diff --git a/.gitattributes b/.gitattributes
index b4a1881fa294b37addcb097a6e45acdd540a6941..2e4a094c06f04c2da228751ef7bac20b9e481612 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3031,3 +3031,5 @@ dataset/desktop_supplies/electronic_accessories/9d0890d45fb25417aeff023cac28123a
 dataset/desktop_supplies/electronic_accessories/9d0890d45fb25417aeff023cac28123a/presenter_clicker_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/abcacb58055e5eef9fc366550e85311d/ac_remote_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/abcacb58055e5eef9fc366550e85311d/mesh/ac_remote_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.urdf b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33ff8bbb21fe4d5b0553ee5d636c13c511a29169
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ac_remote_001">
+   <link name="ac_remote_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ac_remote_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>1.000000</scale>
+         <uuid>b2eb681161025ba29ace0674b9357f33</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>ac_remote</category>
+         <name>air conditioner remote</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact remote with buttons and screen for air conditioner control</description>
+         <min_height>0.0273</min_height>
+         <max_height>0.0273</max_height>
+         <real_height>0.0273</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414145456</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>18</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/b2eb681161025ba29ace0674b9357f33/ac_remote_001.usd b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..329767e5cfeaf3b4f459ae70c4b18b1645b910ec
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/ac_remote_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a5eded8d06744fbb9965a1700bb1813432ff1d0e7ec0c80c67342eaac28f2f
+size 4869679
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.glb b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9cd56d63d294c92b0ca6104ca7b257b6eba4fe21
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc76a87dd453e7446b39454c2cb8d92dfbe2566b1ff03fa46b950960b0fe2d5
+size 11761172
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.mtl b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6a32ad1e347c70e6ff6a158e114629324afc206
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.mtl
@@ -0,0 +1,6 @@
+newmtl ac_remote_001_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/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a922f5890745e1a06afc29e099c6d412be63dc2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001.obj
@@ -0,0 +1,110884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfeb0e0a3e1c7fb5ad380fdbd5285c1be94d1772
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_collision.obj
@@ -0,0 +1,5275 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33eca7b4251b75ac6589e78191475e9c20f6b26e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/ac_remote_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bdb8abf20056f002dfb5fbde3fd57df46c7fad2d47a548fbeaeb1f72e33cdc
+size 8492662
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c89e69dd754419a22ef0479677add28af0fef517
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ac_remote_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33eca7b4251b75ac6589e78191475e9c20f6b26e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bdb8abf20056f002dfb5fbde3fd57df46c7fad2d47a548fbeaeb1f72e33cdc
+size 8492662
diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/ac_remote_001.xml b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/ac_remote_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7910df0863918a7af8131bd97ccf9d4dde26ec0d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/ac_remote_001.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ac_remote_001">
+  <asset>
+    <material name="material_0" texture="texture_0_ac_remote_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ac_remote_001_geometry_Looks_material_0" type="2d" file="mesh/ac_remote_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ac_remote_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ac_remote_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ac_remote_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ac_remote_001">
+      <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/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073a048567f62d97767ef372274a087db696e842
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001.obj
@@ -0,0 +1,110884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ac_remote_001_geometry_Looks_material_0
+v 0.024909 0.005716 -0.001948
+v 0.024909 0.005716 -0.001948
+v 0.024896 0.005861 -0.003757
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+v -0.015724 0.089883 -0.004376
+v -0.018668 0.089773 -0.003292
+v -0.018668 0.089773 -0.003292
+v -0.016352 0.090043 -0.003793
+v -0.016352 0.090043 -0.003793
+v 0.016255 -0.030934 -0.012730
+v 0.016255 -0.030934 -0.012730
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diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed8e5069c1bb1de0ab45d768730f3355ef15261
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision.obj
@@ -0,0 +1,5275 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba8da5148c2af9ada2e1ccd7ff862d94453a2bef
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210d851348ef679eb00c00453b15310baf27ee90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/mjcf/mesh/ac_remote_001_collision_1.obj
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