diff --git a/.gitattributes b/.gitattributes
index 207cc7a0f72ae353158fffe7693d8f96971fd631..9dd131b9103df08a59f654d2aab9b9a89a82fb5e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2956,4 +2956,6 @@ dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f/ed4d8b25c6635d68aa73156c9699a46f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.urdf b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2404654a79af0949c062b9860ceae9808cc62275
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.urdf
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+ thermos
+ cylindrical thermos with a lid and smooth matte finish
+ 0.2
+ 0.25
+ 0.225
+ 0.4
+ 0.6
+ 20260120060726
+ mesh/thermos_gs.ply
+
+
+
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+ YES
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+ NO
+ YES
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+ affordance/affordance_annot.json
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.usd b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..be354c71f802a0a08f0c8de63341cafcd22cfd62
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.usd
@@ -0,0 +1,3 @@
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+oid sha256:9e0fa002d669ef19cb287907b354ef4e4f30ede346d30ca5925fac28dc2c3a25
+size 987504
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/material.mtl b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/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
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/material_0.png b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 774077
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.glb b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..18315011477802f5503d47371648e259ece29b58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48fc02daeb2d39a40f17196d349b2b69d55647f9f7b652c5771d03ee7d83ccc7
+size 1436448
diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78828d5416785ac626350ae60f1049646309802
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.obj
@@ -0,0 +1,60404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755da3bd60830b700234ee3d6e6ade14091876d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos.obj
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2bec76cb1d575d95fe16a17ebb70a8cdba0b1b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,6361 @@
+# https://github.com/mikedh/trimesh
+
+o thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88a99cff0a6ca84da8d8f9d322158ebf7a5f4ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d0205ad6183c043dbb4aee8885b1b9936171bc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mjcf/mesh/thermos_collision_1.obj
@@ -0,0 +1,2605 @@
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