diff --git a/.gitattributes b/.gitattributes
index 5359b755915555565b8b419e7091d6ef85d3ac63..290481c7fda32e87be8cac94228fdbdc0c9433e2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2872,3 +2872,5 @@ dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacu
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/mesh/vase_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/vase_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material.mtl b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..029d3f7cb9498261449e124070274f866584d590
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mini_sculpture_006_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material_0.png b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..354fe8fa8f0c059293687a9227664e884b704af6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.glb b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6d4eb76cd33ebfc0617ad3c5bf8f8b4e3e314e62
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.mtl b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..22779dd00a7df5463d044d510e03934c3b1f27c0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.mtl
@@ -0,0 +1,6 @@
+newmtl mini_sculpture_006_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ac0824f2d8979e9b68aedc9d51a0944f4176e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006_collision.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6728b35b66e7ffe67a6d79192709629197904445
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006_collision.obj
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_006">
+   <link name="mini_sculpture_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_006.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_006_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>1.000000</scale>
+         <uuid>229f6c15c75a5e5abdd7884732955100</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>mini_sculpture</category>
+         <name>flower sculpture</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>green flower-shaped sculpture with a stem and circular base</description>
+         <min_height>0.1177</min_height>
+         <max_height>0.1177</max_height>
+         <real_height>0.1177</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420195910</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.usd b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..aeaca77c15f3ddec115cae78a83c0367fa8a55af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f2d5c2a7ebdb6768205011cb93152aab8f661372d54b19942168e97c46c288
+size 4983599
diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..354fe8fa8f0c059293687a9227664e884b704af6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245e32ab32c20ca00cc0080744d07978906089d70a83b6ca4a42bbaed0f68a22
+size 8704397
diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1af49c51c4a82ccaad448300ab4b49a08574edf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006.obj
@@ -0,0 +1,109590 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f900d8085a494c9b112f13b88508d1bb544dad37
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision.obj
@@ -0,0 +1,8549 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_0.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bebf4deb39e4fbdb6dfe6140ca455416f943e6b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_1.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5f8ce2e96179720d218ad3bf3bc7c39e45228c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_2.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc02bcadc6e5f44bcc6b6b8ba00e2b1eec97805
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_3.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711e0bb6f694a86e5d1fcaeedf97b8b057f8dba2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_4.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab707b6251568008f07a3e7e1a25e3a91dad988
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_4.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_5.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85a6da4a5f8ced220b2cbcbbe73c4c6e3e057154
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_5.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_6.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdf94c39d8f7c9a5db2b2a2f0b2a614340a84f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_7.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467716bd9cf842140228dc60c6821d3e70011134
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_7.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_8.obj b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2c2ad080fd2952323c46d2c95ba1228dad5fbf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mesh/mini_sculpture_006_collision_8.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mini_sculpture_006.xml b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mini_sculpture_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8fe76a1222376248cfdbdfd47cfa1ca8ff1e029d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mjcf/mini_sculpture_006.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mini_sculpture_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mini_sculpture_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mini_sculpture_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mini_sculpture_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mini_sculpture_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mini_sculpture_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mini_sculpture_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mini_sculpture_006">
+      <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" />
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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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+</mujoco>
\ No newline at end of file
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