diff --git a/.gitattributes b/.gitattributes
index 6b97f263ef3549e67887f119826073f0acb6e816..2af0b58d5ed749296ecdc54beab8f10146430ddc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4725,5 +4725,5 @@ dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/mug_011.usd filte
 dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/652cbbb610c75ef08cad352fb58f84fc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/coffee_cup_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/mesh/coffee_cup_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/material.mtl b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5a6b1beaf2e61fa5f97da9de180ee42c907b4fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/material_0.png b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..512c455826dfd30ed1adb7d00ef0ad49fa39b3ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/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/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.glb b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..92fe40149e8e991e59fab4b1ff1a03d7ff589d6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31793873f30cbf2c3e70b590fc6cde45b145452e8d97be67e0fa5078138b6109
+size 12736320
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.mtl b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd3c31c901a2f0706abb293c2231c9c8b70422c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_036_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/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f91374cd3dd54d99a046b01a2b0821ff7cc17ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.obj
@@ -0,0 +1,114992 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036_collision.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36711a126d9175a19fac279dbd36459dc20439b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036_collision.obj
@@ -0,0 +1,16635 @@
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9438144
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036.obj
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index 0000000000000000000000000000000000000000..675fb34212b6e8960fee481fa2daad13d923431e
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+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036.obj
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d039c139563f2bdd0591f4fc347710e1534956
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision.obj
@@ -0,0 +1,16635 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_0.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb916e8de3efb709ab2825538b817744b654b94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_0.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_1.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209902cd09d7799afd87a9cd58709a7ef9b18af5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_1.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_10.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f00a048e96c18b0110ed7a58c5acd89f6c13b6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_11.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b93cfe450cc19e547286616aa24d0537dd52f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_11.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03586997 -0.00703916 0.01883838
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_12.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31caae96adbf8f4d6a34ca153711e06e0ed9ea5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_12.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_2.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21e3905dc7f14c47acfdf58e0c0cfce4de79c22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_2.obj
@@ -0,0 +1,1855 @@
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_3.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd278b6f933e44fe7f58e38a97a4db1f065bdd65
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_4.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d62c2bde159f3fbf852ad1d6d455b41d22135f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_5.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aac8770a76ce819921da2d2a42365ca4e964d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_6.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2a1b9784edfcd44b56d44200356e029d33b379d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_7.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43db667e95d5a72e96ead7a07d5e4034e9e2d343
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_7.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_8.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4640b3d9ba1ec74bd9f4014a5025889136b508e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_9.obj b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e9c1d65725ec8aa86fd1fc6aab7da9d80c6ca
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+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/mesh/thermos_036_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/thermos_036.xml b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/thermos_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..08b018696acc1b0b0ad3d1cb501a395c812553ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mjcf/thermos_036.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/thermos_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/thermos_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/thermos_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/thermos_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/thermos_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_036">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" 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/667741eedded545ea0c4dba47834e76d/textures/material_0.png b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9dcbf8939b64de28857957b4eb59d74ac0a83db1ed388395d5a7737cbb5101dd
+size 9438144
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.urdf b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d5840def7aa617a5aa08933d80f0532ec3d29ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_036">
+   <link name="thermos_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>667741eedded545ea0c4dba47834e76d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>gray thermos</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>tapered gray thermos bottle with screw cap and side strap</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160952</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044742 -0.044327 -0.064892</min>
+            <max>0.058843 0.044319 0.095108</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/667741eedded545ea0c4dba47834e76d/thermos_036.usd b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 4886476
diff --git a/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/video.mp4 b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72fd8269e57cd44b042b17bb9c27b28a32d2cd5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3955b0a0e32153b55ed224a4f84d93008633902d868b8857d362b05b6f5a2c6d
+size 225757