diff --git a/.gitattributes b/.gitattributes
index 73ad94c0233b6b77d535f256d781f19734c6c7db..d7d646e6f25b59254213f617c556338954ab2f82 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4639,5 +4639,5 @@ dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/156e2a830a4b534bbf7ab746dccfdc91.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/mesh/mug_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/mug_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material.mtl b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d080021057554bdc56d5588f95b57f998d3c7026
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_014_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd wine_glass_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material_0.png b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.glb b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dca3069388d4c1c109dd94701721be87f351867a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.glb
@@ -0,0 +1,3 @@
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+size 11777660
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.mtl b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef9146586816f8f20e6b4e04f10d874d14565b29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_014_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0ccd541b03653837a1db712ed25c0f0e00801c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.obj
@@ -0,0 +1,103796 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_collision.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69eecdc5d04ac909e56af73d56daa227be0f3e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bba257cfed97e621c6fe3c82c7ef6d911c20bd5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f595c01ae63caf16c32d1e224652a33a3cd2f53d2978388c0b3f91c0e19ae0
+size 8553884
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bba257cfed97e621c6fe3c82c7ef6d911c20bd5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f595c01ae63caf16c32d1e224652a33a3cd2f53d2978388c0b3f91c0e19ae0
+size 8553884
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cedd3aab9cebbfe169e4ee605eb9a729e352e36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dccb81870ed9cbc6e8bc8e36c81b4d91a9e86338
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision.obj
@@ -0,0 +1,13375 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_0.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9b3e6779c5fd124cdbbff4d596580886b9bcfb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_0.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_1.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe9cc5a9182f3a26a5de3a229b54db6f9e3e089
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_1.obj
@@ -0,0 +1,1294 @@
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_10.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73aaeabd3130e9f982b48d02feb546e207a1bf63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_11.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42aff2b9fa6ecee8ebe71eda2d07dd109db73dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_11.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00001222 0.00611414 0.00224194
+v -0.00758485 0.00611413 0.00450132
+v -0.00758485 0.00001199 0.00304452
+v -0.00001222 0.00001200 0.00059767
+v -0.00001222 0.00611417 -0.00495996
+v -0.00758485 0.00611415 0.00079297
+v -0.00758485 0.00001201 -0.00360084
+v -0.00001222 0.00001206 -0.01544844
+v -0.00001222 0.00298907 -0.01544843
+v -0.00110779 0.00299684 -0.01544843
+v -0.00110779 0.00611417 -0.00496387
+v -0.00758337 0.00611416 -0.00187650
+v -0.00758485 0.00611058 -0.00187846
+v -0.00758485 0.00050241 -0.00360279
+v -0.00298316 0.00112904 -0.01544844
+v -0.00298093 0.00001206 -0.01544844
+v -0.00238423 0.00240609 -0.01544843
+v -0.00741955 0.00611416 -0.00198195
+v -0.00608233 0.00611416 -0.00283337
+v -0.00376888 0.00611417 -0.00410659
+v -0.00330560 0.00611417 -0.00429406
+v -0.00143320 0.00611417 -0.00489357
+v -0.00758485 0.00526658 -0.00231979
+v -0.00758485 0.00112899 -0.00360474
+v -0.00758485 0.00328887 -0.00312044
+v -0.00758485 0.00340236 -0.00308334
+v -0.00758485 0.00350032 -0.00304428
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 23
+f 2 23 27
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+f 2 26 25
+f 2 25 24
+f 2 24 14
+f 2 14 7
+f 2 7 3
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+f 3 16 8
+f 3 8 4
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+f 7 15 16
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+f 10 22 11
+f 12 17 13
+f 13 17 15
+f 13 15 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 23
+
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_12.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9846e711b45493ca13a85ebb4eb8c90a079f1aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00756497 0.00732506 0.00510751
+v -0.00001222 0.00732507 0.00280541
+v 0.00756497 0.00000456 0.00302674
+v 0.00756497 0.00732508 -0.00122327
+v -0.00001222 0.00000457 0.00059786
+v -0.00001222 0.00732509 -0.00386344
+v 0.00756497 0.00000458 -0.00358979
+v 0.00731205 0.00732509 -0.00140236
+v 0.00756497 0.00686720 -0.00149091
+v 0.00296718 0.00112893 -0.01544642
+v 0.00264380 0.00185482 -0.01544641
+v 0.00239162 0.00238938 -0.01544641
+v 0.00185834 0.00264807 -0.01544641
+v 0.00113370 0.00298056 -0.01544641
+v -0.00001222 0.00000463 -0.01544642
+v 0.00076360 0.00732509 -0.00386143
+v -0.00001222 0.00298916 -0.01544641
+v 0.00296347 0.00000463 -0.01544642
+v 0.00296421 0.00021745 -0.01544642
+v 0.00756497 0.00112888 -0.00358979
+v 0.00702130 0.00732509 -0.00158146
+v 0.00756497 0.00618072 -0.00184710
+v 0.00756497 0.00188845 -0.00344691
+v 0.00756497 0.00554871 -0.00216505
+v 0.00756497 0.00350074 -0.00303639
+v 0.00756497 0.00323776 -0.00313097
+v 0.00022216 0.00298772 -0.01544641
+v 0.00113370 0.00732509 -0.00385941
+v 0.00224848 0.00732509 -0.00363605
+v 0.00304358 0.00732509 -0.00344085
+v 0.00369998 0.00732509 -0.00320340
+v 0.00559947 0.00732509 -0.00233005
+v 0.00673352 0.00732509 -0.00173440
+f 1 2 3
+f 1 3 7
+f 1 7 20
+f 1 20 23
+f 1 23 26
+f 1 26 25
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+f 1 24 22
+f 1 22 9
+f 1 9 4
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+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 21
+f 16 28 17
+f 17 28 27
+
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_13.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea0eaece89167733bafdfbde44ae8b0d8783f31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_13.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00001222 -0.00946353 -0.00214426
+v -0.00001222 -0.00294813 -0.01544845
+v 0.00113340 -0.00946353 -0.00214212
+v -0.00001222 -0.00946356 0.00425799
+v -0.00001222 0.00000463 -0.01544844
+v 0.00113340 -0.00293886 -0.01544845
+v 0.00289659 -0.00946353 -0.00179831
+v 0.00760736 -0.00946356 0.00636573
+v 0.00760736 0.00000456 0.00305359
+v -0.00001222 0.00000457 0.00059776
+v 0.00296371 0.00000463 -0.01544844
+v 0.00238494 -0.00236425 -0.01544845
+v 0.00760736 -0.00946354 0.00021120
+v 0.00598514 -0.00946354 -0.00066222
+v 0.00509535 -0.00946354 -0.00110427
+v 0.00337318 -0.00946353 -0.00170435
+v 0.00760736 0.00000458 -0.00355580
+v 0.00295998 -0.00111308 -0.01544844
+v 0.00760736 -0.00051350 -0.00355580
+v 0.00760736 -0.00111313 -0.00355366
+v 0.00760736 -0.00945520 0.00020480
+v 0.00760736 -0.00325866 -0.00308386
+v 0.00760736 -0.00336524 -0.00304969
+v 0.00760736 -0.00345606 -0.00301553
+v 0.00760736 -0.00523551 -0.00230014
+v 0.00760736 -0.00607518 -0.00186877
+v 0.00760736 -0.00760254 -0.00102312
+f 1 2 3
+f 1 3 7
+f 1 7 16
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+f 1 15 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
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+f 1 5 2
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+f 18 26 27
+f 18 27 21
+
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_14.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8006c6ab03d85f9631a208053cbd2512eb3c258
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_14.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00110726 -0.00943829 -0.00216596
+v -0.00110726 -0.00295642 -0.01544845
+v -0.00001222 -0.00943829 -0.00216596
+v -0.00334788 -0.00943829 -0.00173425
+v -0.00183951 -0.00263265 -0.01544845
+v -0.00019658 -0.00294995 -0.01544845
+v -0.00445259 -0.00943829 -0.00136238
+v -0.00504657 -0.00943830 -0.00114012
+v -0.00597062 -0.00943830 -0.00067849
+v -0.00760686 -0.00943830 0.00022767
+v -0.00001222 -0.00294810 -0.01544845
+v -0.00001222 -0.00943832 0.00423914
+v -0.00237848 -0.00238289 -0.01544845
+v -0.00760686 -0.00943832 0.00638486
+v -0.00760686 -0.00762521 -0.00100120
+v -0.00297767 -0.00111280 -0.01544844
+v -0.00264016 -0.00184451 -0.01544845
+v -0.00001222 0.00001206 -0.01544844
+v -0.00001222 0.00001200 0.00059743
+v -0.00760686 0.00001199 0.00305731
+v -0.00760686 -0.00682040 -0.00147565
+v -0.00298064 0.00001206 -0.01544844
+v -0.00760686 -0.00603319 -0.00188384
+v -0.00760686 -0.00553273 -0.00213816
+v -0.00760686 -0.00346155 -0.00301867
+v -0.00760686 -0.00328856 -0.00308278
+v -0.00760686 -0.00182884 -0.00343755
+v -0.00760686 -0.00111285 -0.00357860
+v -0.00760686 0.00001201 -0.00358287
+v -0.00760686 -0.00008327 -0.00358287
+f 1 2 3
+f 1 3 12
+f 1 12 14
+f 1 14 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
+f 2 5 13
+f 2 13 17
+f 2 17 16
+f 2 16 22
+f 2 22 18
+f 2 18 11
+f 2 11 6
+f 2 6 3
+f 2 4 7
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+f 2 8 9
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+f 2 10 5
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+f 3 11 18
+f 3 18 19
+f 3 19 12
+f 5 10 13
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+f 16 27 28
+f 16 28 22
+f 18 22 29
+f 18 29 20
+f 18 20 19
+f 22 28 30
+f 22 30 29
+
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_15.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd132135b319502a8a22c487fd84e1dc1fea4cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_15.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v 0.02275072 0.01151199 0.02057160
+v 0.02267046 0.01169160 0.02057160
+v 0.02274924 0.01151199 0.02060303
+v 0.02260208 0.01151200 0.01826218
+v 0.02204465 0.01281226 0.02057161
+v 0.02204465 0.01281099 0.02060304
+v 0.02266153 0.01170425 0.02060303
+v 0.02266897 0.01169033 0.02060303
+v 0.02258870 0.01154109 0.01826218
+v 0.01813376 0.01151199 0.02060303
+v 0.02257235 0.01151200 0.01806804
+v 0.02092534 0.01454890 0.02057161
+v 0.02196141 0.01266175 0.01826219
+v 0.02084210 0.01442875 0.01826219
+v 0.02093872 0.01452487 0.02060304
+v 0.00756497 0.02011679 0.02060306
+v 0.01811294 0.01151199 0.02060118
+v 0.02240586 0.01151201 0.01708991
+v 0.02015238 0.01566956 0.02057162
+v 0.02092385 0.01454764 0.02060304
+v 0.02056413 0.01402274 0.01595277
+v 0.02006022 0.01554941 0.01826220
+v 0.00756497 0.02442994 0.02060308
+v 0.00756497 0.01151204 0.00780046
+v 0.02231370 0.01151201 0.01672565
+v 0.01916982 0.01681805 0.02057162
+v 0.01916834 0.01681805 0.02060305
+v 0.02015089 0.01566830 0.02060305
+v 0.01802673 0.01803105 0.01887054
+v 0.01975252 0.01514340 0.01595278
+v 0.02171614 0.01217985 0.01606186
+v 0.02030548 0.01364583 0.01454568
+v 0.01789146 0.01789572 0.01733031
+v 0.01879523 0.01701664 0.01816420
+v 0.00792618 0.02430978 0.02060308
+v 0.00756497 0.02443120 0.02059199
+v 0.00756497 0.01151206 0.00171536
+v 0.02195695 0.01151201 0.01572903
+v 0.01807132 0.01807405 0.02057163
+v 0.01808321 0.01805761 0.02060306
+v 0.01680188 0.01904926 0.01831768
+v 0.01571378 0.02019522 0.01930690
+v 0.01825713 0.01607308 0.01423690
+v 0.01863172 0.01650818 0.01595278
+v 0.02145155 0.01151202 0.01454936
+v 0.02066967 0.01225828 0.01372102
+v 0.01986252 0.01295269 0.01300545
+v 0.01905982 0.01458814 0.01362117
+v 0.01554879 0.02006747 0.01776668
+v 0.01762390 0.01762884 0.01595278
+v 0.01650310 0.01866855 0.01595279
+v 0.01006075 0.02348762 0.02060308
+v 0.00793064 0.02430978 0.02057165
+v 0.00756497 0.02443247 0.02057165
+v 0.00756497 0.01237975 0.00237917
+v 0.00765861 0.01151206 0.00175604
+v 0.01684053 0.01919471 0.02057163
+v 0.01683756 0.01919597 0.02060306
+v 0.01805051 0.01809049 0.02060306
+v 0.01806984 0.01807278 0.02060306
+v 0.01471191 0.02076187 0.01842678
+v 0.01273639 0.02201661 0.01826222
+v 0.01288801 0.02210387 0.02057164
+v 0.01457366 0.02100471 0.02057164
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_16.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae18fb6db47b809ec6e3ba8243da9a60796cc606
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_17.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd654fd2a24e39aec2b9900b62771d399d13c56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_17.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_18.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb5ca11bb044e7e32d0fae88fb0905a3fee5509
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_18.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_19.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af739c6f623a5007487b7e39f4edee2b94ad04bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_2.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b853ff8476e9c6aa6e50eb15b8f1edbcf2baf4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_20.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e4b9895dbf9f9bcbe3a1e77908439bba7675bd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_20.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_21.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd943c40ee612c1c2dc56aa5a165b3720b3e4de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_22.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f007da67b8c9e1cd8441038e0e52dc7750e23e37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_23.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9352aa91128bc1bf74097b0e37087c0fa70859b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_24.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2de3c7b80156df9dc2a443f7df89459d30987e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_24.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_25.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6c0d90d2d8c232f71e4b6a14ba1b13bd9ca07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_3.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60441be3b44eba1c1c859654ee4445ab777c0351
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_4.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f39dd2d458cec8bca4ca1c3b0f6778effc05d5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_5.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67320ad02bd50048ca48763377599661f90f0c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_6.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f97498599f5591102da18b5dd0dfa60297a3379
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_7.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39dc3c48932dd8ef6006f9da9c9fee14e61344e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_8.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd8e4cc07217a77f54656e366ea7774173bfa88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_9.obj b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e19954539213a17b8abeaac45aa1a52c8a6ecd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/mesh/wine_glass_014_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/wine_glass_014.xml b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/wine_glass_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..27c483f2249f3770a64afa2fbffa079378de1906
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mjcf/wine_glass_014.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_014">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" 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/144731dfecda58caac1454803effe05d/textures/material_0.png b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f595c01ae63caf16c32d1e224652a33a3cd2f53d2978388c0b3f91c0e19ae0
+size 8553884
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/video.mp4 b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d345685b4b82da16f5266a66e0599b5b1ff6199
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb639ac336a57fa46c930daac483d22122245156e5e7953c819a4af6864c764
+size 202784
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.urdf b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b693f2f08ee81d2fa3305ad69395517048a12f22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_014">
+   <link name="wine_glass_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>144731dfecda58caac1454803effe05d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>stemmed wine glass</name>
+         <color>transparent</color>
+         <shape>irregular</shape>
+         <material>glass</material>
+         <description>transparent stemmed wine glass with tapered bowl and round base</description>
+         <min_height>0.1400</min_height>
+         <max_height>0.1400</max_height>
+         <real_height>0.1400</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192855</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025238 -0.025409 -0.069053</min>
+            <max>0.025265 0.025426 0.070947</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.usd b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee9a2e46ec074f82dd50b0ff2153404ca5db14957ad6a6f5dbbb59a459da0192
+size 4839728