diff --git a/.gitattributes b/.gitattributes
index ab22e6d368313a3bb94ef66964aeff4568b5c11b..11ec51a116e89d30fdadcb83502f6709f5f5d270 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3055,3 +3055,5 @@ dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918
 dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a1e89685f26af8b4169c10a1acd80c84d461c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aba7cd56e017b2cb7ccc5455d8000e1cd7a7c4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720838c481d4d329ac5110a5c06e548470cb59f6f66712173944d0fbc7e47059
+size 10201840
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.glb b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b96494bdebe951a438cc42a101e241513f33eb7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62c1e0ae5b1d79d16113c9cd75767f96abdfea7c0f437ae1b2ad1e192bce2efd
+size 13471620
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.mtl b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c2dbb82e17b55b59e70ef76cf694524e5d84d1d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_020_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/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c240f197920b0bc57418f4a7a6f7b72a206e022
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020.obj
@@ -0,0 +1,112662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_collision.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b2746c791c853ace430cf0a2a37c9c3e53d112
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aba7cd56e017b2cb7ccc5455d8000e1cd7a7c4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mesh/mouse_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10201840
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aba7cd56e017b2cb7ccc5455d8000e1cd7a7c4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:720838c481d4d329ac5110a5c06e548470cb59f6f66712173944d0fbc7e47059
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020.obj
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index 0000000000000000000000000000000000000000..565112326e737d0db0a7947fa0ec60719238fd40
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+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20302c8ac23126158a3f5836b4c8c9a0b2096737
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision.obj
@@ -0,0 +1,10100 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6887ea752dbee4741c052f44b74ac04d6ddd57d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a97636b847d84d3d19834921dcd74acd572f2b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1233fbcded2f0fcfdd296cbd137f68717a5b18a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f293cb3c3af1f9d0903a7ce0880265a5932561
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_3.obj
@@ -0,0 +1,2671 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066f9dae35d1c5d34d466ae9d21a38d5c05b2149
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_4.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+v 0.01262509 -0.03418518 -0.00534492
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+v -0.01232248 0.03487868 0.00122181
+v -0.01232248 0.03446570 -0.00534466
+v 0.01262509 -0.03334495 0.00122156
+v 0.01076428 -0.03365826 0.00122156
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+v -0.00426141 -0.03554525 0.00122155
+v -0.00657887 -0.03573751 0.00122155
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+v 0.01262509 0.03487156 0.00122181
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e30baaaf37e07a250ccd13f115be21d8cb690b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mesh/mouse_020_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.01232248 -0.03414409 -0.01330107
+v 0.01116233 -0.03890898 -0.01456390
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+v -0.01222724 -0.03451541 -0.00534492
+v -0.01232248 0.03445943 -0.00534466
+v -0.01232248 -0.03404353 -0.01507744
+v 0.01262509 -0.03905594 -0.01515119
+v 0.01262509 -0.03911010 -0.01307064
+v 0.01262509 -0.03418280 -0.00534492
+v 0.01262509 0.03663302 -0.00534466
+v 0.01262509 0.03964977 -0.01174300
+v 0.01262509 0.03982769 -0.01251992
+v 0.01262509 0.03991278 -0.01293603
+v 0.01135036 0.03972713 -0.01354176
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+v 0.01262509 -0.03900179 -0.01532238
+v -0.01232248 -0.03376506 -0.01614009
+v 0.01262509 0.03981222 -0.01492441
+v 0.01135036 0.03972713 -0.01437004
+v -0.01232248 0.03462190 -0.01287153
+v 0.01262509 -0.03886256 -0.01576219
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+v -0.01063017 -0.03388109 -0.01649958
+v 0.01262509 -0.03869238 -0.01625731
+v 0.01262509 0.03944868 -0.01594100
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+v -0.01232248 -0.03270533 -0.01738974
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+v 0.01262509 -0.03762492 -0.01736343
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+v 0.01260311 0.03943320 -0.01596470
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+v -0.01232248 0.03325278 -0.01748958
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+v -0.00920403 -0.03263571 -0.01777030
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+v -0.00673272 -0.03263571 -0.01804156
+v -0.01232248 -0.02954162 -0.01870391
+v -0.01167535 -0.03018365 -0.01871444
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+v 0.01056403 -0.03508003 -0.01853801
+v 0.01262509 0.03595237 -0.01857725
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+v -0.01232248 0.02860393 -0.01867208
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mouse_020.xml b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mouse_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15090dacca7261ed2cf9b8cfb877a59aa7859cbf
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mjcf/mouse_020.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_020">
+      <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/d1757d0a27045b75a5a6e824186edb81/mouse_020.urdf b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aca42fbdec19f2bbd0e389483896fee3d2d15668
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_020">
+   <link name="mouse_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_020.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_020_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>d1757d0a27045b75a5a6e824186edb81</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>white,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact white wireless mouse with black scroll wheel and side buttons</description>
+         <min_height>0.0472</min_height>
+         <max_height>0.0472</max_height>
+         <real_height>0.0472</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518172906</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.075562 -0.041981 -0.018294</min>
+            <max>0.074438 0.042867 0.028884</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.usd b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5d7b980d6cd2cf1867153885a6db4db5a3eb7ccd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eed54df31529f51e9ce6c514b66fc77fbf57c94f2875ea3afbbdf846d34a77d
+size 4866240
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aba7cd56e017b2cb7ccc5455d8000e1cd7a7c4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720838c481d4d329ac5110a5c06e548470cb59f6f66712173944d0fbc7e47059
+size 10201840
diff --git a/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/video.mp4 b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c78bb8bc11cac1a713a2c337ded6813c19235654
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3137e2daa1d4c4e9eae5d239c7c8837621fdedf8a4e07644876631262bd53aa9
+size 246960