diff --git a/.gitattributes b/.gitattributes
index 33b4871e7d770916ed09d4c363025528b5bcca9b..7f9a7c41bcbdcaa9e844f16995ccc8306cb68e62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4737,4 +4737,5 @@ dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle.glb f
 dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6fe47c398de553c78aa8d188e7a34c80/6fe47c398de553c78aa8d188e7a34c80.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material.mtl b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13bddd613eff72ec805992c7b4e26e238b63a179
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_006_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 wine_glass_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material_0.png b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f989339835ccb828e85a03977ef6417dc6a5c72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172006078535f6ed9c7fdc74e554c5f36927be5033ca60d7a38f4fa28b9a7cca
+size 16100173
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.glb b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..381f1cae0b8ebb66063354f74e56b72a1ab679dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c74ae13c620dea68c7a88e4ba6dce210b5c9e4cbe355e1c1495367438930fbf
+size 19620328
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.mtl b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..717e5843ead3d93afb0bf30c1c632ed4d5862f26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_006_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/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0b2016113cb589d971378fc4f6cad45af43018
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006.obj
@@ -0,0 +1,117104 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_006_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_collision.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e691e89d538dd6bedf2e7e589fb9d0226710ccaf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f989339835ccb828e85a03977ef6417dc6a5c72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172006078535f6ed9c7fdc74e554c5f36927be5033ca60d7a38f4fa28b9a7cca
+size 16100173
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f989339835ccb828e85a03977ef6417dc6a5c72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172006078535f6ed9c7fdc74e554c5f36927be5033ca60d7a38f4fa28b9a7cca
+size 16100173
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195c13cb922d577983bb259ca047ba8e1d49f374
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8496658cd41cf7da46b69c8492b9cbd28099d39a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision.obj
@@ -0,0 +1,10159 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_0.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f659bd7138b7af11518327048dccd6ea064e97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_1.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a6ea1408f7a888e2978d48408b3442e1cdc98f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_1.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_10.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c0e9b0e9ff6c3fd9abeb80e09b630d6d822a2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_10.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.03641345 -0.01736031 0.06711005
+v 0.03601121 -0.01824107 0.06711004
+v 0.03596471 -0.01814749 0.06552750
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_11.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191bdaadceec6135d227d59fdd6ce5b574668b4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_12.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd192e89d9921171aacc1c384db2fddc70a6247
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_12.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_13.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1b37c6b53015418789c7097bb30e5959ff80e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_14.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ceace3874b5a8fd2d2d547ac36b1fee9a132d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_14.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_15.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb267651b7f4fb2735826699f25c3e16b0cc554
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_15.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_16.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c94ea9a2597547e45ed6c8ff4eb0a198d716660
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_16.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_17.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6065f656a3c1956a7335347a42759b2bf86767d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_17.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_18.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d752ed94c5752c816cb4a74211f7f6b904f48335
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_18.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_19.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f2928dbd79264fd938fb774e87eb1689ad5149
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_19.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00839591 -0.00031003 -0.01564702
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+
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_2.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c0cb0ee6c870dfe929f2095d0701e43343bea0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_2.obj
@@ -0,0 +1,823 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_20.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a0460b86a858d99be5468aa34b3d5c49c44753
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_20.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_21.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fb821d1f23439e621ae86c26f1ad91ba8c353a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_21.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_22.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c132a6e0f427807c7c85c11467a786f4b01ea0bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_22.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_23.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..916191f67999fe5f1b2b331d714509bae1dac6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_23.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_24.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecebbe7fc40ee02e6421668f5d732f2a0b47289
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_24.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_25.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390abdd733b376f16a428228a853b87a76d12b5d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_25.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01196617 0.01617926 0.00209223
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_26.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e681b9ce7ddd7561e23d1eb7b3525c20eaa23ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_26.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_27.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad548e8b49cab9a953d198621da8e41cd6c5dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_28.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..389d29788db501da0d72e76d016f6e27d5ab91cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_28.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_3.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0452cface57dd39ce9e353a2cea79043dba403eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_3.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_4.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2483de258c4db6ab7da6920fa06c2c1b0b014715
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_4.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_5.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa759738971abe7fbe25d985c5346e52f1be272
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_5.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_6.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0e2ac786f63cb005375d4369932e5453b62b28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_6.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_7.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d4b99ac30bb1fe292121d72fad74473990305d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_8.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6c48ed190bbbaba737d8aca12862475be5c96d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_9.obj b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bc9f783a62b3e6df9540af0a70f9cac8a1bfa0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/mesh/wine_glass_006_collision_9.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/wine_glass_006.xml b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/wine_glass_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40e5c0be7a31b019f590bb7eb1fc9a10d8fcd4ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mjcf/wine_glass_006.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_006">
+  <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/wine_glass_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wine_glass_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_006">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/textures/material_0.png b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 16100173
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/video.mp4 b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 799920
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.urdf b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..394041ab74a94a784b0cad8d611946d7b7f41780
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_006">
+   <link name="wine_glass_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_006.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/wine_glass_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>6b70f71d283159378ad1871d0bb8ca6f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>decorative wine glass</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>ornate glass wine goblet with intricate patterns</description>
+         <min_height>0.1546</min_height>
+         <max_height>0.1546</max_height>
+         <real_height>0.1546</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021913</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>9</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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