diff --git a/.gitattributes b/.gitattributes
index 065f638a953270900d10a1a820848025bd7325f4..449aa819adec72f5b24afbed08b49c6f1707e47e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5313,3 +5313,5 @@ dataset/desktop_supplies/electronic_accessories/37a67e3643195ab88baa65fb7daa4686
 dataset/desktop_supplies/electronic_accessories/37a67e3643195ab88baa65fb7daa4686/tv_remote_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/mesh/mouse_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/mouse_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6717a653ecd27a274be754ac9606e765bb21cb7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6377ff6d96a640a6168fdb188e6aa82bb204ff32
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75faeca5755f7c2d85be88aa82e38f1f42a850ee98b46b5e8942515f3634b4e4
+size 10545686
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.glb b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c91e697f21a2cd79c43f6fb79fa567759ca6934f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2d69414cbcf75761ef08e82dcdd6c42c7b6668037d2bb3f61de61381f2c7c5
+size 13901200
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.mtl b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0eab47e84352cd79d0541bb8a722935f025d7c5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_011_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/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a1716303cf7cd56d607088bb9ce1c00d8a0203
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.obj
@@ -0,0 +1,113118 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011_collision.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6056beaf974f6e31565ae0d567d0717b1e989709
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011_collision.obj
@@ -0,0 +1,13054 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011.obj
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+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011.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/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfba70cb4be7ab1a08e389aa7c54b63d432ac40
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision.obj
@@ -0,0 +1,13054 @@
+# https://github.com/mikedh/trimesh
+
+o mouse_011_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc579bba449f3c00cc4f5d59f514bcdc7f920965
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36203217f3fd34d194c5fdaf73debe38b5e7771f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7293cceababa805a3ed2cd452553a972e4860d7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f204fe343b625ed598906ca46b64e36580b3aa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b858dca4d6ee2fbaaacded408db78853286dc065
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2773ddaba68e9332b5ad88f4b8940502ffa2c71c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_5.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bdabb3352f10d0f7587d6d025e6fd3ecca65963
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571b5cb686c1f4a8043187c2a1fe370f8ee65bed
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mesh/mouse_011_collision_7.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mouse_011.xml b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mouse_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbe579651c848cd101c39ecb167eb8c9479b969a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mjcf/mouse_011.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouse_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouse_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.urdf b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3952633f9dd2f00825d5ccc7bbb90098255299c4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_011">
+   <link name="mouse_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_011.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_011_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>95074ce6f8785f6d87017c96d3aded5a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>black,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black wireless computer mouse with blue scroll wheel and side buttons</description>
+         <min_height>0.0557</min_height>
+         <max_height>0.0557</max_height>
+         <real_height>0.0557</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518172536</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.076372 -0.045081 -0.022550</min>
+            <max>0.073628 0.045970 0.033175</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.usd b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3fa2872e840abf8dd5c21a114be77fba47a0fd771340ea117595dae632f070
+size 4928612
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10545686
diff --git a/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/video.mp4 b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8569f748335773cdd6a221f7eecba90cab120e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa02f641ed43b76e1c81b4d440e08a674b03cae6bb156b0f30720acad895d86
+size 233043