diff --git a/.gitattributes b/.gitattributes
index 20f9d57e93519b32d905d7e6b318b9aba0d728e4..1fc29a64470c0b8b99d1331fba29009cc3e2e8ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2986,3 +2986,5 @@ dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mouse_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/mesh/presenter_clicker_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9b2a1a85d8ced44e9f737547bec106e65dd76b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..45870b7362f46f361c8111d489d9bafd6619e803
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa5dda1e48080c5d3c385d9571de8743cad0b37fc0172d334801307a5154c30
+size 9803196
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9c912069b8bef25fda4470eea8df798bcbdd281c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6804952d853bb812dc1b107cd63a1a78bcf61ee9f8b73c1f2d163bda089df20
+size 13073188
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.mtl b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c164a783597c94bee749d1fc6600a6b874a7d3eb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_022_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/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5a624d14f65237322a4d922a9cc08ecfc41227
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.obj
@@ -0,0 +1,110530 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022_collision.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef3c7c772fd16b5f3bf14f7245ea141fb3ea5f4a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022_collision.obj
@@ -0,0 +1,13353 @@
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+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022.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/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b493aa56bcc2dab31552d28942e3d81f5d59a0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision.obj
@@ -0,0 +1,13353 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed166c5f615b8ffda64919c63da77f93ef1465ed
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307e7e23e2da0e8251feea49bdb4c67f31e34b61
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb040489275c9b1aea60e8b582024922c862c1f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae1c217cb42cf488197c6a787362b758b333b9f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mesh/mouse_022_collision_3.obj
@@ -0,0 +1,2815 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mouse_022.xml b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mouse_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0edba05a0bd72814c483194fbef2b1c7dece082e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mjcf/mouse_022.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.urdf b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a0934f4277130467ca244d6aed3753652457a2b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_022">
+   <link name="mouse_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_022.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_022_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>3bcfa42f887753b0863cc6e51ca5967e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>white,beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact white wireless mouse with side buttons and scroll wheel</description>
+         <min_height>0.0498</min_height>
+         <max_height>0.0498</max_height>
+         <real_height>0.0498</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518172949</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077485 -0.038686 -0.021082</min>
+            <max>0.072515 0.038737 0.028702</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a240ad422e3f17c0ad7e546c2d8b869ff772c5623bafe9fb81e465e8b3e4093
+size 4868946
diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/video.mp4 b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 217495