diff --git a/.gitattributes b/.gitattributes
index bc312afe4309098fd91eb5773903df7edd908315..55e9bd81f62a97ff5acb1152b8a6d1c8c024b14c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2898,3 +2898,4 @@ dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad3
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.urdf b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa17edaec5e25b522fa7635b7ab5c240403e32c9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_108">
+   <link name="mini_sculpture_108">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_108.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/mini_sculpture_108_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="10.0000" />
+         <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>0.600000</scale>
+         <version>v0.1.5</version>
+         <category>mini sculpture</category>
+         <description>cracked ancient column with ornate capital and fluted shaft</description>
+         <min_height>0.5</min_height>
+         <max_height>0.7</max_height>
+         <real_height>0.6</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <generate_time>20251014224346</generate_time>
+         <gs_model>mesh/mini_sculpture_108_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.349892973899841</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>11</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.usd b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c077a77a39e555ff865d038c722647c231f65e8a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f9a5d2af7594943812fde530b631ee9c9b1d64b8d9aa8e2b983865cb2a8e6c
+size 228777
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/material.mtl b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/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/6446909557805b03961d797f6f8f6592/mesh/material_0.png b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05adbdc892e2930cb82c5c7dfc8f1747195bc201
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8219c5e232e94dac877bc2c6cf3c3e3b2f948a48637810e1aa665d1b967999
+size 1789232
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.glb b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef899f8e413642ca97fac44c225cfc84b2cf1a1d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede884dc274f63706b42c9fc2c22a5ffc94a4dace66528128dead5e4c9c1d4bc
+size 1957900
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab48d7bd92d9865b8f3c29e0782a0d875a74938
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108.obj
@@ -0,0 +1,15524 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_collision.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ced8e882ed75561102d453137ad199d493f0d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_gs.ply b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4263cda7c86487a2abb9ce22f60afc4f1ad46458
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mesh/mini_sculpture_108_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:416ebccedbce227188c2b3b746629125557a754ffeb4ef9ff7dce67c3e26e2b0
+size 19674730
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/6446909557805b03961d797f6f8f6592.xml b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/6446909557805b03961d797f6f8f6592.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9bc98fc45a530f41a360f68c0f91147c5a23ec05
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/6446909557805b03961d797f6f8f6592.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_108">
+  <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/mini_sculpture_108.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_108_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_108_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mini_sculpture_108_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mini_sculpture_108_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mini_sculpture_108_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mini_sculpture_108_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mini_sculpture_108_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mini_sculpture_108">
+      <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/6446909557805b03961d797f6f8f6592/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05adbdc892e2930cb82c5c7dfc8f1747195bc201
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8219c5e232e94dac877bc2c6cf3c3e3b2f948a48637810e1aa665d1b967999
+size 1789232
diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071379930fa45a62f335c08e524aa67a5ab06dca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108.obj
@@ -0,0 +1,15524 @@
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789db29112dc86e6dbe0c9fa53f1d5dda69900ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision.obj
@@ -0,0 +1,4707 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_0.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23d8b2e953db2037a0461f4ffe040a128368ccf9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_0.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_1.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61cb0c627c3553e8a0e03cc6c3c79f56f29ce6f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_1.obj
@@ -0,0 +1,1150 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_2.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14a378280bdf1520e463e4527220e611324ec97
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_3.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef9c771187b65e7079ac91b26068a1c68b8f4d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_4.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9f6b1986c807778cfeed183515288fe2243177
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_5.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0ba832428c4cb3dc52f59e21731582007b0700
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_6.obj b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463c468d17fa1767ad2ab076cb5cfbe51f33bee0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/mjcf/mesh/mini_sculpture_108_collision_6.obj
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