diff --git a/.gitattributes b/.gitattributes
index fb292b41420279188cb5e104ad926a06e655c319..b9a2bea070c0bf0b645f01293be8aa3a266a7b6b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4759,3 +4759,5 @@ dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb
 dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/mesh/mug_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/mug_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/thermos_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material.mtl b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b54644346da91c013d7943a69dcd3d1af924fedc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material_0.png b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f461ac73cde86734be1f65cd47be5e6290dbc57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96258eee40e1342ee4b3ba259c5093546875b0d8c11da8fc1ee6afae75a6206b
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.glb b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33a62c52166ac02c2dc6184d6daf163f99da7fd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76032e0e5532ef753982d8cf0ce7921cd4f866de2eb48b2ecd0996cd9628c664
+size 11391228
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.mtl b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1eb7d98808a0327c53af9721c2e7323f86ad058e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_032_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/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda700cbb8a9d70db137b2d789609d0692c12b5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032.obj
@@ -0,0 +1,109138 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_032_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_collision.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787f2ba756928a637d89fff0b0e1dc179e5d312d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f461ac73cde86734be1f65cd47be5e6290dbc57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mesh/thermos_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8045329
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..2f461ac73cde86734be1f65cd47be5e6290dbc57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8045329
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032.obj
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index 0000000000000000000000000000000000000000..232dcbcf1e533fb363e93b6f360e35c585fe3c30
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+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd99ba7b65ac7c35ce46464fd9c971340641f333
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision.obj
@@ -0,0 +1,19737 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_0.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce0cfcf39ebdcd694f11e9a9508b2709417680cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_1.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f4c99eaa3d8552de47b77e8db8c1255f2dd6a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_10.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd8fd2c06e3500c44336fb2c66715c3e8b74b46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_11.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbe841412809f94b012d316fe637f49913c7c89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_11.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_12.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d749b7627f1fd05bcc19e5cb9473d2119c0adc7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_12.obj
@@ -0,0 +1,1012 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_13.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aab1e296bca3cfe09502a5505782101beb1d0c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_14.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8f3bfc80361ad3ee0c61c19e0b45f22df39865
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_14.obj
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_15.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84268a6e9ce49d60164e8b38a44560d42865b43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_15.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00005114 0.02441586 -0.03863412
+v 0.01763193 0.01485100 -0.03863416
+v 0.00005114 0.02834754 -0.03555530
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+v 0.01667864 0.03398523 -0.03863409
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+v 0.00904685 0.03678260 -0.03556310
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+v 0.00688882 0.03720967 -0.03863407
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+v 0.01106921 0.03623126 -0.03555527
+v 0.01104388 0.03621997 -0.03863408
+v 0.00937426 0.03667415 -0.03863408
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_16.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ef87a61d9f39dd57bb148caf758c5389bfd73b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02204761 -0.01825273 -0.03555767
+v 0.02324318 -0.01825450 -0.03555767
+v 0.02220828 -0.01825451 -0.03400486
+v 0.02277377 -0.01825455 -0.02099060
+v 0.02829170 -0.00009819 -0.03555760
+v 0.03331028 -0.01825450 -0.03555767
+v 0.03348670 -0.01825455 -0.02099060
+v 0.02902889 -0.00009824 -0.02099053
+v 0.03791144 -0.00009819 -0.03555760
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+v 0.03344417 -0.01825454 -0.02480490
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+v 0.03353554 -0.01817280 -0.02099060
+v 0.03813984 -0.00009824 -0.02099053
+v 0.03798232 -0.00009819 -0.03435271
+v 0.03796972 -0.00010175 -0.03555760
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_17.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a72f60f31d97901be91bd5d50c82ca43d0e1d24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_17.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01806008 0.01598903 -0.03864348
+v -0.01806008 0.02171088 -0.03650921
+v -0.01806008 0.03326165 -0.03864342
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+v -0.01100599 0.03620713 -0.03864341
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_18.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7a478048d5bd644095f78a76d91ee2a1c03df9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_18.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.01862907 -0.02627658 0.08301316
+v -0.01981555 -0.02538732 0.08301317
+v -0.01862907 -0.02615357 0.08077534
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+v -0.02197521 -0.01442417 0.10121932
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_19.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d791fe0f078e441a1b2a187a9df9bc4cc6aa1c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_19.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_2.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ad85c4807cb35ab29bac8b24a9ebfa34cbaf14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_2.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_20.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9248afe3a5c4cbc4d0d2f716d399ecdb9829037
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_20.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_21.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68677e9c40980f93c6ede3d72272bb613ab469d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_22.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1baef7acac6c250570213ea6eb191d5962667184
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_23.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3683801388ecf26118dff6cd091afaa132319ae8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_23.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_24.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1daae653e782f99ade286470d49d85c4be61c42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_24.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_25.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc39043a96ca2208669f272cface105a90913d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_25.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_26.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896c97bc5ac359ef24b4d794660c524c5c8a5e2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_26.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_27.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01fc770e604a02d38f44dd2e8289cb99258fa20b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_28.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245824a52d91f95fdc5fe45ac4c017df85eb3f62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_28.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_29.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b581e62e9efa8fdce9b588656c60f86444da214
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_29.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_3.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4616e51f60ec6ce724eee9981bf038e3dcfe0606
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_3.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_30.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e7c4b376445c9b8dd7b7128185fe4dd32e4fdb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_30.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_31.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0c4a8c4c622def789d026ddf037e06a3dc148
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_31.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_32.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7544aaec33216bf72afa8347c71ad9d14e0acaef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_32.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02368337 -0.00009818 -0.03866059
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+
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_33.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc2b01353c2fa7509bf0e16d9f6a9f1c925f51b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_33.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03813125 -0.00012350 -0.02098903
+v -0.03813125 -0.00009824 -0.02098903
+v -0.03810254 -0.00009823 -0.02359853
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_34.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df5fb1c90ef0974b3024556abf95023b96965fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_34.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_35.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28f95abcb0f927d4c43d4a3c06a21b05b44b19e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_35.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_36.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d7e3efa89718713fd28387712e10e2014b3ac5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_37.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48749bf3302a253b1340a2ab5b2c7bf093d1b9c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_37.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_38.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5105ebbd2c493823cce8f949aa60e2c516bfea8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_38.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_39.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42a7607648ad87219fca02f38231bd45f92257c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_39.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_4.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce764a7e92d504688e27fad55498b43c1eb15b3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_40.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d21d2bec3ef2bbf89bb0af8c8c4a9286d039a56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_40.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_41.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f76c41e3a2dc9a5b7f23a21d4d4bd208da63596
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_41.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_42.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f205f669193c477d2f46d97f25fb754fa56683
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_42.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_5.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38377ba94d19db736771d94c8d528a8274be2351
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_5.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_6.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23eadaf0133b5d125740f6689cb1e3223d8a2f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_7.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dec38232cf301985fb2199d46eceed431211d2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_8.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61c7f113cb8c685a1d1c4d9c249e6ffde8d78e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_8.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_9.obj b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1513853e7a30141f8a90b84ec8b7e592f8b8adf9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/mesh/thermos_032_collision_9.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/thermos_032.xml b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/thermos_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6d2f3be7ce59c2549b53b49f086faf9ba5018e1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/mjcf/thermos_032.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/thermos_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/thermos_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/thermos_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/thermos_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/thermos_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/thermos_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/thermos_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/thermos_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/thermos_032_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/thermos_032_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/thermos_032_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/thermos_032_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/thermos_032_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/thermos_032_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/thermos_032_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/thermos_032_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/thermos_032_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/thermos_032_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/thermos_032_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/thermos_032_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/thermos_032_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/thermos_032_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/thermos_032_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/thermos_032_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/thermos_032_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/thermos_032_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/thermos_032_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/thermos_032_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/thermos_032_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/thermos_032_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/thermos_032_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/thermos_032_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/thermos_032_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/thermos_032_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/thermos_032_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_032">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/8b5bd67581bc50aaae105779e3f97c8f/textures/material_0.png b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f461ac73cde86734be1f65cd47be5e6290dbc57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96258eee40e1342ee4b3ba259c5093546875b0d8c11da8fc1ee6afae75a6206b
+size 8045329
diff --git a/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/thermos_032.urdf b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/thermos_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..66d0cfd9e957959602af66a6034b2607e14ba0bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/8b5bd67581bc50aaae105779e3f97c8f/thermos_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_032">
+   <link name="thermos_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_032.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_032_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>8b5bd67581bc50aaae105779e3f97c8f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>white thermos</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>white insulated bottle with gold cap and logo</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>20260611160832</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038265 -0.038432 -0.058656</min>
+            <max>0.038262 0.038012 0.101344</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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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