diff --git a/.gitattributes b/.gitattributes
index e1141a07786af6aa82c0394717e2104b98396313..3108b7eb25dfdf0049e7acec9697a4c690d2a388 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2894,3 +2894,6 @@ dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/4fd5f203e25058d8b78b0826d728ad2c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.urdf b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8963518c11aacf39ceb6433fb16256819b9b7b6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.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 plaid pattern and dark red cap</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>20260120054858</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.60043478012085</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6fb83863f0d97c93ca01246a67b2521a6f6444a8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4287b9bd97d8b8eae3650ed280513f2749954cb16a72d829aa65284c648c9b19
+size 961904
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/material.mtl b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/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/5cded2fad37c5d1588ec269ce025c55f/mesh/material_0.png b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05411f32740551e47f8c4e4285d378cb328bd69b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbb1bc18589d254d12beb786ae6edb4f8bc1aa91210856d7ab47625c4937930
+size 2769779
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c2f979bdca686ae9afa77942a2508d47fd623b88
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe1d7275ef70a27b33009bcd7d6b08183fe16a2fa67bff6ee01d32b9e15749a
+size 3422704
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d6d4cbb76e1535d2d42d5af768766ac436950c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.obj
@@ -0,0 +1,59644 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401411d399204de7273ce9d0cbe5960f8eac42fa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_collision.obj
@@ -0,0 +1,8237 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b00ec5bbb7aa45c419e4ad3f284acf41378eccc0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ca0785bbd9c290b104c4cd0af1be707b1798d33363f288c6aa6524e08456cb
+size 3642601
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/5cded2fad37c5d1588ec269ce025c55f.xml b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/5cded2fad37c5d1588ec269ce025c55f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a28bb0c6807a4a7ae57157c7a66d7d8a3ce0b9f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/5cded2fad37c5d1588ec269ce025c55f.xml
@@ -0,0 +1,20 @@
+<?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" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_collision_2.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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05411f32740551e47f8c4e4285d378cb328bd69b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbb1bc18589d254d12beb786ae6edb4f8bc1aa91210856d7ab47625c4937930
+size 2769779
diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e996c2ee55e5a55ebf19b5fce22b1cfba1e729f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b327488b9cea5c37bb31970c6351453695ce317
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,8237 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a631766bd64f806b280e278da6997b4825848a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_0.obj
@@ -0,0 +1,2650 @@
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1d06dae181d7a2dd77de13d38a3cc816495555
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_2.obj b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f1806039d011ec988578903d11db9496589237
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mjcf/mesh/thermos_collision_2.obj
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