diff --git a/.gitattributes b/.gitattributes
index cbbd1a01e09dbc1887dc622355e9b2c74ee82990..75e7e32caa0e874598aefca524311ba955260bc5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5300,5 +5300,6 @@ dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97
 dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/earbud_case_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/mesh/earbud_case_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.urdf b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d88fb84049d7c7fe7f3b49028c186c085e9b81b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="keyboard_68">
+   <link name="keyboard_68">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/keyboard_68.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/keyboard_68_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.171816</scale>
+         <version>v0.1.5</version>
+         <category>keyboard</category>
+         <description>compact mechanical keyboard with rgb lighting and raised keycaps</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20251014195334</generate_time>
+         <gs_model>mesh/keyboard_68_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.18642795085907</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/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.usd b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ba9f1c604d09a57ffb147a99a3bd77e1c6ccb1fc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/2adc1e2056425beb870c056dbde1b5e0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30800a5e94230a3f88563ca8a8080f496c9fb6644d2fa0e0cddd2aab502afade
+size 410821
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.glb b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5a1154f8cbe1283ad1a18ff25969630a85aecab7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7604b8d4a7c5993eb15dc75ee4ce65a637f54f69291efbcc9d116044367e5807
+size 1867244
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d59ea524987c76a4ebb6eb873f2130ef92e178
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68.obj
@@ -0,0 +1,27798 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_collision.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89676f2c0beffcc5290c4b839daafa505b9e71f5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_collision.obj
@@ -0,0 +1,3356 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d4029137b22ebf801a43c7ec1125fdbe46b55a95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f64bceb8f388807dd2894a0aa96bf03907ee12ce2413faf092426997cc8780
+size 17049450
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/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/2adc1e2056425beb870c056dbde1b5e0/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..af64b3698e8c858ee9555dca7b3a231fbe18e82c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5d805e89e056fcf01ef3d5b28a1ce0594c546298b7ec4b8ec4dcfbdd0af91ef
+size 1565875
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/2adc1e2056425beb870c056dbde1b5e0.xml b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/2adc1e2056425beb870c056dbde1b5e0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83d2f124defbcf9bfc78323a1af32694d98ae3f0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/2adc1e2056425beb870c056dbde1b5e0.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="keyboard_68">
+  <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/keyboard_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/keyboard_68_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/keyboard_68_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/keyboard_68_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/keyboard_68_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/keyboard_68_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/keyboard_68_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/keyboard_68_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/keyboard_68_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/keyboard_68_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="keyboard_68">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ea4dd978f3d011f9a170ce6f63f2ef9c06dbfb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68.obj
@@ -0,0 +1,27798 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaeaabeae9e67d9e5bf410db72c480e68beadbe3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision.obj
@@ -0,0 +1,3356 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ad01b4c99d8a81367ffd51e0d8e7ba989b99a0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_0.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94391fb5c557671281e8f52b37794db842c0e63d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_1.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec206564f8a3f77048a766f1b121ac016f54110
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_2.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66becfcb4c09e121b256b55f42afe840a3b883f5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_3.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54ae14c4cf94f266d8cc415ea8e73c27a5a6bd9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382e08c5f89547a199a3c963ca91e0065ca30e84
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_5.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810677fc50df3e226a8f133399a6ae87f77dd722
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae500e37803005b911339236470b77e88b54b39e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_7.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430c775a289de8055807c04dac6bba8e445bd7b0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mjcf/mesh/keyboard_68_collision_8.obj
@@ -0,0 +1,250 @@
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