diff --git a/.gitattributes b/.gitattributes
index 11bd8b77214c15653aadece38b390cfa1f6d9ab3..3c4fcdcaa5eb9d1139a3c3a3c290f646e45583d3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2938,3 +2938,4 @@ dataset/desktop_supplies/decorations/aaa00b3c6939580fb7731b99526da519/aaa00b3c69
 dataset/desktop_supplies/decorations/b0805941876459e390f2d27fd558b093/b0805941876459e390f2d27fd558b093.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b0805941876459e390f2d27fd558b093/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b0805941876459e390f2d27fd558b093/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.urdf b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1fa11e2df9266bc09e964fbc622637879d02895
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="rubik's_cube">
+   <link name="rubik's_cube">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/rubik's_cube.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/rubik's_cube_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>0.060038</scale>
+         <version>v0.1.4</version>
+         <category>puzzle cube</category>
+         <description>colorful 3x3 cube with glossy surface and vibrant patterns</description>
+         <min_height>0.05</min_height>
+         <max_height>0.07</max_height>
+         <real_height>0.06</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20250923174228</generate_time>
+         <gs_model>mesh/sample3d_0_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping geometry between tiles is visible.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.322659492492676</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" 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/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.usd b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.usd
new file mode 100644
index 0000000000000000000000000000000000000000..20ee04c04f3caf7854ea5a22d645c8e57ff6e794
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/b6777c3ad13e597a88757bbf1147d569.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d87ed238e1c9400e15bed5dcde4f7504ed3f2dbc3834c782030723860fafe0b
+size 2047148
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/material.mtl b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/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/b6777c3ad13e597a88757bbf1147d569/mesh/material_0.png b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62715fed529adf3daf1ea17763d3b252d4915bba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e22904e6ed1cf431f38683f3d72715740ee3522e90e60683bbb7a97bb0556c
+size 2094856
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.glb b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.glb
new file mode 100644
index 0000000000000000000000000000000000000000..935e7b4715633ef09287793d22f84c93abab72a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec069d83015b3ab76cb47dc2202f7e6dca69408155efe079a1bb8c1e4cfd682e
+size 3602092
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.obj b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15146911d62dbcc1fd03f7f6808babbd921e020e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube.obj
@@ -0,0 +1,139652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.obj b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c40a080e0987a91f3d5e7beb46102eceae9520
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.ply b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f8f15f64564163288f2f3d72ac1b7b2c9c9a8ec5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_collision.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c09280c71bc530b7cc73373c1da4ad7bbe3fa04d5da397bd4954de215f24f9
+size 138097
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_gs.ply b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dcdb45a5bb652478ec814a420a5b07e7a785054f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mesh/rubik's_cube_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50f3dc449d78bad8a86ee7f202122f4f7bb99174eff27a63c45545f330735eb
+size 84554091
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/b6777c3ad13e597a88757bbf1147d569.xml b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/b6777c3ad13e597a88757bbf1147d569.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3a3da5291b7f38ce4ce13ac2dbdd422d63638b0d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/b6777c3ad13e597a88757bbf1147d569.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="rubik's_cube">
+  <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/rubik's_cube.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/rubik's_cube_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="rubik's_cube">
+      <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/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62715fed529adf3daf1ea17763d3b252d4915bba
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+version https://git-lfs.github.com/spec/v1
+oid sha256:86e22904e6ed1cf431f38683f3d72715740ee3522e90e60683bbb7a97bb0556c
+size 2094856
diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube.obj b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fef1b588a102e94889c9036b9a36e4d668a9e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube.obj
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision.obj b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99d56c8a2259722f586f9243f8dc3910c1dccfe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision_0.obj b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99d56c8a2259722f586f9243f8dc3910c1dccfe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/mjcf/mesh/rubik's_cube_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/textures/material_0.png b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/textures/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/video.mp4 b/dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/video.mp4
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--- /dev/null
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