diff --git a/.gitattributes b/.gitattributes
index 00160e1790d4c9db31241be92459feeb62d82a6f..4f4d852e7d991953347a06f6a950541e06af7e06 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3069,3 +3069,6 @@ dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa
 dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139/ac_remote_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139/mesh/ac_remote_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.urdf b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9293be1c05f69d105b2ffd1085a28e5b402d151b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_77">
+   <link name="mouse_77">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mouse_77.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mouse_77_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.126546</scale>
+         <version>v0.1.5</version>
+         <category>mouse</category>
+         <description>ergonomic computer mouse with translucent red and green design</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251014203558</generate_time>
+         <gs_model>mesh/mouse_77_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.329992651939392</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: {"summary":"Buttons and wheel are merged into top shell; bottom and side band are split by view-based boundaries.","merge_groups":[{"colors":["Cyan","Navy"],"target_part":"bottom/base shell","reason":"Both cover continuous underside and side skirt surfaces"}]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.usd b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c1d8ca880d8dbb4cc03170277ca0d52e39403008
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/fe01337f14a35b5fb23ae42780cc215e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a6a62723aec38d9a3362a86af1e44f5165723dfc002fdb8a26300eb12b1242
+size 664428
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..917b6873bcc9b02a6b0ac2ad2fcd9d0133b70f00
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754f518b5464ab816e2b9a1cd38fa776f0be9986bc5b126eebdd87597fda2d0a
+size 1765393
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.glb b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea2f9f2035568f8b6d64e64c3e1dcb88c1d108f2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b2e131e6dfbecbbe9913b7458fa1c42a45d5d53aa28de3e4dde49d25bd04147
+size 2216052
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c2493262b2b128b2bee5e1579bcfe186aac92f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77.obj
@@ -0,0 +1,41183 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02986575 0.01239613 -0.00507662
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diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_collision.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78dc9ce65b9bbd5e6424d43f864b795161beb99f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_gs.ply b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c6e6f05df410f186adad1483242254ac32bcf35d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mesh/mouse_77_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcde3ce30e3f737931f003e7580d76a4b372745d39750c19d029ac0c2ad412ea
+size 31537770
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/fe01337f14a35b5fb23ae42780cc215e.xml b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/fe01337f14a35b5fb23ae42780cc215e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e05d24bdb2852280ef27adaedbce9581c592ae1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/fe01337f14a35b5fb23ae42780cc215e.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_77">
+  <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_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_77_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_77_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_77">
+      <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/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..917b6873bcc9b02a6b0ac2ad2fcd9d0133b70f00
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:754f518b5464ab816e2b9a1cd38fa776f0be9986bc5b126eebdd87597fda2d0a
+size 1765393
diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46337d67ca363341fa6c1d45aa5df3c4ab768e4f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77.obj
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+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add3f8ea109da864242dd811ad9807010a315104
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision.obj
@@ -0,0 +1,12028 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df23a53cae9eb877d5ba6f5540034a9ec260869b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa93a4ddc00a10afc7db742d9dbb74aea600eea4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/fe01337f14a35b5fb23ae42780cc215e/mjcf/mesh/mouse_77_collision_1.obj
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