diff --git a/.gitattributes b/.gitattributes
index 596b33f29f035158ed873885cb8a28b3a774fd3e..f92e5c0af0356ddba4d600d828eb629cfc7e7cdd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2963,3 +2963,6 @@ dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/sauce
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/f6081aabe52b56b8ae7acbae76d84604.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.urdf b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be8ee3abd217e0c0c7e5dda2ba3fcb520718fc99
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos">
+   <link name="thermos">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/thermos.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/thermos_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>thermos</category>
+         <description>cylindrical thermos with a brown lid and white body</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120060209</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.414978981018066</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.usd b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.usd
new file mode 100644
index 0000000000000000000000000000000000000000..abd6c16a395d13a5de9390c7ef37877a7684a71c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b3357e1873e45ed411ffee50b0ba2eb53d1a2b5abe2de21b5849bd01076830b
+size 944965
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/material.mtl b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/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/fdc9b69a39fe5b8fb716101eda50fb59/mesh/material_0.png b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3559af3ad2ec70b23395c829f15af92ae0b7cad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e64cef99ef6889f99fb3a1d0a6f95ab801455a6b6da4386efc36b23768b2654
+size 842304
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.glb b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5a1f95244f51ffe184843385c053e0ecbcc0714d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6afd74b2337222724a15394a0db39a5b17c347d73c2266afdf6d2069601ac71d
+size 1464668
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.obj b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8adcdc22eb65b66c0f76d8d55d093d9a720fdaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.obj
@@ -0,0 +1,56594 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8443c733e972b40d1900016ee3494ea2e42cda
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_collision.obj
@@ -0,0 +1,6531 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7267ddd41500ae3bd791aa6526c0705a0b44824a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32449fe3f0e0ade8bf98cade32ccb87ee3c0db6b85f3f41e886cdc82466d2474
+size 2885481
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/fdc9b69a39fe5b8fb716101eda50fb59.xml b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/fdc9b69a39fe5b8fb716101eda50fb59.xml
new file mode 100644
index 0000000000000000000000000000000000000000..075685cc1aef9101662464054f01f693599e77ee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/fdc9b69a39fe5b8fb716101eda50fb59.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos">
+  <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/thermos.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos">
+      <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/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3559af3ad2ec70b23395c829f15af92ae0b7cad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e64cef99ef6889f99fb3a1d0a6f95ab801455a6b6da4386efc36b23768b2654
+size 842304
diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c9527183da8f5ef3ab80a83741f16282e00dfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff000d7290b9a35e21d4cd848436d5f289c2c1f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff000d7290b9a35e21d4cd848436d5f289c2c1f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mjcf/mesh/thermos_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/video.mp4 b/dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/video.mp4
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