diff --git a/.gitattributes b/.gitattributes
index c087d08823e90737d0367cfde952083955b16dab..57ee4167383a292c871601a235c1e673639bbe95 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2865,3 +2865,6 @@ dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_0
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.urdf b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4413971b8c458aed94ba8196e787be975f15380a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chess_pawn">
+   <link name="chess_pawn">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/chess_pawn.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/chess_pawn_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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>chess pawn</category>
+         <description>golden chess pawn with smooth curves and decorative base</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119212003</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: multiple overlapping duplicates present.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.703293800354004</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.usd b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.usd
new file mode 100644
index 0000000000000000000000000000000000000000..99a7b5dd8d62dc6a2d25b9d3b201b0926647e3f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/0133a870e4955b80b8a455f56071b302.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac58b8d64814e2c9a07a13f8537062ad7a00268d6eae1e67d84de4f41a4cd3e
+size 798147
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.glb b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8455d3caf82ebe1c893cd525da1785405bb8a02c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:303ef950e52f42f588d1196c19c4c680ffa1d5d8da4f23afec778da6f5266b0e
+size 3543800
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec01f2005749c5879795110e81b3030ce6f69459
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn.obj
@@ -0,0 +1,50882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acfd4b60741324affab064753941ccbfa36af7e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_collision.obj
@@ -0,0 +1,8975 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_gs.ply b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f7eec790af410ff5ed67f799a6cc0ce08f4c6599
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/chess_pawn_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71a8e2b51b23df896163ccadd559455f9231447a37f108e1b707e7d15150a01
+size 1603305
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/material.mtl b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/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/0133a870e4955b80b8a455f56071b302/mesh/material_0.png b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbbbee57b752f23313ab2606ef9dd2ed51830aa6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28ffc65494adb30649ffe99fc34184e496bba86c57a2930fd64bc8190a33afb
+size 2989291
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/0133a870e4955b80b8a455f56071b302.xml b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/0133a870e4955b80b8a455f56071b302.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aba4d3cfed822170a685df7548cd2fa8f507a8d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/0133a870e4955b80b8a455f56071b302.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chess_pawn">
+  <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/chess_pawn.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chess_pawn_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chess_pawn_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chess_pawn_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chess_pawn_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chess_pawn_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chess_pawn_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chess_pawn">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8617386768692f5e73a5904eeb9cd7793f468a0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn.obj
@@ -0,0 +1,50882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.022416 -0.009691 -0.050447
+v -0.022512 -0.009399 -0.050751
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1175c24b8ec7242273dffee9a2594ad9d3cf1033
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision.obj
@@ -0,0 +1,8975 @@
+# https://github.com/mikedh/trimesh
+
+o chess_pawn_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_0.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec9b96cc6f5d16ef40406d471958799a21385a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_1.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a78bf09cebe3c27d382af2bdc267d0e682d27ce9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_2.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0a60fa224d72c24776358651de9747014d4600
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_3.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec4a1be0b4b2b0b982ef9fcbf28cfc588240003
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_4.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f89c9cd3de571cdeb69a689fe0a324e4d12069d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_5.obj b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ed7af24bf4413703271759ddf38e641776ead4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/mjcf/mesh/chess_pawn_collision_5.obj
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