diff --git a/.gitattributes b/.gitattributes
index 14ae867621de25b9bdb29026ae54860d63e6d428..575fa80c7410093e75a84b266676102ec2f912f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2923,3 +2923,6 @@ dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small
 dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/93b3f3a53827526d830d52ed3e187dfa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.urdf b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fef1ca3d59b5b28af1ebc585320da3039c52d997
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.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>0.275000</scale>
+         <version>v0.1.7</version>
+         <category>thermos</category>
+         <description>dark green cylindrical thermos with black lid and handle</description>
+         <min_height>0.25</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.275</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120060431</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.1429972648620605</ImageAestheticChecker>
+         <overall>NO</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/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9a26ef1392d9ca0e7078eb6628649b41a110abe7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7da3a83956312d023b35c1fb4b6dee1f44c3d6631683a330ca5a2700fc1fe9a
+size 665102
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/material.mtl b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/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/9d18e8cf2a3257cabee21a293a333576/mesh/material_0.png b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c4586377b80d8a6001ed0b252e166a2ceaeb887
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9edd9aaf1e447fddbb9f1804f2b3a02975d15f9a29b17f518b595eb06d25da7f
+size 1089221
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fbe5e0e6d712cf6961f41d60ebb4190bbfe4794a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c180160b6b3624863f3e43aa2c3428ffb8cb6d20c01760feb486eb768421c20e
+size 1545208
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f270f3fa71b211e5ec0a33be771ba2a0b739e753
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.obj
@@ -0,0 +1,41658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70063985297754c2175adf05574484fe5682068
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_collision.obj
@@ -0,0 +1,5173 @@
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd706ea206d9dc0bc91a5d9ac9b0bb309c2b7b55
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1830665
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/9d18e8cf2a3257cabee21a293a333576.xml b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/9d18e8cf2a3257cabee21a293a333576.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0823b69e73da9e789b6392ab02849f8c85fd95da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/9d18e8cf2a3257cabee21a293a333576.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_4" file="mesh/thermos_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_collision_7.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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" 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/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c4586377b80d8a6001ed0b252e166a2ceaeb887
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9edd9aaf1e447fddbb9f1804f2b3a02975d15f9a29b17f518b595eb06d25da7f
+size 1089221
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d591b7a11024be55872767dd70e728b0cc551e12
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos.obj
@@ -0,0 +1,41658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6b4dc871b9e637c80e66082927a7417c63fea9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,5173 @@
+# https://github.com/mikedh/trimesh
+
+o thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00da92a116f7461a5412f055ea37a74112643ff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8cb07c0f4118d4de6d751e57544966618cda9b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_2.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672213fc17766b81a7f1f7e4a294c2af29ffbb6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_2.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00223911 0.02792206 0.00554873
+v -0.00223911 0.02792206 0.02070491
+v -0.00223911 0.02892206 0.00554873
+v -0.00223911 0.02892206 0.02070491
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+v 0.00216340 0.02792206 0.02070491
+v 0.00216340 0.02892206 0.00554873
+v 0.00216340 0.02892206 0.02070491
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+f 7 6 5
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+
diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_3.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01fb7037955350c4cb6f0270059b289d806c1a78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01109441 -0.01037149 0.12134719
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_4.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2800c290121e1de127d7b3869d614022fd251e81
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_5.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c45b841ed4197191082fe04325af4c4a92eb92
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_6.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258e0d7e006240db3a33e29811c3b84b93002447
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_6.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_7.obj b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de86c7add171500211cc195be96cf40a31b2855
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mjcf/mesh/thermos_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/textures/material_0.png b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c4586377b80d8a6001ed0b252e166a2ceaeb887
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/video.mp4 b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d3712e819802067c99a2ccd591f105a212cf527
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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