diff --git a/.gitattributes b/.gitattributes
index 6673ca442861e9b306e663a3a639d1944b093e55..bb508ba6520a80920404ea17d3626565685df4ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2870,6 +2870,6 @@ dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5c
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.urdf b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b500e2b0c36a4c6f5ca039eb3d1b3aabe18d875e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>chess pawn</category>
+         <description>solid black chess pawn with smooth rounded edges</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119171746</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.641174793243408</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.usd b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3446a00b0590f8663d1702a4c7a9e50c27e680e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/1f02f4084bc059a1a9e70c0f870b668d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488c166fcc8a2202db6955a67d4f650d246742c04545e97ee992c9fd4ebd771b
+size 325855
diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.glb b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4816586853564c61634966b89ba657a34a014d0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2678fd2594ef5a40dd89c2d893580d7ed1d3048fdf66fbda812d6fbae7dc3c01
+size 1593344
diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11a5cf0d6b2363b902e5f2b8d90bcc55f6bfd45
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn.obj
@@ -0,0 +1,20472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a65e87922abc23d279f3bbe20cd65b1bacee3e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_collision.obj
@@ -0,0 +1,18672 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_gs.ply b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_gs.ply
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/chess_pawn_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/material.mtl b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/material.mtl
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/material_0.png b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/1f02f4084bc059a1a9e70c0f870b668d.xml b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/1f02f4084bc059a1a9e70c0f870b668d.xml
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index 0000000000000000000000000000000000000000..36e3a4e13244c5b41bf436bac8cda6b26cf49450
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/1f02f4084bc059a1a9e70c0f870b668d.xml
@@ -0,0 +1,28 @@
+<?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" />
+    <mesh name="collision_mesh_0_6" file="mesh/chess_pawn_collision_6.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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82165a42bc44de4f0fb2e73ba74ab46e9645f999
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn.obj
@@ -0,0 +1,20472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bfc1f38f06ee7fb6a1ef6f260b319bfcfbfb0b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision.obj
@@ -0,0 +1,18672 @@
+# https://github.com/mikedh/trimesh
+
+o chess_pawn_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_0.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e564a1d26663c4a16fe5ab4ce825ced66a2c2e3d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_0.obj
@@ -0,0 +1,5749 @@
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_1.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df754deda0152bbae0ca59d4d87d438957b93691
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_1.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_2.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1951c0eefff6b9aa94bc2f4dc7385628b7874052
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_3.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5706ebc66c15d562c8d4a4b7d27e24b359daee24
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_4.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f296e7d46e8c884ea5715e6745939e8d5ca1af74
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_5.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ba6de32034978f433b5001d9323324f292c714
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_6.obj b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b5cb9cedded0a11084dad9b9f6657d757d261b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1f02f4084bc059a1a9e70c0f870b668d/mjcf/mesh/chess_pawn_collision_6.obj
@@ -0,0 +1,5707 @@
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