diff --git a/.gitattributes b/.gitattributes
index 8b54a6e4275fc4852595dcb6531e11501aa5f75d..3cccd813d2340ffa75c774e78bb2defd72f8f174 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2888,3 +2888,6 @@ dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stan
 dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.urdf b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..302c3ed45f792f063757a00e602a50f6caaf81d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.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>0.092796</scale>
+         <version>v0.1.7</version>
+         <category>mouse pad</category>
+         <description>flat rectangular mouse pad with orange and black 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>20260119221451</generate_time>
+         <gs_model>mesh/mouse_pad_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears flat and lacks discernible geometry or structure.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.54650354385376</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/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.usd b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..657b72999e9753b1b676ef8a50253d3a756336eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/528a0058fcc152419eb85665ebc6c13a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7669060b05190f232a097a264819658ce177cd0b8a22b54bf4f06ab1ff50b4a
+size 272971
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/material.mtl b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/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/528a0058fcc152419eb85665ebc6c13a/mesh/material_0.png b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5732afd18f0bafbbfbeceb5d071ce36fc3fc8c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd37c074cc9fec5f22bf20b7b50ce904d22204e94e238401956734ed69a8464
+size 1464687
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.glb b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dcafac7f84750c58a9d8fc6ac81577a1fd2beeab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7232ae8e2ee37e59fb6d21ccd08fc3f936db57e3828fb4e374f45f02ecf3afb5
+size 1651260
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d40cb93dbb91542b45308ea73627d5dfa986714
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad.obj
@@ -0,0 +1,17004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10b9c68055c7bd50e647e84230775d3a3ef08fa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_collision.obj
@@ -0,0 +1,4854 @@
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_gs.ply b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0d6ef2cb1553308c4a4ef4ab1eae678ec5694631
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse_pad_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9176aeb78b4741b63a53c57229ae1aac60516509d0bc96001e58dd9fa4bd13fc
+size 2129481
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/528a0058fcc152419eb85665ebc6c13a.xml b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/528a0058fcc152419eb85665ebc6c13a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a41988e60a49b4217862b4ad7296fef2f6fb9dd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/528a0058fcc152419eb85665ebc6c13a.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/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5732afd18f0bafbbfbeceb5d071ce36fc3fc8c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd37c074cc9fec5f22bf20b7b50ce904d22204e94e238401956734ed69a8464
+size 1464687
diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad.obj b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf30f8c89e09fbc522b4621fb14a61eb7bd1b6e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision.obj b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836e818005b06e58fee687c2fd51b2a69dbf67a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision_0.obj b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836e818005b06e58fee687c2fd51b2a69dbf67a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mjcf/mesh/mouse_pad_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/textures/material_0.png b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5732afd18f0bafbbfbeceb5d071ce36fc3fc8c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/video.mp4 b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fe2dda7a1256681290bf42b5f6b382b5a551912
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/video.mp4
@@ -0,0 +1,3 @@
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