diff --git a/.gitattributes b/.gitattributes
index 9805285e3c0bbe341a9d74a1c3ca8ebfd53b6ac2..40a5ceedfd5dbd76cbc2a57b0dfd49b7fd2330d0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3069,3 +3069,5 @@ dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a
 dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/tv_remote_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d9ad03c8273a55f0addbfed4db309280/mesh/tv_remote_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d9ad03c8273a55f0addbfed4db309280/tv_remote_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..906c7d18deac5740440c19c9d7283f99e6bee492
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_038_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_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01c82a70236124a98a31cb82b218b7b38f7034cd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb2f2edbe4e9aff1f55b4652ef9c76934f3e1c29c63e0407d6648715b9fe01c
+size 10233965
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.glb b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..38689406ce0c037120542e3f7d30c5696e56cec1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:128cf498c08028edbad04df1fc42321bbdebecfd6969e97137a9390ea2a789f9
+size 13498440
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.mtl b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43365d5e60be729b6c6b0bdfc6a9f5810f5c97ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_038_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/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad33929338c612c54e3ac3b0d339ee788daf511d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038.obj
@@ -0,0 +1,114952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_collision.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c9dfbf5e17bd777b492df18dbca7d74e55c5d1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_collision.obj
@@ -0,0 +1,11813 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01c82a70236124a98a31cb82b218b7b38f7034cd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mesh/mouse_038_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb2f2edbe4e9aff1f55b4652ef9c76934f3e1c29c63e0407d6648715b9fe01c
+size 10233965
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01c82a70236124a98a31cb82b218b7b38f7034cd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb2f2edbe4e9aff1f55b4652ef9c76934f3e1c29c63e0407d6648715b9fe01c
+size 10233965
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e7a04450365670241be7b2dfa3e24dd4395d57
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e419cd216ec49c6e3d714619d31642c1d8eb74d2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision.obj
@@ -0,0 +1,11813 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca88a087251cfae6d244bbe2f33f0231b11b539c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f7a423229aaa8a32555ec1b3fa4eafd3d0f3e2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_1.obj
@@ -0,0 +1,4375 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1490d049f823e5d98bffe1f5ae66a44cb52c15a6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mesh/mouse_038_collision_2.obj
@@ -0,0 +1,2908 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mouse_038.xml b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mouse_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8f1e77cbf43797017b1c857fd23a75a0bbceeaa1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mjcf/mouse_038.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_038">
+  <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_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_038">
+      <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/d8734034e0845e79b295d64ca91f3b2b/mouse_038.urdf b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b20b20932e7b221dc745ac7fc063817f4d080da1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_038">
+   <link name="mouse_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0950" />
+         <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>d8734034e0845e79b295d64ca91f3b2b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>white,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact white wireless mouse with blue top panels and pink center strip</description>
+         <min_height>0.0492</min_height>
+         <max_height>0.0492</max_height>
+         <real_height>0.0492</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173542</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.076513 -0.038799 -0.020160</min>
+            <max>0.073487 0.038893 0.029083</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/d8734034e0845e79b295d64ca91f3b2b/mouse_038.usd b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/mouse_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4fb9e45d08a544ecfd9928ccff8896adc027c4b5faaf716cd071df3f7a160a
+size 4862134
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10233965
diff --git a/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/video.mp4 b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd7e3a2e2c6d26bbec88f0a262a14e07ab80639863d196bc52b216fbf63cbb2
+size 221952