diff --git a/.gitattributes b/.gitattributes
index 8c0006bd682e1a8ead4552988d6b7ac43c58952d..c8e734b40aa0a831d189a6343d136345780501b5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4657,7 +4657,5 @@ dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_g
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/1c1375e0981259169b73f51abd19d851.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/1c1375e0981259169b73f51abd19d851/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/mesh/wine_glass_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/wine_glass_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/mesh/thermos_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/thermos_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/material.mtl b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61dde58c1fcbdc0264d2920e947601eb5160e291
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/material_0.png b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d59ed5a0cdd2552b2c5f4f8d51dbd24d695053ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/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/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.glb b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c6268a7a7d9ea8d5dc96f55c2b96d8d1643a5258
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee40f316480fbbd790f784e8cb25772fb7d6d327f32e419f5bac64723159e4e
+size 11903416
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.mtl b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59f2ea90d9c968f704f2f874027f944c2108bc17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_009_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/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9faa849409abc1692e63ba179c210e4c114bb6ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009.obj
@@ -0,0 +1,112062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_009_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009_collision.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bf64173b0032e33f6e06e5272b4bbf91e6f70e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mesh/thermos_009_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8425039
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67f971ecfcd3b70de39ad6e8b4fec6c80ca062e4150f7c36d5d0e2d7a0ece39
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009.obj
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index 0000000000000000000000000000000000000000..20cee6666bd29be61c2c7e8c6ccb8a2348061b51
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+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed485d81068877ec16b8a7ca29254ccef216d04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision.obj
@@ -0,0 +1,23511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_0.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fcfc631c46bc4eaec0a6ef3005747972ef6577b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_1.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8bffc807e1b8f025d7946e519fe3dc3c1a45f71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_1.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_10.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9cf566917ba57c9ec9081f9828f27b5fdedc9e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_11.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736bd4b8408a355b223960c26521781b6e5761a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_11.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_12.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599f918c0f9338ab7cd36749e667e5efa66cd1f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_12.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_13.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd7c4f74bc40794b368d826ab0ccdec676ed18d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_13.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.04300419 -0.01315651 0.05957704
+v 0.04273965 -0.01315652 0.06155543
+v 0.04210716 -0.01570298 0.06079195
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+
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_14.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3aebcd69572be7ebca73ff1912f90a3f96c1f69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01302344 -0.01683091 -0.04852068
+v 0.01302344 -0.01683091 -0.04752068
+v 0.01302344 0.00027089 -0.04852068
+v 0.01302344 0.00027089 -0.04752068
+v 0.03411258 -0.01683091 -0.04852068
+v 0.03411258 -0.01683091 -0.04752068
+v 0.03411258 0.00027089 -0.04852068
+v 0.03411258 0.00027089 -0.04752068
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_15.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d71a6100e1c89d7431d15c3d945c616e85202b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01678602 0.01293155 -0.04847965
+v -0.01678602 0.01293155 -0.04747965
+v -0.01678602 0.03408938 -0.04847965
+v -0.01678602 0.03408938 -0.04747965
+v 0.00051013 0.01293155 -0.04847965
+v 0.00051013 0.01293155 -0.04747965
+v 0.00051013 0.03408938 -0.04847965
+v 0.00051013 0.03408938 -0.04747965
+f 2 4 1
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_16.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68258ffe617a68aa010b621942a43081e5dd7686
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_16.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v 0.00137898 -0.04397827 0.02964535
+v 0.00336283 -0.04388961 0.02964535
+v 0.00051159 -0.04397625 0.02964535
+v 0.00137898 -0.04397625 0.02962003
+v 0.00336283 -0.04388759 0.02962003
+v 0.00534815 -0.04371229 0.02964535
+v 0.00051159 -0.04397424 0.02962003
+v 0.00051159 -0.03698835 0.02964537
+v 0.00051159 -0.04390371 0.02874654
+v 0.00051159 -0.04381102 0.02762621
+v 0.00137898 -0.04381102 0.02762621
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_17.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381b4be54206018026a2d485b64fa08dca2e223d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_18.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b82d33af50f2310f7f9fe759ce75ea43c047c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_19.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25a0c8c8de5cd2eb7dd1f7ea69fec62daea08c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_19.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_2.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869032a7e6077253c4dc97a1f33af1c5aa7c8fcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_20.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c9c06e07f0cd1952dce0a866859f04fc98c9dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_20.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_21.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051f058b9943ea274ac10b8b01a6bea641d52436
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_22.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5624c7e1ea6a8964d6b7ee53b782d0e084a4d3dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_23.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7fbb9941ebb0d9035c280fa8b345f6005d0f43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_23.obj
@@ -0,0 +1,22 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_24.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddbc0494f0a95b3a626af9ea7b31ff224d100d6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_25.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c6308b5180c8552054aa4b2403f31c638285e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_25.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_26.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8e2dc10468b483508d5593d7605f75aa01e544
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_26.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_27.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76351e33cc98898e208d9ec6912963eb9ee88d9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_27.obj
@@ -0,0 +1,1192 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_28.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166aad6f6a9155e8bc1cb34fdf201a21706605da
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_29.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8818dd5e9fba26f51b29042936156267a742dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_29.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_3.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596b0c8d1f4faa29080c99876c3bab5b518a6641
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_3.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_30.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8aaf5933c6dc0c8e69d5cfcf37e9706c9ed0de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_31.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b2209d27f7d475c9d5fd4f31ccf648c95835c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_31.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_32.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f510c2e8e8250cb04963489d38d92cb667614b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_32.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_33.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85da2c95e680e540e5ac677016eba0b13484f24b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_33.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_34.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66c9b29b7f43901615da1315a4163bfc5f24d75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_34.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_35.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f6aea5a0c42fde8e1f52e0071f5704dd5d2821
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_35.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_36.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6091c6161dde8eee077ad03a0f3e652fc57164e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_36.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_37.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d19fa6d3cf45f7ef2d5a9830459e733b1cd6580
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_37.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_38.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d142f81e0e897805896e6de54d5705e5e165c8b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_38.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_39.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadbdbae8238b99588afc24b7a9b35d0830999b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_39.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_4.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e9eac79b5d80c9508d3d331e3ff03a988ee571
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_4.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_40.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7250b8c94cfdcc9cb062b72c5fadc5bc756799af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_41.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e9565c067aa8c5afdcb55be4f547b026fdcc71e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_42.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ea55cd0637e7b3531ec377903ebdced7c3c435
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_43.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee475fefa140608ba838ae1e5242e2240365c1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_43.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_44.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e94e58033ac3ba39665e506d8514b797d3febd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_44.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_45.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99c2df676ad5ca24238a95fc336acf4d28ac82f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_45.obj
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_5.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b67c4d45ab17e1c071182439c75e7291f280551
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_5.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_6.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e7e027593f96b87d42d6a6f48a8caca1322247
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_6.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_7.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e32fdea4dd4636219f1a6fe2741b59b1ff76a10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_7.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_8.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9bb6cd72ed55c5fa7545475c5f9cf73419d899e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_9.obj b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1268491f733d2b5078da110cd6dea57bd2b049c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/mesh/thermos_009_collision_9.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/thermos_009.xml b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/thermos_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5447b2c8ea43e2f25310bee5b15b3b388e960ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/mjcf/thermos_009.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/textures/material_0.png b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8425039
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.urdf b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..558eab7614f8ab6edfb98aee9a82a08ab1390503
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.urdf
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+         <geometry>
+            <mesh filename="mesh/thermos_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>198a6c3c3cf85151a3314488bb425f1e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>decorative thermos</name>
+         <color>brown,purple</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>ornate thermos with floral patterns and smooth cylindrical body</description>
+         <min_height>0.1213</min_height>
+         <max_height>0.1213</max_height>
+         <real_height>0.1213</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021547</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>2</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/198a6c3c3cf85151a3314488bb425f1e/thermos_009.usd b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/thermos_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2440a5c55dd44e8b64b722acfc5957f1bbe45bb8143fe36171774f31f10bf1d
+size 5000065
diff --git a/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/video.mp4 b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d37e1147505558e99eaf4b02096d6dead15f075
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46449c21e5d801c6134b6b1c7a7335d19b131553491bd1ecccbc8186ab06e545
+size 421589