diff --git a/.gitattributes b/.gitattributes
index d3470e53d9384b3981980bc6707310266a297320..0defc6f1ee9edce5b47d53e55339ec9608a3efa8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4795,3 +4795,5 @@ dataset/kitchen_supplies/ware/bd9e2fc91a5e5c6f8b9239860a1e4582/thermos_038.usd f
 dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/c483cda1060156f8ba69d6f943467dc6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/thermos_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/material.mtl b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b9063cccc8f493c3e21fec9c31733502d3bd4ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/material_0.png b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a847cb1ef2b15598760c8dbb77e86e514f9a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/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/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.glb b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..904cfde12a35dad1349c831e8d780807703a8aba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12752964
diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.mtl b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..119c8ff671f2c994c352147aeff5ba348201ded7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_014_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/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03428205e45030b0fc4d8430f1365701683aed7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014.obj
@@ -0,0 +1,108728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014_collision.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f1825f142a399874f62f622709a3c7f98d76f86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014_collision.obj
@@ -0,0 +1,8039 @@
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mesh/thermos_014_geometry_Looks_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/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/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/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014.obj
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c7c3c8b741fdf8bdec69fdee7b082d9cdeef00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision.obj
@@ -0,0 +1,8039 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_0.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc8bd0e365617eb549cfa6166130e78c3aae33a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_1.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14890de8fc7df066731904c5baee73cc1480197b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_2.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf5ae14bbe2f4f826d5976bfa051fa2ca2bdd54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_3.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1928daa6c056b733ffafb8f349066def3bf9ec2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_4.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d905ebace22f401ae5fd1cf43437fe1c5bc522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_4.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_5.obj b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91e4965a11584c3985aeb5991c11a8c1e415d40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/mesh/thermos_014_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/thermos_014.xml b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/thermos_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f57946b1fb49d9eb5e71e48c8441fbb2d3bced9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/mjcf/thermos_014.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_014">
+      <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/bfda0d0bc9595811a3e5090c0f6daa23/textures/material_0.png b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a847cb1ef2b15598760c8dbb77e86e514f9a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b76d4adae449034b4e4da98e3acdfe037108a826e3c859859eeb53b461d19a8e
+size 9510911
diff --git a/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/thermos_014.urdf b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/thermos_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..87253966dab816a95380f01ab520db325ee0401b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/thermos_014.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_014">
+   <link name="thermos_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>bfda0d0bc9595811a3e5090c0f6daa23</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>brown thermos</name>
+         <color>brown,silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>insulated brown thermos with handle and lid</description>
+         <min_height>0.1159</min_height>
+         <max_height>0.1159</max_height>
+         <real_height>0.1159</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222741</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
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