diff --git a/.gitattributes b/.gitattributes
index c1f7f1523543ce59bdc741861547c9e8e1e69982..80cd686bb19e267d1407d82413d2351f1b03ec46 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,7 +4679,5 @@ dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material.mtl b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d343b33c2b2aa6ec747554be092cb367d6c55e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material_0.png b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77d640343d60621f1c9b427763699630050d2794
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afad37871d77c503dbebb7325a4fa8fbbb5e921c7c5efd724b87731d8ef74f56
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.glb b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d3a4d532cb8521ce48cfd7f7d9a071fc5ca7da5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b2f6cab7f1eec763b83cd4d4549aa29c8d93276f50d6a4a7dcb5fa0a894e5b
+size 14817304
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.mtl b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..348c847696f30f9423fedd33c1b3dbdad58d4911
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_007_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/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ea963b456109eae2d5227b43f1746c8f6b6785
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.obj
@@ -0,0 +1,106992 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_007_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_collision.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7a956e78a44f24482f51d15b10f89f55bafbce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_collision.obj
@@ -0,0 +1,9908 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..77d640343d60621f1c9b427763699630050d2794
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11411312
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..77d640343d60621f1c9b427763699630050d2794
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/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/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007.obj
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index 0000000000000000000000000000000000000000..aa668bdffd15e5f73b17ba5827e45ad813adaafe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d1f9a5b6a0c78b1626793d4d0c2856584c05c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision.obj
@@ -0,0 +1,9908 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_0.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e701307a9b93dcb0a49f6e390e3ad09c32f40a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_1.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c283c567713e16f2fbb0dc3a0aa3aa7e4aa416a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_1.obj
@@ -0,0 +1,1741 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_10.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dea23a18a4539de4493934f48f6726fa1110556
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_11.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dca18ae78cbe278707939ad00a52da78abd7c44c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_11.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.00145602 -0.03605572 0.07397284
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+v 0.00017469 -0.03597212 0.07305293
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+v 0.00461750 -0.03580969 0.07397284
+v 0.00402798 -0.02880137 0.01656673
+v 0.00402798 -0.02912384 0.01917524
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+v 0.00660180 -0.03547052 0.07397284
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_12.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cab2c41c133be9803a25f7e5921eadf8cdbf9d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_12.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01397947 -0.01071927 0.00390144
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+v 0.00017469 0.00011371 -0.00098543
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_13.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02102072e599f8f51c64540314e27d2822ab1bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_13.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01397530 0.01229198 0.00495886
+v 0.01397530 0.00011478 0.00054318
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_14.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef65053f562ac663d17ee4482edb6a389958854
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00017344 -0.01359440 0.00051594
+v 0.00017344 -0.00499357 -0.00098155
+v -0.01262039 -0.01359442 0.00542273
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+v -0.01262039 -0.00499357 0.00056249
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+v -0.00577948 -0.00499351 -0.01720831
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+v -0.01202172 -0.00499353 -0.00953244
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+v -0.00111909 -0.01285349 -0.01095245
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+f 23 24 34
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+f 24 35 34
+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_15.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521d9f8705e9e8f255ea8d185f83243d3bbbbfeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00577838 -0.00499351 -0.01720624
+v -0.00679826 -0.00350278 -0.01720623
+v 0.00017469 -0.00499351 -0.01720624
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+v -0.00767751 -0.00100740 -0.01720622
+v -0.01273712 -0.00261043 -0.01088325
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+v 0.00017469 -0.00499357 -0.00098264
+v -0.01174566 -0.00499353 -0.01015241
+v -0.00774001 0.00089849 -0.01720622
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+v -0.01433654 -0.00499355 -0.00470106
+v -0.00049007 0.00797687 -0.01720619
+v 0.00017469 0.01009994 -0.01290183
+v 0.00017469 0.01009989 -0.00082937
+v -0.01433654 0.01009988 0.00394082
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+v -0.00655536 0.00409418 -0.01720620
+v -0.00369175 0.00687619 -0.01720619
+v -0.00381959 0.00680084 -0.01720620
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_16.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589b1e15d76e45f9266a766f9e4d73f4c78536d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.02005846 0.00717413 0.00964486
+v -0.02064755 -0.00499361 0.00964481
+v -0.02663506 0.00717413 0.00964486
+v -0.02721480 0.00717396 0.05831426
+v -0.02764493 -0.00499378 0.05836641
+v -0.02705896 -0.00499361 0.00964481
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+v -0.02721636 0.00717413 0.01134809
+v -0.02761220 0.00717395 0.06096373
+v -0.02882467 -0.00499381 0.06604075
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+v -0.03377115 0.00717389 0.07610358
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_17.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b6929b0b5394d5826c25b5ff6ea38ba323815e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_17.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02866046 -0.00117695 0.01208701
+v 0.02865902 0.00011367 0.01208701
+v 0.02860585 -0.00195748 0.01208700
+v 0.02863746 -0.00117695 0.01196234
+v 0.02863746 0.00011367 0.01196234
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+v 0.02852968 -0.00292359 0.01208700
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+v 0.02831125 0.00011367 0.01065799
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+v 0.01398090 0.00011371 0.00054696
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+v 0.02760709 -0.00117694 0.00873403
+v 0.02760709 0.00011368 0.00873403
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+v 0.02717598 -0.00888994 0.01208698
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_18.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84d96d55c8d56ba515089e0d4e5b1abdbbd0a1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_18.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_19.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e364bdad3e699bafbce7783f9a7337406882a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_19.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_2.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb446cf00c3e2f68e1b730421ee244c9915e7da5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_2.obj
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_20.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d31a3fbd52f345d254f6835cdad4f20c2c433bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_20.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00017469 0.01009994 -0.01290296
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_21.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2052ac87ea8fbca97c04f4253496cf80469cd216
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.03468695 0.01075021 0.07397348
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+
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_22.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7fc4e63ed40b3ed2643008d5114922240e7248
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_22.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03631430 0.00011450 0.07545794
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_23.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22afd6def5088774886992006e709938e01891f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_23.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_3.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea367e16a0baa04a27ef8f2f0c759f934422fc6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_3.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_4.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff617041216e5503b31e7b8729c66abbe4093fb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_5.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55034189f4bb29256dcc6c9b08a1db8e5d3652b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_5.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_6.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e86ecd0c6eba37b244badc72762a1bc2dbbf79e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_6.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_7.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cca35ee1c2b15cf25b5fa1a89957037e0409a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_8.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17eecb78c4ea6231cb70fddb01651a1eeee742b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_8.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_9.obj b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584e1e1e5342d5f4b0d40c6a33081c27f514635b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/mesh/wine_glass_007_collision_9.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/wine_glass_007.xml b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/wine_glass_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c622b8b91da0aeefaa31e78d3f96db6f9cfdcea8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mjcf/wine_glass_007.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_007_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_007_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_007_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_007_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_007">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/textures/material_0.png b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/textures/material_0.png
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+size 11411312
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/video.mp4 b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..125b34944b6e8feeefc5436a6798063edb24c94f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb31aab9f151d4e054b1bdb7823a94e8acc2fc3fcc4fcad9abf141f64e09c2b
+size 417438
diff --git a/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.urdf b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ad665b0781150336d3a661c70650cbe067c0f6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_007">
+   <link name="wine_glass_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_007.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_007_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>3a764f033c025111b945dfe981353c5c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>ornate wine glass</name>
+         <color>transparent,brown</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent glass bowl with ornate brown stem and base</description>
+         <min_height>0.1584</min_height>
+         <max_height>0.1584</max_height>
+         <real_height>0.1584</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021948</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>4</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/3a764f033c025111b945dfe981353c5c/wine_glass_007.usd b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5f28d48d45fcb78a6f56cb7fdf1ccd3e12f4f7ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a3a9540d898915b9ecf4793c18fbfff0105e7f2d759bce764b305097b16d19
+size 4947567