diff --git a/.gitattributes b/.gitattributes
index 75e7e32caa0e874598aefca524311ba955260bc5..6a1625abbcb858cc555eba1dbedf76f3efe251f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5303,3 +5303,5 @@ dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2
 dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d58a90808019928c82af5349e32b640a25a3e246
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67517303e9e427342cd46acc6cc959a1212f6d83
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e885f4a95da1866322904a019fc18bb58f7ebfd363a4a0b92c1d089c1fa7b5
+size 9556049
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.glb b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fecf99fa886b6dfd8dd38004448f03a007780bd0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f679b7b5db2e0883bb216ece148830e630139195ecd6ec2561cc737b4c90cac6
+size 12798900
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.mtl b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d68338aae39f3d35a823b25f5022e734ae7c0b04
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_036_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/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97d98add50d849a23694ee79358307f310abf57
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.obj
@@ -0,0 +1,106808 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_collision.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea02708a26c45ca267768310461e0d9a9d06733
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_collision.obj
@@ -0,0 +1,12322 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67517303e9e427342cd46acc6cc959a1212f6d83
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e885f4a95da1866322904a019fc18bb58f7ebfd363a4a0b92c1d089c1fa7b5
+size 9556049
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67517303e9e427342cd46acc6cc959a1212f6d83
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e885f4a95da1866322904a019fc18bb58f7ebfd363a4a0b92c1d089c1fa7b5
+size 9556049
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5225485d87ebab4f27e1e67db9022dd427504c34
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e458549b6ec8457941c12961704e756fadfd0f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1438744f85b4729c74fa8854e918b607c6b8c734
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_0.obj
@@ -0,0 +1,4318 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b80c8e2943e88ba1540eba5f35a17bf947cb3c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mesh/mouse_036_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mouse_036.xml b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mouse_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0013701bfdd86afed0c0b91d9f17f13553239f13
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mjcf/mouse_036.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_036">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.urdf b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec0207d7421dd06a2ae159e109f5bec29dafba7c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_036">
+   <link name="mouse_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_036.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_036_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>2c7ebd0cf6b6563097c2467274a68dc8</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 gray and blue wireless computer mouse with scroll wheel</description>
+         <min_height>0.0542</min_height>
+         <max_height>0.0542</max_height>
+         <real_height>0.0542</real_height>
+         <min_mass>0.07</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518173459</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.073287 -0.042349 -0.021337</min>
+            <max>0.076713 0.042361 0.032892</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.usd b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94943ef9f15787249a063ec8b4e76d251011f064c230427dbc9aaceeee89810
+size 4851280
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9556049
diff --git a/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/video.mp4 b/dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6594faea84c83e44cf970dbbacb8d7a21209511e
--- /dev/null
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