diff --git a/.gitattributes b/.gitattributes
index 82c65d599dc5e3460210cd0c0320d9f1080dd637..5aae7450e6f814914c5c78d948d5b6526be8fb24 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4774,11 +4774,5 @@ dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mesh/mug_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mug_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/mesh/wine_glass_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/wine_glass_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/baby_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/mesh/baby_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/mesh/baby_bottle_005.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/mjcf/mesh/baby_bottle_005.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material.mtl b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a60361e3f2651c64bed95f2b77873205659402f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_035_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd thermos_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material_0.png b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.glb b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a17ea03fdd0e724d762f7b88bc1e1b3a2bd07ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12874492
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.mtl b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69940d11ea6eca56647ae0a4a01a90299c053fc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_035_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dfc69742bd009cd970caf211d5f22dbb51e5d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035.obj
@@ -0,0 +1,109280 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_collision.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73de12843717199875b09f3432cbb9f83e0b17b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_geometry_Looks_material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mesh/thermos_035_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9698458
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..cff0e1fb44c2c82caaa06757029647e121cc1d3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1622bcbc0fc5b9262401da70ecdd27b7f3318a6a26ab75cec2a99e765b2d8b0
+size 9698458
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035.obj
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index 0000000000000000000000000000000000000000..c4864fd4df937481afec9c0f4d228f8fc7bde849
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+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a0a1411c49c15841ca7e017ecb77a0f41443bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision.obj
@@ -0,0 +1,6700 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_0.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2c7a997215c4b900be4b7f0fe2f10faa3a854c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_1.obj b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66f2e8f6ee758495c0ab0e37056839b83658bb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/mesh/thermos_035_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/thermos_035.xml b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/thermos_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c74eb4781b779e5ea5c64931df3ff93af85cd08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/mjcf/thermos_035.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_035">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/textures/material_0.png b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cff0e1fb44c2c82caaa06757029647e121cc1d3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1622bcbc0fc5b9262401da70ecdd27b7f3318a6a26ab75cec2a99e765b2d8b0
+size 9698458
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.urdf b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9fedd2412e60e6f8ea4c6a35175df7fee603ab23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_035">
+   <link name="thermos_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_035.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/thermos_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5250" />
+         <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>b0434c57366a54fabf41ee2252263c44</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>black thermos</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>matte black insulated bottle with screw cap and side loop</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160937</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037117 -0.037201 -0.095001</min>
+            <max>0.037091 0.037213 0.104999</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.usd b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c9db05741d848ef77b8e07828baa7aa8ea1c8bc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/thermos_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a3e949be36829d87cd9084f3be9f57914e8d975777344a361dbe7929cc6ece0
+size 4800254
diff --git a/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/video.mp4 b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cddc347fda989eea7a0da2c3356c365092b62c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/video.mp4
@@ -0,0 +1,3 @@
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