diff --git a/.gitattributes b/.gitattributes
index e5746e6183f1be69e0f3c34836696a89d8f4ebd2..35d43aba2ce0c0a9e4e7bfdf4a569202eac84ea7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5296,3 +5296,5 @@ dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23
 dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23/mesh/remote_control_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/mesh/mouse_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/mouse_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a98bcc469c4d5452fd21a0b20177aad5fac320ab
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f999ac1e1c7abf83cc6258d23b2f46dedb9b9326
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674c66207e0fbe82fbc87df00abc22169807519fbeb50faee929cff1d3e5f1b3
+size 9441969
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.glb b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a2d9aefa7662c557d8102274abc5c0cc9a69bb2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c604ebd615f6d426b935c499c452752fa522eaa0e19e3e56e651f67df432f451
+size 12608732
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.mtl b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d6a21f1165b85a797ef58881aed8700053661cf
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_039_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/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f31cf538a7b794929f8a2314c3a4befd4242fe
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.obj
@@ -0,0 +1,109042 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_collision.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9470bcd39dce840c6f50c522e5c360cae3888f95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_collision.obj
@@ -0,0 +1,8702 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f999ac1e1c7abf83cc6258d23b2f46dedb9b9326
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9441969
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f999ac1e1c7abf83cc6258d23b2f46dedb9b9326
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674c66207e0fbe82fbc87df00abc22169807519fbeb50faee929cff1d3e5f1b3
+size 9441969
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039.obj
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index 0000000000000000000000000000000000000000..0bc6cd464c86e1ac5e1e6f694d13c4315417dadc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfe9ccc63d6f8a001f3d2f771a32788859d9cb3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision.obj
@@ -0,0 +1,8702 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba64348dad00e4ab7000ff7e64a345505a12587
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_0.obj
@@ -0,0 +1,3472 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0189b5981bc66b5cfdc42d2fd7a7f9180e0cd242
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f45690631362f99feb5557806dacbdda816623f4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mesh/mouse_039_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mouse_039.xml b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mouse_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c0866888be3cda6dac31f843442e726b8bf81cdd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mjcf/mouse_039.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.urdf b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..092dcd917de601075be463c886e3d06f8a7dc906
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_039">
+   <link name="mouse_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0950" />
+         <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>28009106325d5d5e9e6085d0f9048823</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact two-tone wireless computer mouse with scroll wheel and rear sensor pad</description>
+         <min_height>0.0469</min_height>
+         <max_height>0.0469</max_height>
+         <real_height>0.0469</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071431 -0.040497 -0.019230</min>
+            <max>0.078569 0.040518 0.027701</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/28009106325d5d5e9e6085d0f9048823/mouse_039.usd b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07bf756b941182e26de0e59957095a67bc0223d389609a7c9a7fc53e725860ba
+size 4807240
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/textures/material_0.png
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+size 9441969
diff --git a/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/video.mp4 b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8e3768b13a2eb87219438642eb72fc524b27d13728e348c2466ee806dd4bb81
+size 177829