241553b45c22a4e3ddec5d6c7a33/68dc241553b45c22a4e3ddec5d6c7a33.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/68dc241553b45c22a4e3ddec5d6c7a33/mesh/keyboard_72.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/68dc241553b45c22a4e3ddec5d6c7a33/mesh/keyboard_72_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.urdf b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e4076f226c7c1febdae37ab3a9445e2176da386
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_control_87">
+   <link name="remote_control_87">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control_87.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_87_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.113303</scale>
+         <version>v0.1.5</version>
+         <category>remote control</category>
+         <description>compact rectangular remote control with rounded edges and minimal design</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014211600</generate_time>
+         <gs_model>mesh/remote_control_87_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.802578926086426</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.usd b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc8da9bcc8b3a094f9cd00700f41245182933c92
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db79991c6a2ad6d566d0cfa0d152e72c48762297c56aa44ec89ece3b94098416
+size 784295
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/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/79c166184b3d53c7a95de3ad0ca255c9/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7438de3e54e7ff00e75700c23c2bd50f83a68694
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4cbf4c427b027ea5a2862cfdb650c3fb74f55ca77847204fe2a85a5513e50b
+size 1028995
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.glb b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.glb
new file mode 100644
index 0000000000000000000000000000000000000000..00ff0e90949a9ddcc57a90c5add7d3bb1948b8fc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac837254bfb61c18031b204abe12c01fb848d3bf7cd8f59c64791102900a21d5
+size 1570108
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6816fe2ebaf503997a152c52c57c727512bb62
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.obj
@@ -0,0 +1,49600 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_collision.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e605dd2fe20b8a8e6e27d1730ac7afc3634b32d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_gs.ply b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d59f4e7ed1c1ff232f46b9a9d7c4d5130a677b80
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:03a5cabf6f340ebffe7ef0b89a124851ebaeaeb27cc7d065a677a51e227db078
+size 20941674
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/79c166184b3d53c7a95de3ad0ca255c9.xml b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/79c166184b3d53c7a95de3ad0ca255c9.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c144a46e6f31fa8a6af25fdb9da83032f6315b8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/79c166184b3d53c7a95de3ad0ca255c9.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_control_87">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/remote_control_87_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_control_87_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_control_87">
+      <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>
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1028995
diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd2277ef98d4f7ff021cf140540c006e7856d36
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d32777e1db24edbd0b6fa36a1aa4d1167cadbe3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision.obj
@@ -0,0 +1,8878 @@
+# https://github.com/mikedh/trimesh
+
+o remote_control_87_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93913aa647877740d67a3bd65411a1ffb208418e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944113d85fb0100bfd152b2697b8704ee3840b14
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mjcf/mesh/remote_control_87_collision_1.obj
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