diff --git a/.gitattributes b/.gitattributes
index c36afffe65527fd877fd034426ba2d8400248733..af88c2035ef4c29a2f2dd7e08a850fb0ba1d4894 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2984,5 +2984,5 @@ dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a
 dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a/presenter_clicker_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mesh/mouse_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mouse_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/217aac92d2a05b8098cc617b4a4dc4df/mesh/presenter_clicker_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/217aac92d2a05b8098cc617b4a4dc4df/presenter_clicker_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56f53f348ea86c42f481fe56996a08ae574752cb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tv_remote_020_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 tv_remote_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..146c4159604432b5d0e0e5f91ec303effb3be161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2f853d0f89ff480a5227adf55919b2313faacf109171fcf59ffbfad4e7e9c3
+size 7693943
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.glb b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12907f1909f7e43407fdfd4756fe1e1854de6609
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3093884d76ce4dfa31f09a068cf6a47f6e970844243a519e6c22e8bc6499b1a3
+size 10747636
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.mtl b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d95196129bbe6ee5521267104611594064a39510
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.mtl
@@ -0,0 +1,6 @@
+newmtl tv_remote_020_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/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.obj b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f7ecaf1fa2a94b35085bb294ef849411b31a7e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.obj
@@ -0,0 +1,111984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tv_remote_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_collision.obj b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255554859c26066323e3041591ea00dbf0473877
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_collision.obj
@@ -0,0 +1,2598 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..146c4159604432b5d0e0e5f91ec303effb3be161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7693943
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..146c4159604432b5d0e0e5f91ec303effb3be161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2f853d0f89ff480a5227adf55919b2313faacf109171fcf59ffbfad4e7e9c3
+size 7693943
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020.obj b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020.obj
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index 0000000000000000000000000000000000000000..f9ed8ef9c72f5375c004fd009a94011894192bda
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision.obj b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d54e297559cb9cfd6049aefe385c5e369a2081
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d54e297559cb9cfd6049aefe385c5e369a2081
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/mesh/tv_remote_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/tv_remote_020.xml b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/tv_remote_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1bf906d84fd55b4db2ed5461c4e7058bc297f1bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mjcf/tv_remote_020.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tv_remote_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tv_remote_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tv_remote_020">
+      <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/22e4fa4d1e785f509e8c8437c1dd6014/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/textures/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2f853d0f89ff480a5227adf55919b2313faacf109171fcf59ffbfad4e7e9c3
+size 7693943
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.urdf b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd30622660f87123989b4ffcbf41c499fe404109
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+++ b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tv_remote_020">
+   <link name="tv_remote_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tv_remote_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>22e4fa4d1e785f509e8c8437c1dd6014</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>tv_remote</category>
+         <name>black remote</name>
+         <color>black,silver</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>slim black rectangular tv remote with many buttons and silver end</description>
+         <min_height>0.0185</min_height>
+         <max_height>0.0185</max_height>
+         <real_height>0.0185</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173909</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028013 -0.100177 -0.009025</min>
+            <max>0.028005 0.099823 0.009487</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.usd b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/video.mp4 b/dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/video.mp4
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@@ -0,0 +1,3 @@
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