diff --git a/.gitattributes b/.gitattributes
index 8e74b455e68d49ea2275e0e99d5767e120d99ef9..c26f124c328ecbd05258c0c1aa2d942f5ca29a59 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2926,6 +2926,6 @@ dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/mesh/chess
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/a19d3f79aabe54248bf4a6ef350f1ea5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.urdf b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bba3344e8cbdb81ac49c64c9bf864a0cbfc6292b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.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 tapered 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>20260119211216</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7568278312683105</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/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f5b46ddb82574b8846180d2126b391a88e8eb9bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a731427aee56f4ae82a1f57b66c97edfd18981cde783ee3c532d4e27fadcfa
+size 384482
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d25a5819d28270f32804ea7bb10fb2a4173efe8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f25b01294b016c402f17d8cf060fb34f47ef490433cb37b66c222135f5e9e09c
+size 2151800
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968fa9f51fd75b79af9008448abf643337a4316e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.obj
@@ -0,0 +1,23841 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98a1616bea427138f8b8af700682510b4e2e90c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..222431080e677f3678ecf95717fdfa2f51735952
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087c64f96910270c7177474be80be496f52acc354e857b6eaa9fa71efdbdbf47
+size 5001385
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/material.mtl b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/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/a22182738e335999bf149b6c1749df9e/mesh/material_0.png b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf9ce3970cbba86e5fbce34ee2299a01e48798b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb9b33bdec2f63d053f241e1c437ce7bf363ff8c8ec8050d0489399e47dd3c5
+size 1890498
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/a22182738e335999bf149b6c1749df9e.xml b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/a22182738e335999bf149b6c1749df9e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b29c1488a0b324539c56fa4fa4e6e796ff46c184
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/a22182738e335999bf149b6c1749df9e.xml
@@ -0,0 +1,24 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567a8a5b144a47581ed88132444905a5183ad095
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn.obj
@@ -0,0 +1,23841 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb11c47544fea2f7f58966c7debeeb134f66ccd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision.obj
@@ -0,0 +1,22708 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_0.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2f8d02ae8b2d7b7f4f1a3d14185316148013e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_0.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_1.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da45cadc5334639eb676d896da3cdd1c4d8c6b0b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_2.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13880f283eb7c70f5264b9af784aacdd40f06942
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_3.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e2c0ee2aa4a3584a96f37c6e82bef1808bb239
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_4.obj b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb11bc8af111e51cb4aca9178721992b5a6c389c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_4.obj
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