diff --git a/.gitattributes b/.gitattributes
index 1b6764caa6a60106470214a1388eba61c7a5798f..2a9fd6d4c839a668ea08c463b957c4c65af15586 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4841,7 +4841,5 @@ dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.usd f
 dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e2a61cad4e9b52d8a559b5f5060c5a12/e2a61cad4e9b52d8a559b5f5060c5a12.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/coffee_cup_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/coffee_cup_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mesh/coffee_cup_006.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/mjcf/mesh/coffee_cup_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material.mtl b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d9a53c84e8ba32372b512b6ea9836d8512c47d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material_0.png b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cc7edbd2bc6ef88c3d409383f355119fb966113
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9675902
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.glb b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2eacaf65294ec70bbf2dc0d7e1e90892646382c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12883036
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.mtl b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3009990ce2e9a822e0a8c7b979d16b40caefc005
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_019_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/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49afa3be786863ac6f26e809cdb7eb893b67b3c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.obj
@@ -0,0 +1,109382 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_collision.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a73c9e2027ef1ad521dd9f004be5fa549774c16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_collision.obj
@@ -0,0 +1,10601 @@
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_geometry_Looks_material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/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/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019.obj
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index 0000000000000000000000000000000000000000..9b4dd6f5d3ddc1e8f6c53b77705ec3206bc1f690
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+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019.obj
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e6929632da7eef02137fac4fdec1141a8a56a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision.obj
@@ -0,0 +1,10601 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_0.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5bdd64400ad5752993a9fd85d5c85b198c6ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_0.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_1.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fcb41a1164bc4765fa7d79b5ffc0eace21ecb2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_1.obj
@@ -0,0 +1,1435 @@
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_2.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1f89101bfd8592529accdbe2a5494d38843ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_3.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92cd33b451965166de9f82591dd0a5a801a548c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_4.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e6e35bcc52eb4285b251408af56c905aa524a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_4.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_5.obj b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8385cd68cfdf45a4da123c621ec33a8fadca12c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/mesh/thermos_019_collision_5.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/thermos_019.xml b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/thermos_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b922383dd1186165492e5e16f4537656d3afff8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mjcf/thermos_019.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_019">
+      <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/e29fe84ea4485ca1bd622c679fa03ff7/textures/material_0.png b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c6e164b4a6c8f979b886b6fb0125c9fc474f67bd77310a08da05c63c987820
+size 9675902
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.urdf b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fbac81717de5312e48857b0729a16bc257afdcaf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_019">
+   <link name="thermos_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>e29fe84ea4485ca1bd622c679fa03ff7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>insulated thermos</name>
+         <color>silver,brown</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>cylindrical thermos with handle, metallic body, and plastic lid</description>
+         <min_height>0.1079</min_height>
+         <max_height>0.1079</max_height>
+         <real_height>0.1079</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222935</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/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.usd b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4827475
diff --git a/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/video.mp4 b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3a2028994df038113f903f82642ab9b43b1533af9a2bdb0683faf93878f46c
+size 140588