diff --git a/.gitattributes b/.gitattributes
index fb950c38c413e5d597a9805f2d7eec245b961a03..ab22e6d368313a3bb94ef66964aeff4568b5c11b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3052,3 +3052,6 @@ dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918
 dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/mesh/presenter_clicker_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/mjcf/mesh/presenter_clicker_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/presenter_clicker_003.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.urdf b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b33cca7d307d4915517bcf05d7abe502d1f3f0ba
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_76">
+   <link name="mouse_76">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mouse_76.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_76_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>0.100258</scale>
+         <version>v0.1.5</version>
+         <category>mouse</category>
+         <description>compact ergonomic mouse with smooth white top and black base</description>
+         <min_height>0.035</min_height>
+         <max_height>0.045</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20251014203326</generate_time>
+         <gs_model>mesh/mouse_76_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.038836121559143</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.usd b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc98296e4f28f76baa2a9b41f12649c3301244b9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/d6216d463fdd56bfa0fcfdee474755b0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23c1c204788f080629b9d9291a03235fcaacbd0df000247d79a044f161cbfe50
+size 703879
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/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/d6216d463fdd56bfa0fcfdee474755b0/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d8117cea626efe374acad0618eaa80bab94d28
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd49a0028d1a099426ccc85c8da3957688f4270f6e2f8f461840752883faead6
+size 1121243
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.glb b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c142010bf80353f382467e6d1ee97a327438bba
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b240c76e3325007507c26ef70f0629668b73e502a71d2a2bcd9a2c5f63e0db0c
+size 1605392
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.obj b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ef9990680f42ff310b2a3b863a6e557f8a9813
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76.obj
@@ -0,0 +1,44334 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.04985021 -0.00586101 0.00003871
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diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_collision.obj b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6004c207c5fb80afad0993181118f4208737bcdc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_gs.ply b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a5b3649e24ff13202d64a3e1bfcbb197092503cb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mesh/mouse_76_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c2626329045c259500463f98ea36f244f7e8f7d0cdd8f4e89c553761b0c6df
+size 31181162
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/d6216d463fdd56bfa0fcfdee474755b0.xml b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/d6216d463fdd56bfa0fcfdee474755b0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5548ab6d3ec8aafb31e09de3f42acc109665e875
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/d6216d463fdd56bfa0fcfdee474755b0.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_76">
+  <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_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_76_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_76">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d8117cea626efe374acad0618eaa80bab94d28
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd49a0028d1a099426ccc85c8da3957688f4270f6e2f8f461840752883faead6
+size 1121243
diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76.obj b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533ee87680804b6899699998393cea388d86ec92
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76.obj
@@ -0,0 +1,44334 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.050132 0.000242 -0.004707
+v 0.049850 -0.000039 -0.005861
+v 0.049906 0.001330 -0.005492
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diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision.obj b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e241f62533e2a8ceb30424287237d5e2f888d7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision.obj
@@ -0,0 +1,15211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e241f62533e2a8ceb30424287237d5e2f888d7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/mjcf/mesh/mouse_76_collision_0.obj
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