diff --git a/.gitattributes b/.gitattributes
index 8342b2c8419428b2455108d9f5d385507eca5951..9b1c2954a73c7cbf2e68816143b90f803a5487f5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4754,3 +4754,5 @@ dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.usd f
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/mesh/thermos_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b1edd345dab9d9d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/material.mtl b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..135bd2639c6a6acc38aa65d02e82e3cc46b4ea1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_012_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/material_0.png b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/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/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb
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+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.mtl b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..caaf68b1449d56d13ef9bcccc9a8f4190d9fc977
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.mtl
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+newmtl thermos_012_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5bbb5835e3fbb93a63aa1bb2c505763009c6f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012.obj
@@ -0,0 +1,112876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012_collision.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ca1456040cd80d1fcc674f1b0d3f2f6c77b716
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012_collision.obj
@@ -0,0 +1,11003 @@
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mesh/thermos_012_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10895718
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/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/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012.obj
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+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012.obj
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27d9d7bc89d024d921c03074ca82652445732a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision.obj
@@ -0,0 +1,11003 @@
+# https://github.com/mikedh/trimesh
+
+o thermos_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_0.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a187bed23d3e8533a850b54a63bd43b2e2806a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_1.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766362dad4f6edac9679d4e513c1bdd47c68c8e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_2.obj b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db268f84f1d2f86c9a4c2b556e7daa83955a466b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/mesh/thermos_012_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/thermos_012.xml b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/thermos_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ad3701191e067d59478c2e48d51c117a8d32520
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/mjcf/thermos_012.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_012">
+      <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/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/textures/material_0.png b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/textures/material_0.png
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+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f1fa98891e59a53b0261e4639ea96d43d47ad99e7c54f14d4fb368f5370be16
+size 10895718
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.urdf b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..72194b106cf18737c9e9c368d694d9079f1fa8d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_012">
+   <link name="thermos_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>8e6870fa162d50ba9d3d6cda85c9451a</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>yellow thermos</name>
+         <color>yellow,orange</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>yellow thermos with orange lid and bunny design</description>
+         <min_height>0.1123</min_height>
+         <max_height>0.1123</max_height>
+         <real_height>0.1123</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222700</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>5</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>NO: {"summary":"Pink mixes latch with body artwork/noise; not a clean functional-part segmentation.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.usd b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/thermos_012.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4951246
diff --git a/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/video.mp4 b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40956652fad2dfb3792edbd94769d35c04393948aa5f429f33c5a823b979e4b7
+size 211275