diff --git a/.gitattributes b/.gitattributes
index e80e39f7b3b61deae64a624d812e1f8368b79df7..2df5b6508d0ca3f8db2f30d1f8d02b33ccf9e014 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4780,3 +4780,5 @@ dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mesh/mug_011.glb
 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mug_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material.mtl b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be12370fb3f8858757dd84d8a758f21e8302aca1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material_0.png b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1bb611598c3f380a4adeeafe4e1b91dd3c9f9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bddd68cb981dab1c0b0470baa7af678886fffca33660d312ce16dcc96d882301
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.glb b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..81800341a6cacb442b7a1bf1f23f6b16b4004ab9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15110092
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.mtl b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..66dc6bf361f23e0a255eb48ce787d2d04022753e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_005_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/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39e606108aaa5219c39c4773b082db102b7f34c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005.obj
@@ -0,0 +1,115002 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_005_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005_collision.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427dbe764a2584e804943010c85766d11a901ca3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005_collision.obj
@@ -0,0 +1,19465 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mesh/thermos_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1bb611598c3f380a4adeeafe4e1b91dd3c9f9e
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+version https://git-lfs.github.com/spec/v1
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+size 11598284
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bddd68cb981dab1c0b0470baa7af678886fffca33660d312ce16dcc96d882301
+size 11598284
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005.obj
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index 0000000000000000000000000000000000000000..0740e886367af0fa8d6de74f62abc607d36fef4b
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+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005.obj
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0c776c5cd8075c3cc74f12c748443ddcd2a1db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision.obj
@@ -0,0 +1,19465 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_0.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76dd26a4dddd56d42aaa88e297500384e4fe744e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_1.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cecb1155229311d4eff9578db0c93101abb95b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_1.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_10.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c7e8a899ea139d0ef2aad09cdf0c0c66c5ef7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_10.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_11.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e709686eac62558dff3ac9162c2e6bfb6e73f59b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_11.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_12.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c483a81e88175ce5a2e943f036e51445570d0c07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_12.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_13.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fb2187e41783e4585229fd9a4bfb54347242a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_14.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0af3a23e914c63f07cbbf7ac90112bbe48437e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_14.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_15.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fdcfee72ae4bc59e35262baeaff58111d837c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_16.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdbf90f116894a451d576fe8dfae3dfe843144b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_16.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00678472 0.01914775 0.01705512
+v 0.00678472 0.01957659 0.01677809
+v 0.00778961 0.01914775 0.01764484
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+v 0.00678472 0.02175578 0.01561477
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+v 0.00721792 0.01986748 0.01684591
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+v 0.00926459 0.01914774 0.01906106
+v 0.00868499 0.02130695 0.01682982
+v 0.00728115 0.01914772 0.02400407
+v 0.00678472 0.02935994 0.01850358
+v 0.00678472 0.02180576 0.01558833
+v 0.00981220 0.02020735 0.01860700
+v 0.00967821 0.02206666 0.01719308
+v 0.01050132 0.02206665 0.01792878
+v 0.01062966 0.02206665 0.01806558
+v 0.01062966 0.02082412 0.01898176
+v 0.01027663 0.01966455 0.01958755
+v 0.00933798 0.01918473 0.01909900
+v 0.00932067 0.01914774 0.01911739
+v 0.00780843 0.02219462 0.01592284
+v 0.00895634 0.02206666 0.01664475
+v 0.00999248 0.02300531 0.01693328
+v 0.00800941 0.01914772 0.02470644
+v 0.01062966 0.02177273 0.02623878
+v 0.00678472 0.02935995 0.01745635
+v 0.01062966 0.02185070 0.02619395
+v 0.01062966 0.02935993 0.02106704
+v 0.00678472 0.02247151 0.01530554
+v 0.00724125 0.02276840 0.01536417
+v 0.01062966 0.02256647 0.01778854
+v 0.01062966 0.02050324 0.01926109
+v 0.01062966 0.01934767 0.02041062
+v 0.01062966 0.01914773 0.02063478
+v 0.01056530 0.01914773 0.02055316
+v 0.00937449 0.01914774 0.01917372
+v 0.00819082 0.02353012 0.01561593
+v 0.00945917 0.02350813 0.01638726
+v 0.01062966 0.02333819 0.01737931
+v 0.01023448 0.02398095 0.01674362
+v 0.00943922 0.01914772 0.02555479
+v 0.00978209 0.01947359 0.02588586
+v 0.00983553 0.02060317 0.02587322
+v 0.01062966 0.02067015 0.02639281
+v 0.00784569 0.02935995 0.01522165
+v 0.00678472 0.02935596 0.01490438
+v 0.01062966 0.02935995 0.01652983
+v 0.00678472 0.02323323 0.01508139
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+v 0.00746895 0.02353012 0.01526417
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+v 0.01042153 0.02499357 0.01660453
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+v 0.00789989 0.02935995 0.01523315
+v 0.00794656 0.02924099 0.01522625
+v 0.00678472 0.02792049 0.01472045
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+v 0.01062966 0.02645703 0.01650338
+v 0.00809296 0.02935995 0.01529407
+v 0.00866127 0.02865821 0.01537569
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+v 0.01062966 0.02792048 0.01643785
+v 0.00924803 0.02935995 0.01577458
+v 0.00899549 0.02935995 0.01565848
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_17.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5e8be2a04704b932a62e81d773a1dd3c66586
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00231648 0.01913201 0.02096083
+v -0.00860610 0.02012690 0.02454528
+v -0.00799967 0.01913200 0.02468896
+v -0.00231648 0.01913203 0.01515688
+v -0.00231648 0.02330056 0.01760801
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+v -0.00231648 0.02206613 0.01436773
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+v -0.00791348 0.01913202 0.01781278
+v -0.00860610 0.02118141 0.01686173
+v -0.00860610 0.01955439 0.01807333
+f 1 2 3
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+f 24 28 30
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+f 29 33 34
+f 29 34 30
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+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_18.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2919d2b947303dc7810439fb767e07a9f2f86a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_18.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00678472 0.01914772 0.02343252
+v 0.00678472 0.02307220 0.01920487
+v -0.00231648 0.02307221 0.01769572
+v -0.00231648 0.01914773 0.02093793
+v 0.00678472 0.01914775 0.01705448
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+v -0.00231648 0.02307222 0.01411576
+v -0.00231648 0.01914775 0.01515671
+v 0.00634908 0.01914775 0.01667789
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+v -0.00217038 0.01914775 0.01514375
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+v 0.00678472 0.02180529 0.01558883
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+v 0.00348313 0.01914775 0.01525664
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+v 0.00644619 0.02307221 0.01502070
+v -0.00072626 0.02307222 0.01398067
+v -0.00072626 0.02206614 0.01424993
+v -0.00072626 0.01914775 0.01507621
+v 0.00344839 0.01914775 0.01525109
+v 0.00360429 0.02307222 0.01429620
+v -0.00063539 0.02307222 0.01398067
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+v 0.00071785 0.02206614 0.01425363
+v 0.00071785 0.01914775 0.01507528
+v 0.00070894 0.01914775 0.01507528
+v 0.00215305 0.01914775 0.01514283
+v 0.00216196 0.02206614 0.01435449
+v 0.00222788 0.02307222 0.01410929
+v 0.00080426 0.02307222 0.01398807
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 27 34
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+f 1 33 35
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_19.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2043880fe9dcef3eb786620c293c566b38ac7002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_19.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00583449 0.03875817 0.03670618
+v 0.00583449 0.03885891 0.03748304
+v 0.00570475 0.03887086 0.03747457
+v -0.00000462 0.04029938 0.03605528
+v -0.00000462 0.04029938 0.03532182
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_2.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28763947fbdca8e9122ea4f4b4eb4f58cfa7023
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_2.obj
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_20.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8a5414e894309e03eca227b04bd293a33b72b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00361464 0.03252618 0.02640886
+v -0.00000519 0.03317621 0.02640886
+v -0.00361464 0.03264104 0.02787932
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_21.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c05cea462e6fd822e536015eb026361a0e7cbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_21.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00360482 0.03252608 0.02640873
+v 0.00454275 0.03278910 0.02640873
+v 0.00451589 0.03281224 0.02787989
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_22.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155d6a2fd33a903a91576a29b5fb750811a7903c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_22.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00973765 0.03568986 0.03375530
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_23.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe78c8cb48cba5d9dd6310b64c16ceb937ced68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_23.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_24.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30743e0708644087409f3aa6aab15497c2b03bfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_24.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_25.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d77b02a14dcad3bece5b13e06f4047032dd0449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_25.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_26.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d42a8985672ccea2d9a54d916d1ce11f5c626a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_26.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_27.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee8cfbb027731a1517cc1cc00c52b58dccf8c24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_27.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_28.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c39a405596f87f936345c8de295ec58ca0de9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_28.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_29.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b84ef056fabb8f55efd0559bc7dec5cd9bd0a89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_29.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_3.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8629fb14c1335957a0d8e522946a82ad1ab7d777
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_3.obj
@@ -0,0 +1,2686 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_30.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d084027195b5d499ede1ac595226cff32ea33f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_31.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4590306dbba62d4ac0c2214d53370799dc0c1ea3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_31.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_32.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e92218a407a9707ca99cc471f2c60469bfbd55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_32.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_33.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ae8fbee810b573b6152aedb3f34134e6ffbad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_33.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_34.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3f94e20150347538abeb27381756fa1fd32635
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_34.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_4.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4215bc457d5b6e99f80a47653e1af8db571b2d7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_5.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a9e6c40abadadbb585fa1004dce05cf362e055
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_6.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f05e37840583b7752b7f49f586566d330da6f84f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_6.obj
@@ -0,0 +1,1348 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_7.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b26b59e6ccdb0e312d4ce42c0b044e25f9e58c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_7.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_8.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ef5e4552fb99297638da14901b17339a44655f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_8.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00217078 0.01621183 0.01426256
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_9.obj b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f037ff647c9e1343d6dd9a9a3a9f6be8ea359fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/mesh/thermos_005_collision_9.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/thermos_005.xml b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/thermos_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2fda2c49583999b5e48025591c204fc93aa6a604
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/mjcf/thermos_005.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/thermos_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/thermos_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/thermos_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/thermos_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/thermos_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/thermos_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/thermos_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/thermos_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/thermos_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/thermos_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/thermos_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/thermos_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/thermos_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/thermos_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/thermos_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/thermos_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/thermos_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/thermos_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/thermos_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/thermos_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/thermos_005_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/thermos_005_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/thermos_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/thermos_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/thermos_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/thermos_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/thermos_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_005">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" 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/b6cd97fc561f59f6b8edc12d1f7b2010/textures/material_0.png b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1bb611598c3f380a4adeeafe4e1b91dd3c9f9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bddd68cb981dab1c0b0470baa7af678886fffca33660d312ce16dcc96d882301
+size 11598284
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.urdf b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1c759c9fd03e41e5f763d3b2df5ef74df34f309
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_005">
+   <link name="thermos_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>b6cd97fc561f59f6b8edc12d1f7b2010</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>colorful thermos</name>
+         <color>beige,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>compact thermos with lid, straw, and playful colorful design</description>
+         <min_height>0.0889</min_height>
+         <max_height>0.0889</max_height>
+         <real_height>0.0889</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021345</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.usd b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e3b7bf2e3947b27f0a99cb6aa4ce2b00e56b3245
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b7cf2dc5a34898e8234ac8014f6ff3321e53a87042cabc9f1483aff64375bb
+size 5009324
diff --git a/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/video.mp4 b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0241ef50560727da18510a78ad23a57502dc1ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f4d238062d3f04385588b632200f1f24f4e7eaa2273865ac2d6a6b0175b832
+size 350546