diff --git a/.gitattributes b/.gitattributes
index 0a27f8adaf173f9fc6963df1795dc4d8eb8275ca..69ceee15b58448c0365d44ba0722484ee334d930 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4810,5 +4810,5 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/mesh/mug_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/mug_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material.mtl b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ddafecfa9efa61c80fa4f70eae398e427802d91c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material_0.png b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe76376275b74bf3289cede37d68afd3de6562b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2626119bde0148bc23467a49d8ac943602948068213bf2810eeb0daff194df6
+size 10488906
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12d61d16f63cb1789445b5ef5f860c91eea1c4e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8dd1683f62efdbdae99fe3bd1d14041affb2c4118aa2ae6c0480d00facf7a0
+size 13775392
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.mtl b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4288b492677e5cba2f8d8d3957ea8270273d548d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_016_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/c726453b2af55902ac695052c2614b70/mesh/thermos_016.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a21eb648032d84859bb5637777ab246d694fb84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.obj
@@ -0,0 +1,111402 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016_collision.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fd65c748ddf828cee13556dec1e27dfcf6865d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016.obj
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70edbe3798de74490c76a35da58b5e043aadd88f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision.obj
@@ -0,0 +1,6221 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_0.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494eb53f4824679ce6113f569111ba0c8503369a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_1.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682c11e086d569c04084dec34f33fe0c200c67f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_1.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_2.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce951ed46f30797f27c12d7385d83ef25943a16f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_2.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_3.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20eb7b360bd2942625607ee249de2518dcd86e41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_4.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9f7a04c4638ccea60377c6133837c63429fa29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_4.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_5.obj b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bca89a5591da0215fc10257005316148342e8f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_5.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/thermos_016.xml b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/thermos_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f63cd321ab6b9e2d9008172b4815a256e01ba537
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/thermos_016.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/textures/material_0.png b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe76376275b74bf3289cede37d68afd3de6562b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2626119bde0148bc23467a49d8ac943602948068213bf2810eeb0daff194df6
+size 10488906
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.urdf b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55cb04d3d6208ffcee79be86c845108ce41df422
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_016">
+   <link name="thermos_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_016.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_016_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>c726453b2af55902ac695052c2614b70</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>insulated thermos</name>
+         <color>silver,pink</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>sleek thermos with pink accents and a strap</description>
+         <min_height>0.1088</min_height>
+         <max_height>0.1088</max_height>
+         <real_height>0.1088</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222818</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>10</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/c726453b2af55902ac695052c2614b70/thermos_016.usd b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..111deab9e9cc4c4a234f51f41f758b67c9e58b71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d3b11cfdeedde1d5435ed0e1acd819b79b459803861057d5e7cf490476f810
+size 4872711
diff --git a/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/video.mp4 b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3736d94f5e63972fbe9d750291779a77a0fe38da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba24f0a5d69899297789dbcc6741ba3ee705c7932b41c275b30b0bec0592cf56
+size 185252