diff --git a/.gitattributes b/.gitattributes
index 71e11a575210262850885b5d2d89b3dcc0a1ca0d..16460ff2628a5a42a01de238cb2eb548b534447b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4834,5 +4834,7 @@ dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.us
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/dab02590cf5e59dfa91cb1257b393b18.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material.mtl b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f53b4ca7d76168e355160074784dad96145cb2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_008_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd thermos_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material_0.png b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d75f5489c5a27388bb71739fd144b3502ea83e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803a09f0b294afb03039df615417436eb7c8183e3104bf923b07ad3aeee4f4af
+size 10272939
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.glb b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f884ba0a0522a424201c9be77b6ba113cd1f2b0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414bc11a61be05bc578f4660475b70006afae4338f7abc20ec0e88eacd264d2c
+size 13698072
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.mtl b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d571d9bd79d34217a2dd3e0f61e4fde02d87df7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_008_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/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d1a0e5673a747858eef0f869576324b80277de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.obj
@@ -0,0 +1,110000 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_008_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_collision.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1823e662c6e170780ff19cff21187041d3e6e02d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..4d75f5489c5a27388bb71739fd144b3502ea83e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10272939
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d75f5489c5a27388bb71739fd144b3502ea83e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10272939
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008.obj
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index 0000000000000000000000000000000000000000..0cca4cb89565bb1fa2bd9c3d409dfccc2a52d250
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+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70bc343fb1a4e67d1e70317ebd003bc800e6fcfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision.obj
@@ -0,0 +1,23792 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_0.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2eddca1861017ddd9b11d71ff95a5b0888a21c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_1.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb7e35cc6529392efb1848f65839c3464803fd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_10.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..608ed37bf265cf5b8a3e4b6b9e3c6698dd2e0676
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_10.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02924717 -0.01790133 -0.02898954
+v -0.03182479 -0.01462505 -0.02898952
+v -0.01914813 -0.01790133 -0.02898954
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+v -0.03563129 -0.00190794 -0.02898948
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_11.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208967b8b50dd784e0ddb950b62e8ea1750bf50e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_11.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.03708283 0.00014347 0.02620781
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_12.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d76ed339f64c9c39f8e865669c0449a9839a928
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.01366787 0.02431607 -0.05678568
+v -0.00154968 0.02864007 -0.05678566
+v 0.01366787 0.03367326 -0.05678565
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+v -0.00154968 0.02941302 -0.02903780
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_13.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0c83e4e0fb6d283594b0895cd9d6aee27fd2cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_13.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_14.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f718831562faed266d6f4e524cc2c627fb4bc25f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_14.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_15.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e437c71733945c8d2f0a02e9273effc818cfa13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_16.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7808f8fccfc7cf42ce8e0e34e244a1b5ef411425
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_16.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_17.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ba1feebb374fbec17597b506c38b8c3eaacf37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_18.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654e3be9ae9293306b3661d11b4c5055b64fd597
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_18.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_19.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff1865d18ce0fb75c3a8c7d4c00412144b2771a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_19.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01366787 0.03370897 -0.01199096
+v 0.01366787 0.02511897 -0.01199099
+v 0.01366787 0.03370897 -0.01203768
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+v -0.00154968 0.02933651 -0.01199097
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+v 0.01142158 0.03471182 -0.01199095
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_2.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b69771efce993ef547d6e3cd86104d43f44c9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_2.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v 0.03663105 -0.02308985 -0.00684748
+v 0.03363104 -0.02310429 -0.00684748
+v 0.03358373 -0.02238785 -0.01628588
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_20.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b30cf73e6c820af71cf26d4f03ca42cba7b5f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_20.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+v 0.02672811 -0.01627128 0.01173695
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_21.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab774f33daf96c60723187811011695b858cd96e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_21.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_22.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c63192bdcecaba3843d5d49a8524a401710cd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_23.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c70bcdcc2908cf1ff4ec1797b99353f828f0f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_24.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56f0f04562fdf2afb5ed1523f2893fbd491480d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_25.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05424ba5973f8e9fef597ba912b749184263c92b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_26.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789bc5fa9611eb4312929bbb99e1730b7406e148
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_27.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7893827a6b1b1408ba13dd5c0b600e31be7295
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_27.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_28.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1895b697ef58827116f09eba392c54777f6c66f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_28.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_29.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6ae187abc02b6d1487b378e84247150bdc0760
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_29.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_3.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4357c20f66b0d908012712c95f68b9c38c6b11aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_30.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08957bbf73c0ca3c8db166c9c510a90422f4fbc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_30.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_31.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016fb6b6ec4b286d23e8e8a30907284dde7fa51a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_31.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_32.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba477c95b8d27500386acbcc4b48c8fe95e8ae2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_32.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_33.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27571ba99d56a068707c7e5beb48ccc30c42ce6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_34.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413c4d30468cf67f72f64c2a2432537af050c987
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_34.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_35.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8090377a0caa195274a77d8b8e1cbc8c1db51ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_35.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03484006 0.01151901 0.03348778
+v -0.03450921 0.01151898 0.04107737
+v -0.03463674 0.01480788 0.03348779
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_36.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34fcdefbc726d81c736b44b1d06c039b2ef4726e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_36.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03165896 -0.02205372 0.02025730
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_37.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30cb506d2dbbf03f70055866bc9b43758d7a35c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_37.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_38.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43869309b36eef5e6c948a1a3291c0f29e16063
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_38.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_39.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2610167c74d4d24eb0a985f6ae7b95a9cd497d69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_39.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_4.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b99a038b0093378b8e0cd2b987d331d6a6bed1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_4.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_40.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7444933ccae7a5af1ca5a52ac76628d225bd4aca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_40.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_41.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dac731b30e49babe685fb97b44042d027cafada
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_41.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01865558 -0.01182741 0.04792818
+v 0.02608960 -0.01182741 0.04792818
+v 0.01865102 -0.01182741 0.04800168
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_42.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be2fd2465320999cdfdb34a1d6eebe0476a69f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_42.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00926716 0.03547534 0.01354789
+v 0.00921767 0.03549078 0.01354789
+v 0.00926716 0.02719763 0.01354786
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_43.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6a528e9ac9ef2f52310169971c866ced5ef946
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_43.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.03991918 -0.02725805 0.02638365
+v 0.03790581 -0.02668354 0.02638365
+v 0.04178864 -0.02661544 0.02638365
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_44.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf3cc612a036cc11b79f952f457875a4a4eace0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_44.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02670264 0.00062018 -0.05820763
+v -0.02200605 -0.01226286 -0.05820768
+v -0.03543522 0.00062018 -0.05820763
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_45.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63be69e28a7aac462777a3458ecafbe9f9181429
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_45.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_46.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74cc2a1c6323cc622423998019b10567edf024e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_46.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_47.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806a08d9ea386be4d468a10edc00f7bc1a23136d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_47.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_48.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814c0bb40061e9cd3976d8d1c3745ced30bb973d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_48.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03192966 -0.01182917 0.02025697
+v 0.03192966 -0.01182916 0.01633704
+v 0.02672862 -0.01182917 0.02025697
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+v 0.03192966 -0.01183290 0.01543899
+v 0.03192457 -0.01182916 0.01543094
+v 0.02672862 -0.01182913 0.00851097
+v 0.02672862 -0.02542246 0.02025692
+v 0.03127590 -0.02306898 0.02025693
+v 0.03192966 -0.02663100 0.01899780
+v 0.03129576 -0.01182913 0.00851097
+v 0.03192966 -0.01469333 0.00851096
+v 0.02672862 -0.02125800 0.00851093
+v 0.02672862 -0.02539627 0.01983147
+v 0.03020362 -0.03042871 0.01133500
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+v 0.03029577 -0.03031647 0.01474554
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+v 0.03147193 -0.02766743 0.01854474
+v 0.03192966 -0.02767865 0.01853899
+v 0.02954935 -0.02498656 0.02025692
+v 0.03110177 -0.02331219 0.02025692
+v 0.02988488 -0.02465169 0.02025692
+v 0.03192966 -0.02745228 0.01864823
+v 0.03192966 -0.03084215 0.00851090
+v 0.02894905 -0.02714730 0.00851091
+v 0.02672862 -0.02501461 0.01757656
+v 0.02981615 -0.02927815 0.00851090
+v 0.03029679 -0.03034640 0.00975737
+v 0.03137621 -0.03071681 0.00851090
+v 0.03147193 -0.03092073 0.01133500
+v 0.03147193 -0.03072992 0.01345883
+v 0.03147193 -0.03039130 0.01491802
+v 0.03147193 -0.02991987 0.01598051
+v 0.03192966 -0.02885351 0.01747765
+v 0.03192966 -0.02862341 0.01770762
+v 0.03192966 -0.03093944 0.01133500
+v 0.03035891 -0.02997784 0.00851090
+v 0.03066848 -0.03027530 0.00851090
+v 0.03192966 -0.03069812 0.01349217
+v 0.03192966 -0.03062703 0.01383254
+v 0.03192966 -0.03038195 0.01489272
+v 0.03192966 -0.02991613 0.01589427
+v 0.03192966 -0.02967292 0.01630017
+f 1 2 6
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+f 1 7 3
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+f 1 23 9
+f 1 9 4
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+f 1 25 21
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+f 1 45 44
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+f 1 12 5
+f 1 5 2
+f 2 5 6
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+f 17 32 33
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+f 17 35 18
+f 18 35 19
+f 19 36 37
+f 19 37 20
+f 19 35 36
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+f 35 45 36
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_49.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70657ae6d177a7a69e16c0ced9bb090f2599848f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_49.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00155261 0.03699225 -0.05734813
+v -0.00155261 0.03698863 -0.05742639
+v -0.00237405 0.03698140 -0.05734813
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+v -0.00155261 0.03691451 -0.05889364
+v -0.00249726 0.03690005 -0.05897517
+v -0.00390837 0.03685845 -0.05839826
+v -0.00409026 0.03687653 -0.05734813
+v -0.00155261 0.02322880 -0.05920312
+v -0.02156626 0.01852042 -0.05734820
+v -0.00155261 0.03688739 -0.05920307
+v -0.00236525 0.03688377 -0.05920307
+v -0.00272022 0.03687292 -0.05920307
+v -0.00357393 0.03682411 -0.05920307
+v -0.00421054 0.03675901 -0.05920307
+v -0.00453911 0.03674455 -0.05897518
+v -0.00654282 0.03649683 -0.05877798
+v -0.00504957 0.03676804 -0.05734813
+v -0.01433764 0.01852043 -0.05920314
+v -0.03152028 0.01852042 -0.05734820
+v -0.00654282 0.03643897 -0.05920308
+v -0.00823263 0.03610989 -0.05920308
+v -0.00865508 0.03608458 -0.05877798
+v -0.00796566 0.03628346 -0.05734814
+v -0.00654282 0.03655830 -0.05734814
+v -0.03138533 0.01852043 -0.05920314
+v -0.03138533 0.01879526 -0.05734820
+v -0.03144693 0.01852043 -0.05877804
+v -0.00865508 0.03602491 -0.05920308
+v -0.01034489 0.03557830 -0.05920308
+v -0.01076734 0.03552587 -0.05877798
+v -0.01007792 0.03577538 -0.05734814
+v -0.00865508 0.03614785 -0.05734814
+v -0.03129732 0.01882420 -0.05877804
+v -0.03126505 0.01876453 -0.05920314
+v -0.03133545 0.01889290 -0.05734820
+v -0.01076734 0.03546620 -0.05920308
+v -0.01076734 0.03559276 -0.05734814
+v -0.01242781 0.03492919 -0.05920308
+v -0.01250702 0.03495992 -0.05877798
+v -0.03115063 0.01923644 -0.05734820
+v -0.03072818 0.01987110 -0.05877804
+v -0.03069591 0.01981143 -0.05920314
+v -0.01259796 0.03499246 -0.05734814
+v -0.01348394 0.03453502 -0.05920308
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+v -0.01365409 0.03460010 -0.05734814
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+v -0.03076632 0.01994161 -0.05734820
+v -0.03029106 0.02069379 -0.05734819
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+v -0.01499186 0.03388770 -0.05920309
+v -0.01499186 0.03395099 -0.05877799
+v -0.01499186 0.03401969 -0.05734815
+v -0.03003876 0.02109158 -0.05734819
+v -0.02900024 0.02253809 -0.05877803
+v -0.02896796 0.02249108 -0.05920313
+v -0.01680781 0.03301257 -0.05920309
+v -0.01686649 0.03304512 -0.05877799
+v -0.01693396 0.03307946 -0.05734815
+v -0.02935521 0.02212402 -0.05734819
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+v -0.02821988 0.02358499 -0.05877802
+v -0.02904131 0.02259775 -0.05734819
+v -0.02818467 0.02353798 -0.05920312
+v -0.01786394 0.03245205 -0.05920309
+v -0.01792261 0.03248460 -0.05877799
+v -0.01798716 0.03251894 -0.05734815
+v -0.02721068 0.02494470 -0.05734818
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+v -0.01924864 0.03161308 -0.05920309
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+v -0.02308591 0.02900937 -0.05734816
+v -0.02343209 0.02871464 -0.05734816
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_5.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8a11b4fd91e0d7113a59dfd27618a8b39d2d23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_5.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03554282 0.00014369 -0.03354803
+v 0.03549321 -0.00177914 -0.03354804
+v 0.03553759 0.00062135 -0.03354803
+v 0.03348542 0.00061996 0.01346252
+v 0.03348934 0.00013986 0.01346252
+v 0.03548668 -0.00195096 -0.03354804
+v 0.02591900 0.00062135 -0.03354803
+v 0.03348411 0.00062118 0.01345791
+v 0.03347106 0.00062118 0.01346252
+v 0.03339273 -0.00195478 0.01346251
+v 0.03537311 -0.00394324 -0.03354804
+v 0.02229767 -0.01182711 -0.03354807
+v 0.02580934 0.00062118 0.01345791
+v 0.02580934 0.00062118 0.01346252
+v 0.03317733 -0.00404943 0.01346251
+v 0.03521645 -0.00567721 -0.03354805
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+v 0.03191626 -0.01182725 0.00495861
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+v 0.03172044 -0.01033336 0.01346248
+v 0.03229745 -0.00841053 0.01345788
+v 0.03229615 -0.00841419 0.01346249
+f 1 2 6
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+f 1 19 12
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+f 23 25 24
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+f 24 28 26
+f 25 28 27
+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_50.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdcfbda1d6cbe18f659ab221f1132c5bc1f1c01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_50.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.02302490 0.01689984 0.06209718
+v 0.02461453 0.01689984 0.06164876
+v 0.02305177 0.01895133 0.06175678
+v 0.02102180 0.02118442 0.06183335
+v 0.01892410 0.02331008 0.06184155
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+v 0.02724718 0.00062100 0.06207525
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+v 0.02733010 0.01271504 0.06019959
+v 0.01971015 0.02409027 0.06077382
+v 0.01834127 0.02470417 0.06147653
+v 0.01834127 0.02063446 0.06161187
+v 0.02556761 0.00062100 0.06174987
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+v 0.02917085 0.00062101 0.06019817
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_51.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5943ca093aa9449249f5a1984fbd014f5e281089
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_51.obj
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_52.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758594958f7bf092a6b56aa62229d5eb7d8e193d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_52.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_53.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e922acca4b71f383319b569129ebe485863f16a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_53.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_54.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5508ba107abc0e3f56e017c9e54a03701331dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_54.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_55.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a275c8fb45497422acc3b5fa4b2dbe73640fe3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_55.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02292621 0.01151894 0.04834353
+v -0.02469599 0.00062105 0.04834349
+v -0.02296612 0.01151895 0.04745183
+v -0.02961861 0.01151894 0.04834353
+v -0.03070443 0.00062105 0.04834349
+v -0.02473727 0.00062106 0.04745179
+v -0.02308860 0.01151895 0.04652394
+v -0.02987596 0.01061648 0.04834353
+v -0.03355038 0.01151895 0.04499096
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+v -0.03073745 0.00223931 0.04834350
+v -0.03404030 0.00223932 0.04561773
+v -0.03387241 0.00062106 0.04570892
+v -0.02504416 0.00062106 0.04532676
+v -0.02326475 0.01151895 0.04528337
+v -0.03023239 0.00852245 0.04834352
+v -0.03276871 0.00852246 0.04630390
+v -0.03407058 0.01151896 0.04390673
+v -0.03505180 0.00748026 0.04426572
+v -0.03367424 0.01061649 0.04510677
+v -0.03064800 0.00433333 0.04834351
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+v -0.03495134 0.00062107 0.04477234
+v -0.02606805 0.00062109 0.03895456
+v -0.02429139 0.01151898 0.03927451
+v -0.03048836 0.00642736 0.04834351
+v -0.03412976 0.00831658 0.04504741
+v -0.03511236 0.00642738 0.04436270
+v -0.03520456 0.00433335 0.04450601
+v -0.03288431 0.00684233 0.04635746
+v -0.03434169 0.01151896 0.04320321
+v -0.03534493 0.00642738 0.04320319
+v -0.03553347 0.00433335 0.04320319
+v -0.03458803 0.01061650 0.04320321
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+v -0.03666194 0.00853105 0.03355516
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+v -0.03560503 0.00223933 0.04320318
+v -0.03556787 0.00062107 0.04320317
+v -0.02741946 0.00062111 0.03355513
+v -0.02454461 0.01151898 0.03809909
+v -0.03450959 0.01151897 0.04107819
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+v -0.03687938 0.00433339 0.03355515
+v -0.03693856 0.00223937 0.03355514
+v -0.03698397 0.00062111 0.03355513
+v -0.02571712 0.01151900 0.03355517
+v -0.03481510 0.01151900 0.03355517
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+f 1 7 15
+f 1 15 27
+f 1 27 43
+f 1 43 50
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+f 1 5 2
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+f 18 33 19
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+f 42 50 43
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_56.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d5b7eb0d9f17326bcdc590a9fe7545f89074dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03571814 -0.02488395 0.03242395
+v 0.03571814 -0.02445965 0.03482794
+v 0.03557985 -0.02444431 0.03482384
+v 0.03445250 -0.02409157 0.03419718
+v 0.03165896 -0.02287484 0.03069861
+v 0.03571814 -0.02487117 0.03139230
+v 0.03571814 -0.02436507 0.03506601
+v 0.03479901 -0.02390241 0.03561331
+v 0.03223714 -0.02207352 0.03606620
+v 0.03165896 -0.02274830 0.02854364
+v 0.03165896 -0.02190482 0.03470344
+v 0.03571814 -0.02479576 0.03063977
+v 0.03571814 -0.02330301 0.03645204
+v 0.03358424 -0.02250934 0.03647941
+v 0.03358424 -0.02127475 0.03754116
+v 0.03243106 -0.01985994 0.03793522
+v 0.03165896 -0.02073412 0.03674895
+v 0.03571814 -0.02408516 0.02930574
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+v 0.03571814 -0.02307935 0.03659023
+v 0.03557985 -0.02308191 0.03660255
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+v 0.03358424 -0.02022802 0.03802689
+v 0.03358424 -0.01870841 0.03805015
+v 0.03241556 -0.01870841 0.03793659
+v 0.03165896 -0.01870841 0.03756580
+v 0.03165896 -0.02063700 0.03682421
+v 0.03571814 -0.02295791 0.02899927
+v 0.03166293 -0.02028548 0.02407363
+v 0.03455344 -0.01757728 0.02407364
+v 0.03525361 -0.01653184 0.02407364
+v 0.03525599 -0.01652161 0.02407364
+v 0.03571417 -0.01452018 0.02407365
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+v 0.03165896 -0.02027653 0.02407363
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+v 0.03521467 -0.02028042 0.03802689
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+v 0.03467742 -0.01763612 0.03790513
+v 0.03358424 -0.01761312 0.03791334
+v 0.03247517 -0.01762334 0.03790787
+v 0.03165896 -0.01841702 0.03755075
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+v 0.03512565 -0.01182861 0.02946040
+v 0.03498220 -0.01182861 0.02998854
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_57.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5497601b740c92bec62622690bcb6ef58ac6bf20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_57.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03571854 -0.02526734 0.02025752
+v 0.03637772 -0.02623682 0.02025751
+v 0.03684996 -0.02585368 0.02638254
+v 0.03643703 -0.02480692 0.02638254
+v 0.03571854 -0.02520122 0.02034746
+v 0.03571854 -0.02119263 0.02025753
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+v 0.03991913 -0.02723580 0.02408123
+v 0.03991913 -0.02727485 0.02620565
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+v 0.03571854 -0.02222744 0.02100644
+v 0.03650610 -0.02281617 0.02638255
+v 0.03582440 -0.02088194 0.02025753
+v 0.03793783 -0.02661522 0.02025751
+v 0.03991913 -0.02695857 0.02195741
+v 0.04149726 -0.02642404 0.02195741
+v 0.04176303 -0.02660329 0.02408123
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+v 0.04178856 -0.02661525 0.02638253
+v 0.03991913 -0.02725892 0.02638253
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+v 0.03681842 -0.02196936 0.02638255
+v 0.03643027 -0.02033865 0.02025754
+v 0.03993565 -0.02653874 0.02025751
+v 0.04073748 -0.02628781 0.02025751
+v 0.04119770 -0.02620577 0.02051234
+v 0.04255360 -0.02525938 0.02195742
+v 0.04281862 -0.02562663 0.02408124
+v 0.04286067 -0.02567763 0.02620566
+v 0.04275631 -0.02574534 0.02638254
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+v 0.03749187 -0.01957071 0.02025754
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+v 0.04204608 -0.02102775 0.02638255
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_58.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169be9ed95ea7b60d4f28201d395e3b3e254ad6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_58.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.01809863 -0.01790078 0.03497417
+v -0.02451243 -0.00984982 0.03497420
+v -0.02953505 -0.01790078 0.03497417
+v -0.01872751 -0.01790069 0.01133497
+v -0.02496133 -0.00984973 0.01133037
+v -0.03441793 -0.00984982 0.03497420
+v -0.03142807 -0.01603050 0.03497418
+v -0.03524162 -0.01563957 0.03371040
+v -0.03751790 -0.01586813 0.03196981
+v -0.03397961 -0.01790077 0.03141197
+v -0.02906074 -0.01790069 0.01133034
+v -0.01872963 -0.01789912 0.01133034
+v -0.03343754 -0.00984973 0.01133037
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_59.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0e130f4aa11816507fe155befa3fe62d3caf60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_59.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_6.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b04d3e95b9a250d2f9f79f057cc5044a6052026
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_6.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_60.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e33391f8d846072ce9e343fed838f9b018e1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_60.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_61.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf1e594b28e44363c96c684d732ef9cb32339dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_61.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.04625476 -0.03219889 -0.01841000
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_62.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0b417ff59d686c08d6d12212e8cd962455a4dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_62.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02137523 -0.00984987 0.04957710
+v -0.02143833 -0.00984987 0.04848905
+v -0.02468950 0.00062105 0.04848909
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_63.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d5480304c8d11ce0557b608be8f3e6821a1e1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_63.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_64.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96eebc64ef37ac4ea6b10637a7cdd375d9966b33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_64.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_65.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d7f9507bf961c3ed95a257895a1d17b30c0195
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_65.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_66.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7bdd6889d943d5462394dc13363a4a4b798701
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_66.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_67.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9600e10e77516631b063cc333aa982468e27fe5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_67.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03534242 -0.01182920 0.02025697
+v 0.03530226 -0.01182920 0.01983152
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_68.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735b6bb405818df2a1db872c614205c97f00d20f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_68.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02839677 -0.00984987 0.04872904
+v -0.02828788 -0.01033222 0.04872904
+v -0.02879071 -0.00984988 0.05050430
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_69.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efa97829303b1fdedb8363e40749c4018cb3aff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_69.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_7.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c45c6e463cf3f7c6ce705c8860e91e9782424f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_7.obj
@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_70.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152e7435d9d2bdd4f6aec00d1cae42258bd2bdc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_70.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_71.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..939244447063fab4367c4a662e583b1b8809d823
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_71.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_72.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e760659867f3e869e00eb49160d73ab996c7d637
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_72.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_73.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6fc311a3cf9467509b6207c3fe0f645ca78c96a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_73.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_74.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7c9991c917e641f238cc9847f1ab6b08f12f50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_74.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_75.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16bac3edebf1d9e9c94ec9fd3bdc1e8c88007cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_75.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03129535 -0.01182726 0.00850983
+v 0.03562483 -0.01272718 0.00671809
+v 0.03562483 -0.01206592 0.00501056
+v 0.03562483 -0.01205027 0.00495945
+v 0.03175609 -0.01182726 0.00702324
+v 0.02672811 -0.01182726 0.00850983
+v 0.03562483 -0.01426687 0.00850982
+v 0.03562483 -0.01236133 0.00283553
+v 0.03116646 -0.01182720 -0.00684607
+v 0.03183099 -0.01182723 0.00008031
+v 0.03188760 -0.01182724 0.00241466
+v 0.03191460 -0.01182725 0.00464680
+v 0.03191721 -0.01182725 0.00495945
+v 0.02672811 -0.01182720 -0.00684607
+v 0.02672811 -0.02125704 0.00850979
+v 0.03562483 -0.03126788 0.00850976
+v 0.03562483 -0.01299909 -0.00141230
+v 0.03562483 -0.01327299 -0.00292895
+v 0.03562483 -0.01455440 -0.00684608
+v 0.02672811 -0.01961362 -0.00684610
+v 0.02672811 -0.02266760 0.00689844
+v 0.02794657 -0.02667427 0.00660531
+v 0.02894902 -0.02714773 0.00850977
+v 0.03358333 -0.03129527 0.00850976
+v 0.03562483 -0.03169437 0.00708328
+v 0.03562483 -0.02303925 -0.00684611
+v 0.03192853 -0.02235061 -0.00684611
+v 0.03223336 -0.03040898 -0.00268400
+v 0.03150612 -0.02918429 -0.00310638
+v 0.03011522 -0.02848977 -0.00280875
+v 0.02830452 -0.02603842 -0.00247355
+v 0.02672811 -0.02079138 -0.00420212
+v 0.02672811 -0.02330537 0.00508566
+v 0.02715488 -0.02499178 0.00495940
+v 0.02787863 -0.02680926 0.00495939
+v 0.02848133 -0.02785593 0.00495939
+v 0.02981736 -0.02927823 0.00850976
+v 0.03358333 -0.03146156 0.00708328
+v 0.03137635 -0.03071618 0.00850976
+v 0.03562483 -0.03181370 0.00495937
+v 0.03562483 -0.03087070 -0.00298011
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+v 0.02993407 -0.02870106 -0.00141236
+v 0.02953779 -0.02902781 0.00495938
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+v 0.03562483 -0.03176673 0.00071155
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+v 0.03562483 -0.03170020 -0.00141237
+v 0.03063605 -0.03007643 0.00495938
+v 0.03562483 -0.03176477 0.00064090
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_76.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2da39b0fcedb3eb3355603ec5b0c7b0dd4222f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_76.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03176692 -0.01182715 -0.02085488
+v 0.03419279 -0.01319759 -0.02266019
+v 0.03177349 -0.01182714 -0.02490085
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+v 0.03419279 -0.01322501 -0.02349309
+v 0.02672811 -0.01182712 -0.02944100
+v 0.02672811 -0.01928396 -0.02085491
+v 0.03419279 -0.02086947 -0.02085492
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+v 0.03105377 -0.01182712 -0.02944100
+v 0.02672811 -0.01903157 -0.02944103
+v 0.02672811 -0.01925763 -0.02266021
+v 0.03419279 -0.02303648 -0.02893004
+v 0.03147172 -0.02079925 -0.02085492
+v 0.03358340 -0.02114268 -0.02085492
+v 0.03419279 -0.02260199 -0.02698606
+v 0.03419279 -0.01373522 -0.02606069
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+v 0.03419279 -0.01523184 -0.02906954
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+v 0.03419279 -0.02286092 -0.02944104
+v 0.03326555 -0.02109111 -0.02085492
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_77.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b894cf2af3220b8ff556357b452cd227d81dc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_77.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03967281 -0.02056016 -0.00684656
+v 0.04005219 -0.02056016 -0.00684881
+v 0.03758765 -0.02056016 -0.00684656
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_78.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1464b536770173916309ee33fb1f676b2128ac6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_78.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.02609396 -0.01182915 0.04792254
+v 0.02672811 -0.01182914 0.04747618
+v 0.01865645 -0.01182915 0.04792254
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+v 0.02462894 -0.02240336 0.04107824
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_79.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ea9ba259b62d7ccf470585b5ff77393a8a7129
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_79.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_8.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad53e937a83a24684567ffe31636c26c0339b8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_8.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_80.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac53a71b573042e978cc00056bcbd74155197187
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_80.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.03419279 -0.01327185 -0.02085489
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+
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_9.obj b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df9d3630b73131945c119b8c7b21a5ce91f5163
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/mesh/thermos_008_collision_9.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.00305096 -0.02434070 0.01344511
+v -0.01869430 -0.01790149 0.01344513
+v 0.00305096 -0.03197774 0.01344508
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/thermos_008.xml b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/thermos_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1440c67d92ac1d1b1e6060be0ed38b257dcd61c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mjcf/thermos_008.xml
@@ -0,0 +1,176 @@
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+    <mesh name="collision_mesh_0_80" file="mesh/thermos_008_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_008">
+      <joint type="free" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/textures/material_0.png b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803a09f0b294afb03039df615417436eb7c8183e3104bf923b07ad3aeee4f4af
+size 10272939
diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.urdf b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_008">
+   <link name="thermos_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>daac725ed8715c88a49891b7620ff131</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>strapped thermos</name>
+         <color>green,orange</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green thermos with orange straps and a silver lid</description>
+         <min_height>0.1289</min_height>
+         <max_height>0.1289</max_height>
+         <real_height>0.1289</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021512</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>5</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/daac725ed8715c88a49891b7620ff131/thermos_008.usd b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.usd
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diff --git a/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/video.mp4 b/dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/video.mp4
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+size 326384