diff --git a/.gitattributes b/.gitattributes
index d2e1653a1cb464b630d5849b9f2c871b8bd993a7..68985cb66f51eebe87d16eecb088a23082007622 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3065,9 +3065,5 @@ dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba
 dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/mouse_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/mesh/presenter_clicker_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/presenter_clicker_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/mesh/tv_remote_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/tv_remote_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/d9ad03c8273a55f0addbfed4db309280/mesh/tv_remote_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/d9ad03c8273a55f0addbfed4db309280/tv_remote_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dceb31d7c03fa82e61c26e8c622005f7956c807b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a19ac4f8244d21b8cdf9bd7e05da18082c9cc496
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc10e1c7b7004817814d503cae80637847be0d749f45d79f7ce3fdd946180fd
+size 7535956
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.glb b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..47decf6a8ac209f45e81ee4debdf5e4f7bfe88cb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8024f9833dc16ac8541488ed8c631f2ff010ef4469d2fa42323d45c53e97725e
+size 10786208
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.mtl b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5239dd692c569d9c11ed95091cacd74c13313c20
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_027_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/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f2f7474c789565bd28e629b840fa26003d80f95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027.obj
@@ -0,0 +1,112130 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027_collision.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1a2ca99b4ab3dceaa9b286ce3bd1cf00996a3b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027_collision.obj
@@ -0,0 +1,10529 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mesh/mouse_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a19ac4f8244d21b8cdf9bd7e05da18082c9cc496
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7535956
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc10e1c7b7004817814d503cae80637847be0d749f45d79f7ce3fdd946180fd
+size 7535956
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027.obj
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index 0000000000000000000000000000000000000000..47f196c8ba17ffaf75e39c3df89a81ff82443689
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+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ccc998d3924aa2916b92d24955606f8c5611da6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision.obj
@@ -0,0 +1,10529 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e008f2c144058dcfb818157267c87dddef161a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_0.obj
@@ -0,0 +1,2206 @@
+# https://github.com/mikedh/trimesh
+v -0.00421531 -0.03834012 -0.01491279
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d874ec582d51f8df0ea808bac9e49dabfeaa2d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601e01cfa3f9d77c50dad26199512128d9b2f5b8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_2.obj
@@ -0,0 +1,145 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213f8c67d7c8dfbd4ecee0d8914146f9b13d1f23
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a39c420bcb33ffddb8caa10b4e6bbe7fe29b16
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b4ef1946b64515f362db8919b6033cdacaf40ff
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a2cf39288f943ddac65c55df41e2f4d6610b17
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe19ca83c195ea646cbaf9e95cb3dba0e06b29a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8687cbf3055ef62c23ee8833acd5d9a83f9c1a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mesh/mouse_027_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mouse_027.xml b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mouse_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..89d8798052085263917080d595b697684eb4d03d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mjcf/mouse_027.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouse_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouse_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouse_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_027">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" 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/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.urdf b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63dbc53953331c059f3bf33665b8ce8626f60f65
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_027">
+   <link name="mouse_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_027.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_027_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>d7d653e650a556ca8d61d24cc44feb6c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>black,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>low-profile ergonomic mouse with gray shell and iridescent front panels</description>
+         <min_height>0.0487</min_height>
+         <max_height>0.0487</max_height>
+         <real_height>0.0487</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.14</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173128</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.079229 -0.044521 -0.018749</min>
+            <max>0.070771 0.044815 0.029930</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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":"Scroll wheel and side buttons are marked, but left/right click panels are merged into body and logo is mislabeled as a part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.usd b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.usd
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+size 4858213
diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/textures/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/video.mp4 b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/video.mp4
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