diff --git a/.gitattributes b/.gitattributes
index 08fdd8c461eb9281308267e74273346b00704575..2576a9731a3fb28f81044be5695d4861529c1887 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3023,5 +3023,5 @@ dataset/desktop_supplies/electronic_accessories/9a64aaafd38e5fef875901a5e736a597
 dataset/desktop_supplies/electronic_accessories/9a64aaafd38e5fef875901a5e736a597/mesh/remote_control_81_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/mesh/mouse_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/mouse_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/a70a1160d24154048f79907c515b601d/mesh/mouse_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/a70a1160d24154048f79907c515b601d/mouse_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99bcc033b07430b76728807775d938271d4c1cd5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl usb_drive_003_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 usb_drive_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8733612d12515c88b44e6662b1b0ed0d71c8e06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361336f3105546cb51117f8958d7f9c35bd7f0bbe9ba2104990d7171531ab736
+size 8207575
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.glb b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fe68990e4559f403e28edee930d31ccceeefdf81
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81bb95241761ac94f4afd77facb05903e96a03d8873773d9a87e2d64589d02c7
+size 11409532
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.mtl b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..491240179e45d4710f213c419edf1a9c02746be9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.mtl
@@ -0,0 +1,6 @@
+newmtl usb_drive_003_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/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f5f88a6414c66510a29294cb064bc0cf5325ef
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003.obj
@@ -0,0 +1,108770 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl usb_drive_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f70a9be20aabcee7340785c3b5c9f6645aae310
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_collision.obj
@@ -0,0 +1,5869 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8733612d12515c88b44e6662b1b0ed0d71c8e06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mesh/usb_drive_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361336f3105546cb51117f8958d7f9c35bd7f0bbe9ba2104990d7171531ab736
+size 8207575
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8733612d12515c88b44e6662b1b0ed0d71c8e06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361336f3105546cb51117f8958d7f9c35bd7f0bbe9ba2104990d7171531ab736
+size 8207575
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14f522ba1aa2f5797490b43acc1e92208df070e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933056f178490c5feca196f94edf812259ede01c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision.obj
@@ -0,0 +1,5869 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d796c75c6c70db9481d75bafaa636cd9cbb3dda
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc05eaded8e12d4b9a7e35aadd68479d8e283062
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_1.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a44885891ff6f2c16cf8bb702bd96401723abd1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe1b95531930ba6c9999f376ce72231aaefae03
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9c170eb8155dd00889676f87d6ae18348017e8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912bcee4070f03790756c0680999798093e5fa95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_14.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bcbd2e1168aef48fd965fba0d42e1af3db40b0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_14.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_15.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42eb497d4bddd4e594bea79ea5167600a5acbfa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_15.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_16.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0446afdfa94bc7b02643c52074e7b097993e7bc2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00367605 -0.02201767 -0.00321675
+v -0.00345962 -0.02201767 -0.00321703
+v -0.00367605 -0.02201768 -0.00036013
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9071869f13d261e9f1cfa1e7ff4ec5cb3def1119
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3bfbeb06e173a1be9e731a3b35b6121373cb28
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_3.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1453f2d745b16d347fd8fd46283a11b36c88720
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37db5d6a67ee21b762742eee74ea14db0368b8c5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_5.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c34dd2a8e9e427d25fd24557fccdf9b624f2ff
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f002bb1c23490202fda3f1eb565286f92d1d74f7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_7.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c62a19f0582cbe2af0866ac5047f744f7e2c4b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_8.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0666a96df198c958bc35aef02b2b638a97d72aed
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/mesh/usb_drive_003_collision_9.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/usb_drive_003.xml b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/usb_drive_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..353c990d1821e091b0db4dd072c78587c46302f1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/mjcf/usb_drive_003.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="usb_drive_003">
+  <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/usb_drive_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/usb_drive_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/usb_drive_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/usb_drive_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/usb_drive_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/usb_drive_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/usb_drive_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/usb_drive_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/usb_drive_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/usb_drive_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/usb_drive_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/usb_drive_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/usb_drive_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/usb_drive_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/usb_drive_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/usb_drive_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/usb_drive_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/usb_drive_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="usb_drive_003">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" 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/a1e69f5c40805be5abca4f62ead2883a/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8733612d12515c88b44e6662b1b0ed0d71c8e06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361336f3105546cb51117f8958d7f9c35bd7f0bbe9ba2104990d7171531ab736
+size 8207575
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.urdf b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb4def9c786b35f2dd8e542a19ce545bef08b3d2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="usb_drive_003">
+   <link name="usb_drive_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/usb_drive_003.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/usb_drive_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>a1e69f5c40805be5abca4f62ead2883a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>usb_drive</category>
+         <name>golden usb</name>
+         <color>golden</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact golden usb drive with looped handle and connector</description>
+         <min_height>0.0101</min_height>
+         <max_height>0.0101</max_height>
+         <real_height>0.0101</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416202617</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.usd b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0ee421f0edc63728069b74325a58588c12f66487
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/usb_drive_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edad8698e3b447932be41a888e8ee63cbcfce780b5badd5dffc4f5ef4c9ac12f
+size 4831163
diff --git a/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/video.mp4 b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed6e081e7f0e1766138cccd18356f86b4832f2e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/a1e69f5c40805be5abca4f62ead2883a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61624696a45ebf47bdfce60a4e0a291327fbcce8a5ba0511b9e0959c847c371
+size 128227