diff --git a/.gitattributes b/.gitattributes
index 41e37ba2c106f59c63e32972a9269aebfe40fec1..8265d1c65c386905c01c29760c3f0260305007cd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3061,3 +3061,5 @@ dataset/desktop_supplies/electronic_accessories/d34bc29db923504e995b0abccc9b3e89
 dataset/desktop_supplies/electronic_accessories/d34bc29db923504e995b0abccc9b3e89/presenter_clicker_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf/gamepad_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf/mesh/gamepad_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a856fb60c0048282fc7a84faa3015158334e55b5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..35ead05f178f88e39083e552533428c82f2999d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc618ef4b18582b20949692b9b88a9607cafcda9c72463af19fdeacfedade8fb
+size 10192553
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.glb b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a8501420f002a1aba307e7b57fb8f20efdb7d509
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b2d2903b2de2538d413ab321e1df03f9d811390945cc4f4b6017c52e60cdbd
+size 13548448
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.mtl b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43eaebb5fd6718bbcd3af528d58cbbafd040369e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_034_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/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e454b99611d091ae2c83eaf6fc5db4fe1c6e12
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034.obj
@@ -0,0 +1,114356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_collision.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ba336e719eb03201980ab72bc47d9390b4ab82
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_collision.obj
@@ -0,0 +1,11399 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..35ead05f178f88e39083e552533428c82f2999d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mesh/mouse_034_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc618ef4b18582b20949692b9b88a9607cafcda9c72463af19fdeacfedade8fb
+size 10192553
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..35ead05f178f88e39083e552533428c82f2999d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc618ef4b18582b20949692b9b88a9607cafcda9c72463af19fdeacfedade8fb
+size 10192553
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07999da0273e4d93e137f3bb64af6f5ded914f9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3d922e6a8f755361227b91f75d3853e7cbd243
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision.obj
@@ -0,0 +1,11399 @@
+# https://github.com/mikedh/trimesh
+
+o mouse_034_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01569bfd7a99913bf0e5c8116fa02b9dacab8679
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55709706cd9f76be01158a52773039c61bb16d8c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_1.obj
@@ -0,0 +1,1582 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151befc2aa5f7fddce06e07fcbc72e053ca96c9c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8243c9ce85b45a22194a655c0c5a5785a28893ca
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf944b3bf461e61bde27cb48dd89dfb4943946e6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f382a0e0e7869603dfa06299c73685a8da17522
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mesh/mouse_034_collision_5.obj
@@ -0,0 +1,1954 @@
+# https://github.com/mikedh/trimesh
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+v 0.07499704 -0.00736147 -0.00746123
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diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mouse_034.xml b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mouse_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb43b7e1afa15ccf0196bdc4c6e6bd016ebf3705
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mjcf/mouse_034.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_034">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.urdf b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb646eea75093d05efb5c87a266699325b2d37a2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_034">
+   <link name="mouse_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1100" />
+         <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>cfbaca7830eb5e2ca9170a688bb4b9ba</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>orange,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>orange and black ergonomic computer mouse with side buttons</description>
+         <min_height>0.0545</min_height>
+         <max_height>0.0545</max_height>
+         <real_height>0.0545</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.14</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173412</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074710 -0.042388 -0.020321</min>
+            <max>0.075290 0.042257 0.034164</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>NO: {"summary":"Top shell and bottom/base are reasonable, but tiny button/wheel regions are fragmented and not actionable.","merge_groups":[{"colors":["Brown","Navy"],"target_part":"top controls","reason":"small adjacent control fragments on the same button area"},{"colors":["Red","Navy"],"target_part":"side/thumb control area","reason":"tiny neighboring fragments around one control region"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.usd b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9a7db171ec1057e77f1478e0e1a9cc62f08986e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026f14d855ce33f9a8dc626a10e8644f290e885e0ec172a0d83b47461e592e80
+size 4922983
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..35ead05f178f88e39083e552533428c82f2999d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc618ef4b18582b20949692b9b88a9607cafcda9c72463af19fdeacfedade8fb
+size 10192553
diff --git a/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/video.mp4 b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..445d9ffbb818f40a9633b998f08a4f2401b6ee3a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7f2d3b6e4f8fa8b3aebbfbf16fb326f11e7109a4a9604973326c7118e77e22
+size 217472