diff --git a/.gitattributes b/.gitattributes
index daad57f795cd154056134e04d9518c50d0f5c86c..b7fbe2ac7a916e268d9f38e95e1fa7d436b7698f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2870,10 +2870,6 @@ dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5c
 dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/24e490df82cb5439acb8fe29df33391d/24e490df82cb5439acb8fe29df33391d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.urdf b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52e80a1f01fae55da1b42ed560fd1e44ca520e65
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_pad">
+   <link name="mouse_pad">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mouse_pad.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_pad_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.060217</scale>
+         <version>v0.1.7</version>
+         <category>mouse pad</category>
+         <description>flat rectangular mouse pad with colorful design</description>
+         <min_height>0.006</min_height>
+         <max_height>0.010</max_height>
+         <real_height>0.008</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119222107</generate_time>
+         <gs_model>mesh/mouse_pad_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears flat and lacks discernible 3D geometry or structure.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.17544412612915</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.usd b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..356c9cb652ed06540d607c15f967a67f532436d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/2ba7f8dffd685dc8867c6b7168eaacb7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b7269afb2277a3e7e271427368ab2e8a722445e3399d8bdab4efb2bb74e055
+size 294110
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/material.mtl b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/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/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/material_0.png b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e785db96053e2d631d36ee5fe5d96ea3d113cc2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4e47270f9e3377df69d8dc2dc84e9fb6eb113782c0c82034093947e89356c9
+size 1806632
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.glb b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d53860d7500045798599939afd7fed8fea4e742e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d20ebf5f9597ab1c868bbfee9f97294d2be6273201f4afe33015287379474b3
+size 2011788
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f371c780142a859dcabe09f9c613774712239b3b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad.obj
@@ -0,0 +1,18768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9baa975157f2cc74721a969cfd8da6d17121da35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_collision.obj
@@ -0,0 +1,4686 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_gs.ply b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5082537511fc6ababfeb621c58d8e0eb0af602de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mesh/mouse_pad_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892bd856a90aa493e4a9658cf3d0314b9aa9fae4683ffc8cdc69500215bccc3c
+size 2119177
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/2ba7f8dffd685dc8867c6b7168eaacb7.xml b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/2ba7f8dffd685dc8867c6b7168eaacb7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a41988e60a49b4217862b4ad7296fef2f6fb9dd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/2ba7f8dffd685dc8867c6b7168eaacb7.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_pad">
+  <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_pad.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_pad_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_pad">
+      <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/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e785db96053e2d631d36ee5fe5d96ea3d113cc2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4e47270f9e3377df69d8dc2dc84e9fb6eb113782c0c82034093947e89356c9
+size 1806632
diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab62ceee7a02fb1e4be8b43a61a6c6d419e5085
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad.obj
@@ -0,0 +1,18768 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7814a2d7eb3c955098b142b95d047687f8a0b340
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision.obj
@@ -0,0 +1,4684 @@
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diff --git a/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision_0.obj b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7814a2d7eb3c955098b142b95d047687f8a0b340
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2ba7f8dffd685dc8867c6b7168eaacb7/mjcf/mesh/mouse_pad_collision_0.obj
@@ -0,0 +1,4684 @@
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