diff --git a/.gitattributes b/.gitattributes
index b66815e9fdd78ecf4a4ef74dbdbf6e204eb896a7..66cfa5ef2b9bed01bfa34977745c8ca9c188997e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2871,3 +2871,6 @@ dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945
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
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.urdf b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f09cbe289edfb4f38d175d45417eb4bf9b50c176
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.urdf
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+ v0.1.7
+ mouse pad
+ flat rectangular mouse pad with smooth surface
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+ 0.020
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+ 0.2
+ 0.4
+ 20260119221202
+ mesh/mouse_pad_gs.ply
+
+
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+ NO: The object appears flat and lacks discernible geometry or structure.
+ YES
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+ YES
+
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+ affordance/affordance_annot.json
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f75123324bd44fe7588f8cab9d1b1d2432f876a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8b6769242876589762a1fcc59a49140c6dc9f00f3168bc9c941975bcffc675
+size 292700
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/material.mtl b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/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
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/material_0.png b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..50311513e1c7d40740c91b84c64fcaf5bcf97097
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961a64ab42228fd946a86cecac8187ddb0957963deefd5d74f33ab9511b810cb
+size 586318
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef23fa4bc598ce93ab29ed7bfe1383b2f7a75b49
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37311cef8fdf63bb164ee6c7fba0b7b034b826e21fc07446347a922446937e80
+size 783852
diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb13b8dfa42edb3b46fcb106dfef2f9b8db110d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.obj
@@ -0,0 +1,17974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e97dcaa35b561cd0fffba93b189d48699d5b7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_collision.obj
@@ -0,0 +1,7074 @@
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_gs.ply b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad.obj
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9872357d9da7783b77b56c41c9582e6c682cc33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision_0.obj b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9872357d9da7783b77b56c41c9582e6c682cc33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mjcf/mesh/mouse_pad_collision_0.obj
@@ -0,0 +1,7072 @@
+# https://github.com/mikedh/trimesh
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