diff --git a/.gitattributes b/.gitattributes
index 40a5ceedfd5dbd76cbc2a57b0dfd49b7fd2330d0..d2e1653a1cb464b630d5849b9f2c871b8bd993a7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3069,5 +3069,5 @@ dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a
 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/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.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
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0af5db9acaa3aa9bf060e21992051c69f95d01b2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ee26d8f87bb05123574c9cbfeccfa052cd8e642
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38cfbf02333012f0baf4dbf0c99d2e438f20e02f07694f297eefe63e425c0f50
+size 10775629
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.glb b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9e1d254cdb8baa33d4fdc8576747a247906337f9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd502e9209b86091e9d20b2833289b31e6b59648aa506a9a6ecc7f43885ceba
+size 14089696
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.mtl b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..400562a17fb9b9fca056fbbcfc63527b563b7227
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_019_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/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2fbafa5ffe7df5f194572e59ba7c325bfbfd4d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019.obj
@@ -0,0 +1,110224 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_collision.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39a0d5af06d37fe0de339f501489f5c4de2dbf1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_collision.obj
@@ -0,0 +1,11857 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ee26d8f87bb05123574c9cbfeccfa052cd8e642
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mesh/mouse_019_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:38cfbf02333012f0baf4dbf0c99d2e438f20e02f07694f297eefe63e425c0f50
+size 10775629
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:38cfbf02333012f0baf4dbf0c99d2e438f20e02f07694f297eefe63e425c0f50
+size 10775629
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019.obj
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+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fbff2eae3f82153859ebb38bbaadf7a6124a744
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision.obj
@@ -0,0 +1,11857 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c2dfbf30ff7107fd9531a297b2e2c533007d86
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af3a6259d149c1541dccd8d75a841a2ee07d451
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dab1cd0463801ddd1d2344262b3027b70c73d5c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d1b719b8dd8829784e2f57c3f5e4bf82d78a83
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_3.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4d3a0c2f2738efa3e8c4e4475f781017da3161
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mesh/mouse_019_collision_4.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mouse_019.xml b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mouse_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed07820079b135b0264aa528949280cd70279c98
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mjcf/mouse_019.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.urdf b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6a5baa15dd60cda79c2f84caf01eff35cbb90dd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_019">
+   <link name="mouse_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_019.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_019_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>da2e0a1dac005da582ac59264e669a61</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>pink,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact two-tone wireless computer mouse with side buttons and scroll wheel</description>
+         <min_height>0.0574</min_height>
+         <max_height>0.0574</max_height>
+         <real_height>0.0574</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518172841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075723 -0.045148 -0.022746</min>
+            <max>0.074277 0.047770 0.034617</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":"Main body dominates; buttons, wheel, and side buttons are not correctly segmented into functional parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.usd b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/mouse_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8b0ba2dddee748761b595859b3b745556f50e3c6db46440c6a6661cb2b83ce
+size 4892893
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10775629
diff --git a/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/video.mp4 b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a071dd3cca8fab646502eba9b35f4f3f0da382ffcd1a4747afbceb123c7779
+size 232566