diff --git a/.gitattributes b/.gitattributes
index e969e17f27796e6d3dffe893070d31ec8f7663b6..0a0e8a1fa9d6cfbd5a21759a18c517bc94c29a37 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4757,6 +4757,5 @@ dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/857a0c9d0e755806b
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/8fcf16a567b15d20b9df625e271d5903.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/9d1e927e5d4d56b0a564ff76829e4470.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material.mtl b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53233d79ec573cea7cc75881d3e8be27961cd2fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material_0.png b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6fbb7d2a4e4abe4f96e9c636f6d37697893a9b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63475c194b972ad338b5175db4d29228c74bbfee00b3d12a08cac563787fe673
+size 9832537
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.glb b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86cce3ea226e093b6f0c950d41b77e4e27d23bd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f84a0c473e6d89678999c82368055e7d7d8fa4bc0a18240f4c8e54ecc756a0f
+size 13214936
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.mtl b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..febb4d3777633d2bc2f42c30a447e62fa54c0f33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_004_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/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93305f3f2924baa219c6c54a0d3ed2fc413e817d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004.obj
@@ -0,0 +1,105146 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_004_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004_collision.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358652beeeb84db027d75ba0f0453ec523d6b121
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mesh/wine_glass_004_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004.obj
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index 0000000000000000000000000000000000000000..48b10e3d351e95d024ec52cdfa98180d0fcd9376
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+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2cd87d2b83e9db9aef6dd50b951d6a785e46f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision.obj
@@ -0,0 +1,29934 @@
+# https://github.com/mikedh/trimesh
+
+o wine_glass_004_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_0.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172e223c6bef13bacbc7298bc296fc400f743619
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_0.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_1.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c72e4636e745525edb1653036564293684e4ea1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_1.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_10.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ebd6b8a383b276da63f0e1013e008f6021d577
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_11.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7d893f49bae4975aebf9c65b64f8271ac60eec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_12.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2966073013b6f54533bb32fc4b0fa8ffa397e77d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_13.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32398c09fc16b3be9bd685515ecf68b34cfd281
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_14.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a29f483023a79f7edde3cae96f089b1410d33e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_15.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b82fd8a17fa2c6bbc2265650935e0279319cdc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_16.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f268b3608f1222aadfdd3d2d2dff48aebcbe5a6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_16.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v 0.04736937 -0.01065954 0.03867325
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_17.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d32dafbeb93a47ca6f722dfabe493382a7dfb72d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_18.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a961ccf3e931ad5f7cd5331c0ced937030ccc403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_18.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_19.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0563024cde8a7afd3bdb7562454d1be7ed7a28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_2.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9aa4664a231afae2a08e0a8653245b43703e4d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_20.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6436a3573978bbe2112857ac18126b09789e3d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_21.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0944992f68b3387567452cd6f9750accbf472b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_22.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1035aad665826e091d17c2bdc3826a40229fdd47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_23.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e10a096b009699d031c4d77dc3dfca397f92612
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_24.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f819d9ad8447fdfff1b7bc5c49a4e68d06b1cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_25.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc7146b23d5ce4628ba433d90ae3757ff611e3a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_25.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_26.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286787ea9bbf951a025a50c2aa952828bdf509e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_26.obj
@@ -0,0 +1,769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_27.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d215249caf074743d57100bd10c95e0e98a0646
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_28.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5cdb4348da7b7ca8e6db4170ba83240d3cce794
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_28.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_29.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b1cb049a6ba0c08cff6fa96c3acbd8d4548afd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_3.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0244266c7e72e7506eb6649411c2d4fd6b4dcab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_30.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0312bfefa8d265dcaebaffd00e1edcc68796118c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_30.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_31.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9283fca1b84f4f3ab79048746de5018617175d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_31.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_32.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9569b822dd767699f7d31365c9f36f58328bbc8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_32.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_33.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497f306c3aa0b1b203cedf8549fc720b2e2b779f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_33.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_34.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b531fbef5bcde05a30b98362ad0ff2622701dd83
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_35.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8200be75f701a2f415e626c189acc75258c9027f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_36.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf3fcd4c2e037917b5b252300943fde8e1483d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_36.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_37.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf48ff2beb913fc025b7dcb843c89338a1475873
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_37.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_38.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2e84e7b69eddc6fa49c4b2df879ca99dc77b3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_39.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c796185751b297a84850a889a3cbf235faa83297
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_4.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bb1024703e409f110a5733f5b66399a160318d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_40.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d83f15d1e7950387081b57e52d50e7b686b193
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_41.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5df46df4756ced9084f6501d1925edd7c7252ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_42.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84543e3bd25b706638001dcb863a0270c2212c1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_42.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_43.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a888344be0d49b2873cd86ad6f153d6f54f6cf13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_43.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_44.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75545475cb2fae718cbdc9546afebd04bf98ade
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_44.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_45.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e716f5880ce4a3c87c36bc7b268e7f36ac86ed69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_45.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_46.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a794f92c8e5343588d93a9ede2b4c4ab873bcc4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_46.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_47.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f9907a8d9aa4a3fbcbde76c79727754d729510
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_47.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_48.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfe8a044228a5612bdcb118bd18cb16869b8626
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_48.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_49.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1280d14d9480196695b88d415841cd9c849758cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_49.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_5.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6ab50ff535b9e7a1879725dcc1af380b773dad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_5.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
+v 0.00011457 0.00005163 -0.07139820
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_50.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda6762930006bf873ab39fef98f543cd1f9febb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_50.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_51.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d718af8127352863b03394207ce185a454a84d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_51.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_52.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e75e18dadae092033b0eb93ce70c4866b84f011
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_52.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_53.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd7f41193870a0b5a13b49476bab2d49639e453
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_53.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_54.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772f5353f860565895a1a618a6c48d6f4b5b5cb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_54.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_6.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a490cf7af0d2eb1dd534edb7a87025e6f8de617
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_6.obj
@@ -0,0 +1,877 @@
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_7.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8f2f6182fc69f3acba62a2603c27cd40ca992b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_8.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f1b1038aa650480b2397fe9183f8ea0d96351d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_9.obj b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622a2a42b7ece834d826212c648163ff5c48e4c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/mesh/wine_glass_004_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/wine_glass_004.xml b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/wine_glass_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2a6084c2bcdd596847cdd3de3b7078187057f62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/mjcf/wine_glass_004.xml
@@ -0,0 +1,124 @@
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+    <mesh name="collision_mesh_0_39" file="mesh/wine_glass_004_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/wine_glass_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/wine_glass_004_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/wine_glass_004_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/wine_glass_004_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/wine_glass_004_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/wine_glass_004_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/wine_glass_004_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_51" file="mesh/wine_glass_004_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/wine_glass_004_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_54" file="mesh/wine_glass_004_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/textures/material_0.png b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63475c194b972ad338b5175db4d29228c74bbfee00b3d12a08cac563787fe673
+size 9832537
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/video.mp4 b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:505bbb31c00eaf8b3464e5c0bd789d3ee0ffac8ca2fabedb8b511384d8489ce8
+size 180388
diff --git a/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.urdf b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd4e5412ff29c341f2897351b337b15b72c3b12b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_004">
+   <link name="wine_glass_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>9575a45408f75b12b7ef560aeb760794</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>colorful wine glass</name>
+         <color>transparent,green</color>
+         <shape>elongated</shape>
+         <material>glass</material>
+         <description>elegant wine glass with colorful bowl and green stem</description>
+         <min_height>0.1181</min_height>
+         <max_height>0.1181</max_height>
+         <real_height>0.1181</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021755</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>7</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/9575a45408f75b12b7ef560aeb760794/wine_glass_004.usd b/dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/wine_glass_004.usd
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 4932744