diff --git a/.gitattributes b/.gitattributes
index 0bcc3dc9b41e145514bda97f3294e2c081c5e0c2..9bf8c48ba8ec77319c7d73d9191781e8f4a9dd0b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2907,6 +2907,6 @@ dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/792fd01039
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.urdf b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..45226e57e4fab063eb10c6aeba5ecb1ac396f1a8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.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>0.80</mu1>
+            <mu2>0.60</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>smooth yellow 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>20260119172115</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.607973575592041</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/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.usd b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e64ce4f7f14699d18d99d0d4fcfaa9abf2082ad1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/85f47d0e88c15400b3f9ef21c4fdf446.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37c45f94a23663287c17396055d647f9ba0079a1aacacfd95a8edfffc7feaf1
+size 390146
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.glb b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e585be49ed6174a1115dde647467b9ddc734bb4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0461e5dc45aa9c1adf92c86b554ab5786d21b12d4153bc14d11e133643600cc7
+size 1940744
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b95a5f0bf0ad8afae0c8cd15ad65a64081cbf25
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn.obj
@@ -0,0 +1,24900 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1367ddeada6816a91d11a1e987acbb45de4d5af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_collision.obj
@@ -0,0 +1,17457 @@
+# https://github.com/mikedh/trimesh
+
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+
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_gs.ply b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5f6894fd775a41220888a88e356637c89036814b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/chess_pawn_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c09ccf8233d1a0940e701ee7e35e8306436b7203e5017307c7f80fd6f0fa2d2
+size 3531049
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/material.mtl b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/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/85f47d0e88c15400b3f9ef21c4fdf446/mesh/material_0.png b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fc5c419461a6c3491bb4ad7fddfd8bb3384457c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338dcb1b3e598c65671c5e9b453bc796b89e96602e56b1762f62242e2e48c671
+size 1668973
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/85f47d0e88c15400b3f9ef21c4fdf446.xml b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/85f47d0e88c15400b3f9ef21c4fdf446.xml
new file mode 100644
index 0000000000000000000000000000000000000000..36e3a4e13244c5b41bf436bac8cda6b26cf49450
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/85f47d0e88c15400b3f9ef21c4fdf446.xml
@@ -0,0 +1,28 @@
+<?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" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe807978f68a27ae58579f3c126d93a5ba696d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn.obj
@@ -0,0 +1,24900 @@
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d6a0dcddb2f68072ffa08b1ff65ecfe622fa68
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision.obj
@@ -0,0 +1,17457 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_0.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d493231e26c179b0272e8f84cba3f0d85b1f0c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_1.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb8bbb801e08a48a7fb60e67e307622f71bf303
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_2.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d982a5b784d1b884cb3eff2bd29b58b3f33886
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_3.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d530861ba95c1bff57405a58de043739d79acca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_4.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314bc3f813914791b4911a65867c2129d032c591
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_5.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e75988df81139a6c91c75739f3b1c8c81ea4bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_6.obj b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c808eb3b85dedb7d844ce7bf2bd1fef42d2a95a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/mjcf/mesh/chess_pawn_collision_6.obj
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