diff --git a/.gitattributes b/.gitattributes
index 349609b637f8e9048d6f442b7a0ec11cda77bb83..fa0f2b4608daf4452fa450e7313ca9e342b6e829 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4771,5 +4771,5 @@ dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filte
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material.mtl b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6249b42f62d61106baeaf5c72b14b83c400a5b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_003_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd thermos_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material_0.png b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a569a2802d6813c00626a572c0adf52ea3a8069
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/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/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa1b42dede81367eaeaf404fc25d3b3f4efd4300
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd3566cf474c421aecabc8c7a16280d41142c787597cca11a4808a5c79e1bcc
+size 12470952
diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.mtl b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f2a2fc6b0776546054fc8aa238d05b646531237
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_003_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/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49131a5c4e22b61d67c81179ebfaa5e3a951c449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.obj
@@ -0,0 +1,110102 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003_collision.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa71ddea685be6a0140172268c744d05af9e80f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/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/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003.obj
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+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3dc6f720262af9e8a5f83f4ec96249619310ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision.obj
@@ -0,0 +1,11431 @@
+# https://github.com/mikedh/trimesh
+
+o thermos_003_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_0.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cd7808f6903d5773e662193cb178b05955e4b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_1.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b91ebac515e9089049c3e1303006f002d4390d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_1.obj
@@ -0,0 +1,3490 @@
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_2.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad71620c909bd83ef849c85c3f0c9ec1f2d5afa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_2.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_3.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87d1534eeb5b55529ea9cf368736ef5b1afe97b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_3.obj
@@ -0,0 +1,664 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_4.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c577b2c266199b42d693a12440dc4fd8c5ebab04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_4.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_5.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e924b2793a1a6685ca88a4c0757710c129147916
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_5.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_6.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71b797e620e384f6b014b4ae57b290bcde4d562
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_6.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_7.obj b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b65dfd6693cfcb77a8c363a6b14369803adbf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/thermos_003.xml b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/thermos_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8421a99de98c7d10e2e16436cdc2cc3ed2a8a3a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/thermos_003.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_003">
+      <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/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/textures/material_0.png b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e020c21341e6820e263bbee19592e24a03f4dfb76efeab528cd598a908d0748
+size 9144075
diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.urdf b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fed0f9f944e9abc30cebf5a0cd712be92aa6f6f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_003">
+   <link name="thermos_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>a47b17bc83a55dc7ac1b2aa40a65bc1f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>gray thermos</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray cylindrical thermos with ridged lid design</description>
+         <min_height>0.1318</min_height>
+         <max_height>0.1318</max_height>
+         <real_height>0.1318</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021255</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>6</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/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 4898610
diff --git a/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/video.mp4 b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c74181ed96a620eedeacb303d56f3e53f54777bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 108725