diff --git a/.gitattributes b/.gitattributes
index 87f63b25238a08d3be2aa2049b97c7f133502686..94ce2615bb30e0a98cbd809785712697bfa54f79 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2951,4 +2951,6 @@ dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_
 dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/e05b6d8397895fdcaab2ac5be75c0dda.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/e1d010d5f3795d6aac835d2755074fb8/e1d010d5f3795d6aac835d2755074fb8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.urdf b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8bd436f0a8bcdf5078361a55745fbcbd34e5936a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.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>0.50</mu1>
+            <mu2>0.40</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>wooden chess pawn with rounded top and flared base</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>20260119171248</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.564095497131348</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/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9048dfb96bb326f9a774d4b6e3abdf2bf2bd844916b4f3a83880b26da1d25f5
+size 327935
diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb
new file mode 100644
index 0000000000000000000000000000000000000000..17634590fd04dbf6bc7a374b3ef3b7521e848eca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966ca8fa9141d31b71df8d0f2ec5ce89a8ee992dda5236f2d4705f81d2adf00e
+size 2591472
diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48e6a363ab3bcc1de22cf1023bdff504cb2b79e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.obj
@@ -0,0 +1,20412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b403f463e9b3fd1e9388ced7f29dce115ea63fb9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_collision.obj
@@ -0,0 +1,13877 @@
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..be1e493fa602792145351b8a0a70e2270126325e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2feaf892b2613bfc49160b9d96ed9d386a3765ab40f7b21f0e5554047bf8196c
+size 2868905
diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/material.mtl b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/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/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/material_0.png b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05717f29b3b3a9ceb4deed2940a660175e9001ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8833d0c8408fa83a3cfbe2ef93d5c645e6e6cfb6fd173b0bab36c44f5239bcaa
+size 2367726
diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/e97ca22cbeb35b928c2a72b58fa9ecef.xml b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/e97ca22cbeb35b928c2a72b58fa9ecef.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aba4d3cfed822170a685df7548cd2fa8f507a8d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/e97ca22cbeb35b928c2a72b58fa9ecef.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/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4074164bbdb60b939c6cd387abeb8d55f764e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn.obj
@@ -0,0 +1,20412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1296648fe23f4c7b0f54484afe6383c7a115414e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision.obj
@@ -0,0 +1,13877 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_0.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19624458dafb60113659102843e6b19ff7423d04
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_0.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_1.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd01de2eb77276762cc014ee4c5fb729189ef302
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_2.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536b7051f2876cf4afb913a9dad445f9decce923
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_3.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1565eb560164ea8fba7635f28f63f78f76d7cf3b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_3.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_4.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c245dfd03749fd9f069d6dc12c56163022606
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_5.obj b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab91c037e948649510c2895e146965bf563cf971
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mjcf/mesh/chess_pawn_collision_5.obj
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