diff --git a/.gitattributes b/.gitattributes
index e3e90729a5eb6de08406244a9606d4ed1953beb6..8b976bc0f4d42b3107961ea5d9554eed3a5664a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3009,3 +3009,5 @@ dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323
 dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/mesh/charging_cable_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/mesh/mouse_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/mouse_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a49cc5d1b052d9afbcdad11eec0ba294ff4bd2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc254e2c377c8be61681e90ab6a6f5c2b70b9d35
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3e5c880d03cf240435b12ccd85fb838be48dd822b2cdd2b7754b59a5cb5c9f
+size 9603738
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.glb b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8375edd3b2e2bf24c3cadfdde473015a3129cf5d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff4404d34fa881bd8d9cb76f5da18b95acb12cd4cfe1553a7f3e6db6c049ca5
+size 12931476
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.mtl b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42b75afb1c90293fe742114fbc98e596a728ee2c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_029_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/6f584a499cd8520daf859844f801373b/mesh/mouse_029.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b1a216e3c51ba2033619db6740d68caa3110f1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029.obj
@@ -0,0 +1,113664 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029_collision.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1491d2d4b4de4cb0ebad6f3dea3020f02e0a4bc2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029_collision.obj
@@ -0,0 +1,9752 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mesh/mouse_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc254e2c377c8be61681e90ab6a6f5c2b70b9d35
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 9603738
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc254e2c377c8be61681e90ab6a6f5c2b70b9d35
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+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3e5c880d03cf240435b12ccd85fb838be48dd822b2cdd2b7754b59a5cb5c9f
+size 9603738
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029.obj
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index 0000000000000000000000000000000000000000..b1e88bbd7f9c7622ff31b05ec66dad735e9f5e82
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+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6a0e50469458003fc3f97a44edc07c5094c17a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision.obj
@@ -0,0 +1,9752 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd5d0da6826eb04dc317043e6d7a974dd3be2d6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9c22e8d8353b3e0c4c77d032d98c5fc3c4d075
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0e35dafdc18fa259ea8b288862ec111855dac9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ace030f23758133a5b689999ed57bd6b33dd41
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_3.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d0ce026c6068fc816e29efa108792226495662
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_4.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bffea416bffd5eb1c35dd78e338e1e03efa961
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mesh/mouse_029_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mouse_029.xml b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mouse_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f2bd78af964332405f2ffd1f7183d484068edd56
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mjcf/mouse_029.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_029">
+      <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/6f584a499cd8520daf859844f801373b/mouse_029.urdf b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..013105e6f38d2d67ca474fc8efec42545d9e1624
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_029">
+   <link name="mouse_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1100" />
+         <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>6f584a499cd8520daf859844f801373b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>black,red</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black ergonomic computer mouse with red trim and side grip</description>
+         <min_height>0.0556</min_height>
+         <max_height>0.0556</max_height>
+         <real_height>0.0556</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.14</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173213</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077635 -0.049127 -0.021857</min>
+            <max>0.072365 0.044106 0.033753</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/6f584a499cd8520daf859844f801373b/mouse_029.usd b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.usd
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+size 4909808
diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/video.mp4 b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 223910