diff --git a/.gitattributes b/.gitattributes
index 815a80611287a3f502afc231d5e0e3db9c854905..26a8ddf045be6cdfade5f3f6d1765130b61ea561 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4705,3 +4705,5 @@ dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/mesh/thermos_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/thermos_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material.mtl b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d40b33ee62455022dac7ba583f4747bc225dd1d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material_0.png b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d27b5f5bb30051ea59b2e84d32ad410897ab19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6eb7e8cf8a86e3c072b5f989a43692bb3fc373c503e7e1c83cab68185fc8994
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.glb b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0b29b51d89d0c8033d48ebe87e9515f5e42a5c52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd0a02d8f9f97362b0e510b349693a90c30f87a471231084a64b2d2c2f154aab
+size 12328888
diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.mtl b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04d9634d33ac507e9611ac4cc25d61e577604cc5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c93062454d58e044a0074a1c2cd4875f4b68b97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.obj
@@ -0,0 +1,107972 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020_collision.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3ad2951ce887520dfe400f87c9a0bfe193aec3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d27b5f5bb30051ea59b2e84d32ad410897ab19
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+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0249f49cfe6d6d5b1bc81e0379f48e9946d31499
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+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020.obj
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dac62bb523c58665e56843d09d0d82090387db7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision.obj
@@ -0,0 +1,7438 @@
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_0.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e838908e55b29c32bb489b69e06ae4bdb37ad11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_1.obj b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8931f002fc2e4408399091ba3961b0589e7af54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/mesh/thermos_020_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/thermos_020.xml b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/thermos_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c14db35937334a75b418dcb7c0fe7bc012bae7d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mjcf/thermos_020.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_020">
+      <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/5a846f9952bc5c66a92a126600f67ddb/textures/material_0.png b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/textures/material_0.png
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+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9133985
diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.urdf b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f795dc97f7584534d3a6f0e2d1a2daaaf9415d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_020">
+   <link name="thermos_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.000000</scale>
+         <uuid>5a846f9952bc5c66a92a126600f67ddb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>insulated thermos</name>
+         <color>gray,green</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray thermos with green lid and locking mechanism</description>
+         <min_height>0.1140</min_height>
+         <max_height>0.1140</max_height>
+         <real_height>0.1140</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222955</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/5a846f9952bc5c66a92a126600f67ddb/thermos_020.usd b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.usd
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diff --git a/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/video.mp4 b/dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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