diff --git a/.gitattributes b/.gitattributes
index 48b881398eeee62341e76ec5a4b0eb2667949057..be97469af077145b8c70f60953a89c853ab14dfb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3040,7 +3040,5 @@ dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d
 dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/tv_remote_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mesh/mouse_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mouse_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/gamepad_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/mesh/gamepad_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/charging_head_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/mesh/charging_head_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b95e093dea7a899e034094f212c6cb4df8be3a7f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc5a63cac96e49b1b86a917cb50940ce303798
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452a6026013eb29f9f095c700046cf84d07844b5821d159a6c842746cd36057b
+size 8736756
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.glb b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c08a51cd784f970835f0b935ea86af90c10a02c0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2135eed75104a520208a6d848c45e7c97bccf0b347cbeb62d38e6c102319889
+size 12003472
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.mtl b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73571fdeb6fee65a0c103cb79c4792ea61144be2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_032_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/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48903b29aa0cf60ca86f821de46911dfaaf54a9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032.obj
@@ -0,0 +1,112400 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_collision.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d08034c03f6a57632643dca87f883b7962e0c3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_collision.obj
@@ -0,0 +1,9299 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc5a63cac96e49b1b86a917cb50940ce303798
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mesh/mouse_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452a6026013eb29f9f095c700046cf84d07844b5821d159a6c842746cd36057b
+size 8736756
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc5a63cac96e49b1b86a917cb50940ce303798
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452a6026013eb29f9f095c700046cf84d07844b5821d159a6c842746cd36057b
+size 8736756
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c891656323ad718a7af71d5eabd5d3edcc3a66
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032.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/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfe58c11ac5b3fcfdbddcbb13e8967eab32e3ee
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision.obj
@@ -0,0 +1,9299 @@
+# https://github.com/mikedh/trimesh
+
+o mouse_032_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a280df69e3d8283e34d7b77bc5dfbdd205d3be
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0eba57ecce912f0028ec05ebdd2a850f60644a9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_1.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e30ca1d334d5b7529d0444c65ff1da6d40ec1ef
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mesh/mouse_032_collision_2.obj
@@ -0,0 +1,1510 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mouse_032.xml b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mouse_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8302a9e393cb97c20471abdb7126b6d21124c761
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mjcf/mouse_032.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_032">
+      <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/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.urdf b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c7b59cf95a56f2e417162cc3fb4731cdd075380b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_032">
+   <link name="mouse_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_032.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_032_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>b9175ce4461b5e7ea8426c2863c359e7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>gaming mouse</name>
+         <color>black,green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black gaming mouse with green accents and side buttons</description>
+         <min_height>0.0504</min_height>
+         <max_height>0.0504</max_height>
+         <real_height>0.0504</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.14</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173332</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071232 -0.038517 -0.019862</min>
+            <max>0.078768 0.038661 0.030538</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.usd b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4ef4cd4654ea128954862e4c7a76052c322ac12b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c33febc056b1173e74d93150c84200d7ed820d011eca6a3d321af0b392a29b9
+size 4868707
diff --git a/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc5a63cac96e49b1b86a917cb50940ce303798
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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