diff --git a/.gitattributes b/.gitattributes
index 4888761c2d02bf4238ad67fda2facf5fc80b0fff..684dbab1dc59bd17ea8f70cabd177b6a835005e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5289,3 +5289,5 @@ dataset/desktop_supplies/electronic_accessories/06ee0da31e54554ba445ef020d5131a1
 dataset/desktop_supplies/electronic_accessories/06ee0da31e54554ba445ef020d5131a1/mouse_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/earbud_case_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c/mesh/earbud_case_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b0ddbb8b048a6083428b5f01cc0c4285a45c00d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..101d53788d1e7cb9085e9bc05c6ec7ce2820b8b4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2857bebecc1d765488edda8c294a1d6a7560c90f03bb63e63af6f762b973d5
+size 10737979
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.glb b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4cee354c6b43a53e47d265ec665cb36cde187506
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac058a45486212f763afbaee70cdd9d0cce4db062a98b082af86382e111a4266
+size 14038336
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.mtl b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bade8990af56e4a8c1cf317baea8c3dd341bdc7b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_023_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/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5a124824d52bfc13e98233452b7b7de6f96954d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023.obj
@@ -0,0 +1,111198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023_collision.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4e60ca30bff437ee2653fe2fec9aa2987e4d68
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mesh/mouse_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..101d53788d1e7cb9085e9bc05c6ec7ce2820b8b4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b539af009d08b1fbf653672a0680f82c6d69af85
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision.obj
@@ -0,0 +1,14742 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf0854b7a8457fbc0ca9da3596248ec1ec08b40
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa84a1d0c183f7c8719b3bc3b343e948d5c61ab0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2449d3bb9154786ab3f4cf089b32653527367ebc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138fd674a2f14a225d3ebc061a5f07053bf97e60
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mesh/mouse_023_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mouse_023.xml b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mouse_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9941d6dc1cce40a474d5030644674eb261e7fb25
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mjcf/mouse_023.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.urdf b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f24a64077b3cf8ede829e0a38f8a93f54bdcf8e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_023">
+   <link name="mouse_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0900" />
+         <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>0c4b6ddbac8a58a0a61fbf3823d8691a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>gray,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact rounded wireless mouse with blue buttons and pink accent</description>
+         <min_height>0.0555</min_height>
+         <max_height>0.0555</max_height>
+         <real_height>0.0555</real_height>
+         <min_mass>0.06</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173012</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074888 -0.044972 -0.022444</min>
+            <max>0.075112 0.045067 0.033061</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.usd b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/mouse_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb0b167988ebb006041b471c734c6e9a6b9ed402b0b82ae1d8de5a5a3817496
+size 4887757
diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/video.mp4 b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/video.mp4
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 226370