diff --git a/.gitattributes b/.gitattributes
index c9e6a153af9ea28f35b6f42e1cc2b07bc572ae3b..ee810c5251d1f9507cbf1b72231e508f9dad0942 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2920,4 +2920,4 @@ dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/phone_stan
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/933cdd8b8da952b0918112183735f127.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.urdf b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..278931aaa470036a778cb2b36c7b240df721103d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_104">
+   <link name="mini_sculpture_104">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_104.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_104_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>0.250000</scale>
+         <version>v0.1.5</version>
+         <category>mini sculpture</category>
+         <description>dark triangular prism with marble-like texture</description>
+         <min_height>0.2</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.25</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251014222200</generate_time>
+         <gs_model>mesh/mini_sculpture_104_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: inconsistent geometry between views suggests overlapping or redundant parts.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.705727577209473</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.usd b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ab8dfd16c034af7343e11d36535b83d834460b03
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0baf155eeef187e178a8bca628d7cbefa4a0e6002fc027ffb27b4818de18ab
+size 722848
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/material.mtl b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/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/998edab00adc51a399b5b999112d8200/mesh/material_0.png b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c314b9cae78ffdb1ad3cfcfa8674417e9398ecb5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731d067b06f9539ec980278789fe9da3e8ec522561e4e5ef3e7c0cf7119a006a
+size 682473
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.glb b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.glb
new file mode 100644
index 0000000000000000000000000000000000000000..22f8cecd149492f5e3b7ce4ff3d66361b314a380
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01f988a20c4ff98a3b563fe3121a223cf07a90b9cbbbf3d99123297cd91493f
+size 1158728
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7046f8558c10115aaf541e57f9af4aedae5745d7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104.obj
@@ -0,0 +1,43386 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_collision.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6824626e9a691c85884cac8e5992fd4fc7365728
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_gs.ply b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..50a96db6a55c13a4e73b88df9d753a342ae76868
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mesh/mini_sculpture_104_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467ffbe953b614ce5d5a4ec5a8318285dd78a78a178a4f7e1c81e1281372ebd2
+size 37856362
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/998edab00adc51a399b5b999112d8200.xml b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/998edab00adc51a399b5b999112d8200.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c1a50f4b517822dae871b6a610d60509843c7dd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/998edab00adc51a399b5b999112d8200.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_104">
+  <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_104.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_104_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_104_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mini_sculpture_104">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c314b9cae78ffdb1ad3cfcfa8674417e9398ecb5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:731d067b06f9539ec980278789fe9da3e8ec522561e4e5ef3e7c0cf7119a006a
+size 682473
diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b340c5f24a5f79fb957fa7bdc792a90505dfd12c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5c740d122922d46d1b5d5705e33d660b0f5266
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision.obj
@@ -0,0 +1,5140 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_0.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11527d82d5ab172230198d8acecc8324bcf1a06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_1.obj b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e326aa124d594a6ab1530b525d583ba738c31391
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/mjcf/mesh/mini_sculpture_104_collision_1.obj
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