diff --git a/.gitattributes b/.gitattributes
index ef3f717292bdd9db790cb02be336f1f068e854f7..3606c828006a866afd22a9ea56c8426c4731f368 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/1e6248a00c78525e8f79d8ef4fb9181e/mesh/tv_remote_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d756996d70b346842466104c84de68821d7e71ac
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_031_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 mouse_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a20e5ebc93e3ef14dc0c8f6d43e0a45bfaabca1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e35d5b0804aa8e14869087ada73216ae18f039325b7ba519b19a2b8ba8d960
+size 13774522
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.glb b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..18803d1826ea99b73618d4d9dd8ceeaca0ce6c9d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9944e7c76bd1e6874febe1414ce87d4311b16f30e5613c8e32d96378c75deefc
+size 17245844
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.mtl b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a25b6ea23ef62db8fb780485f098048f3c9767ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_031_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/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9311b46032d80cc7fc714f4a6e6317c2a5a6e8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031.obj
@@ -0,0 +1,126540 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031_collision.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f8983d0be1b42109ff026c9ad8b0f84cacd377
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031_collision.obj
@@ -0,0 +1,10488 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mesh/mouse_031_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670cf0544adc4b49fd35f92ab15a755c825aedb8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision.obj
@@ -0,0 +1,10488 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff30d7fdad5b14f73c80aa284d8b2775b78a0ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08eeb827195cc52de9563df77918f09bf809633b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a34c20af1bb5b04e61ebf4dcd793d7d84812b5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1516046978cea354520c9972d27632144fcc70
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9294ac5377abfc02a445044d3488e45d92fa1186
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68323eb68c9e9e260a198741187a929da194a08f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_5.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52311dde8d7a096fc67e38e3432a98973daee7bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mesh/mouse_031_collision_6.obj
@@ -0,0 +1,1933 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mouse_031.xml b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mouse_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..289b3cdae448f33e75d3310f48a50c28dfe729cd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mjcf/mouse_031.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_031">
+  <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/mouse_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouse_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_031">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.urdf b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04854955ef23ed4597d54096c58c9efd5823b694
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_031">
+   <link name="mouse_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_031.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/mouse_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>1a7643bb6dcb52a8a94e96bb6240648e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>gaming mouse</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray and black honeycomb gaming mouse with scroll wheel</description>
+         <min_height>0.0522</min_height>
+         <max_height>0.0522</max_height>
+         <real_height>0.0522</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077296 -0.041480 -0.020920</min>
+            <max>0.072704 0.041596 0.031265</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.usd b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/mouse_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed0250ada5643202aac97246d523afc18d17b4c1f55291e2367207b80d6fece
+size 5012997
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13774522
diff --git a/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/video.mp4 b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd8850aa841723db513dc08ec4027a6c5ffd3f91a72c857ee3b3641c93cfb01a
+size 449362