diff --git a/.gitattributes b/.gitattributes
index bd33d59c7069d5d35f94c76eae916f5429c4f0f6..c8fb03f493f4600b870d120e3b2acca932f73c7e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2992,7 +2992,5 @@ dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1
 dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1/tv_remote_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mesh/mouse_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/48ecd62942e452f9ba0e8aed19ab6510/mouse_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/mesh/tv_remote_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/4c314c9e5c945745bc4f4dacac5f6d1d/charging_cable_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/4c314c9e5c945745bc4f4dacac5f6d1d/mesh/charging_cable_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5db7783c6ad933df237d83540a23fc66c5e30a65
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouse_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb59f3883678a19ea8c187851e1e3158dd8d36
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23fc34a23fab63698b4fdbb0aa813d18a9b5fe190df253ab2a6350186be8cb83
+size 10910359
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.glb b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1e87bb6258b2c0fe20956861261eece4a2a3bfe0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293857799851c5f6ba13eb30922d0fc1ce47911faccd85c8d058ea0c6b820fc8
+size 14196436
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.mtl b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11a556dd879a07fa87cb7f034ec6fb135d2c5d68
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.mtl
@@ -0,0 +1,6 @@
+newmtl mouse_016_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/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6168ea416e41ac0cf6f30e1be4bd5d26d44ece7f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016.obj
@@ -0,0 +1,113862 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_collision.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da18ae7f5cba3774eaa68452a5274caeb17b5d56
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_collision.obj
@@ -0,0 +1,10989 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb59f3883678a19ea8c187851e1e3158dd8d36
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mesh/mouse_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23fc34a23fab63698b4fdbb0aa813d18a9b5fe190df253ab2a6350186be8cb83
+size 10910359
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb59f3883678a19ea8c187851e1e3158dd8d36
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23fc34a23fab63698b4fdbb0aa813d18a9b5fe190df253ab2a6350186be8cb83
+size 10910359
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2123eb5eb90b5be984196f6045a989ce542993f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mouse_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93719d693fccd08fe9f139a80ffc136acfc0d087
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision.obj
@@ -0,0 +1,10989 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88289f2b6fbca77c8a8e2e5889ecd9aceeb5f22
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1d0fbc4f1a34987b8f96a9d85d45f9b5b07698
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7530805f23cc6ab05d858b24d72df68ce9341d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714cc0c29a38094cbd06e8496268ee95c0446d05
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c504281d60a1603c4ee457a07011b0e3bb02a1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea37a888f1e4cf46035301e28903924365c08337
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d457617325283323acb2dff6ca3cd83f2ff4749c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mesh/mouse_016_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mouse_016.xml b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mouse_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bde28ec1029e5906862ed8fe61acf7d924a244f8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mjcf/mouse_016.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouse_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_016">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/48a4343795c75e3d8c408930bc70eede/mouse_016.urdf b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20cd5c18c383c229e50ab7523db34618445364c6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_016">
+   <link name="mouse_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouse_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1100" />
+         <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>48a4343795c75e3d8c408930bc70eede</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>mouse</category>
+         <name>wireless mouse</name>
+         <color>gray,pink</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink and gray ergonomic wireless computer mouse with side buttons</description>
+         <min_height>0.0538</min_height>
+         <max_height>0.0538</max_height>
+         <real_height>0.0538</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.14</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518172738</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.076524 -0.049041 -0.021001</min>
+            <max>0.073476 0.046126 0.032768</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"Top shell and lower shell are mostly separated, but Olive mixes unrelated controls and side inserts into one color.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.usd b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1deb5821d13dcb7a2aab0f27a74c029aaaaad774b01894e49823e1d69e1e05
+size 4880540
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10910359
diff --git a/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/video.mp4 b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec74c2c2504d975fca77215565527917f4e13d8d6f7384d23ec9fb260d3f868
+size 281295