diff --git a/.gitattributes b/.gitattributes
index 1346914cb9b7d3a278ba93b649e25cf1f7625362..cde7007781b50bdd98742944b98de2b38097ed5a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4772,9 +4772,5 @@ dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.us
 dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mesh/mug_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/mug_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/coffee_cup_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/mesh/coffee_cup_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/mesh/wine_glass_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/wine_glass_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material.mtl b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df1674c8580e92d612e060911c03620fe7ca62e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material_0.png b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c145f054de38d27d7b52948a4b127924d332678b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb8fcecc3f271421ac2582d9575e33f3e1ee0994d41bb19766edf35991a4897
+size 9727227
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.glb b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8b14581b2b8348ff470e1564fa4268aefe08a461
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b62590382863b058351c39837ab18674b364946d7186b6c588fe5332e28c5d8
+size 13137852
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.mtl b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4920409396035a31f22108cd8382638dc1dc3d68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_009_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/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5fc280f0703821daa3bc60a3ae284a99897ca0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009.obj
@@ -0,0 +1,111330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_009_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009_collision.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72cb033ec130c8c82a879cc87ef42c4f1837576
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009_collision.obj
@@ -0,0 +1,10826 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mesh/wine_glass_009_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/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/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009.obj
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index 0000000000000000000000000000000000000000..e8e2e6beb1fad42c5ba8cf012931e48c4b34a84c
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+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009.obj
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ec3da4456a34399ec0216cbbe6c83672f39949
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision.obj
@@ -0,0 +1,10826 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_0.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad5b4c1285d9c2e0ed554c4278442ff7ecddc06
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_1.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7e388e9cf0f7cac6109823b7a011f14dfdcec5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_10.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23db460eacd8afc1f1f85d66e308dac57d0439f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_11.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c96f83f3c403c055e4665e3b8efd5803f9b1eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_12.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc527db7f00aa55ae0b156d0010f8fdaf5d96d92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_12.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 0.03010078 0.07647485
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_13.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011da0a7d824063a07fd2937d1559c1a1e8ea828
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 0.00009195 -0.01504786
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_14.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976f596c415d1373b90c444a8a8701a9a1d7910b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_14.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_15.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77397937db0e7aa55fe7cdf00d99aa33845f5e1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03201849 0.01650936 0.03293610
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_16.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89c4a983e711b051769aab7e19ecdc38fbb7b74
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02073456 -0.02282732 0.03294061
+v -0.02073456 -0.02873915 0.03294058
+v -0.02073456 -0.02426233 0.04439757
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+v -0.00310708 -0.03742174 0.03294055
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_17.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bacddf6665c3d7ab315e48abc06ed703ee3b66ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_18.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efdc6e84cd71d20a1670073dd2d121d311beddf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_18.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_19.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ccab51d6f3921207c0efac2490a7157b53ce4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_2.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8881b2bf7669c9a095277ecb5cc084cee21eb93d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_20.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ac0331a20e9db65d45e963901644bbc40a7db9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_20.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_21.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b62e734a487ec6b15b62011d542f26b606abeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_21.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_22.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7fa209b236a43394416472a9953da6879cb0be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_23.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997cc6e62594adff8224acf99e6fa8bfc03a7f03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_24.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12258f537139048e582f65b8fb2965df03f52ed6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_24.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_25.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af08075ed644f569198fc96b50d501fe9da71bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_26.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b44afab80f6db8c178730612af7ee7072cccfb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_26.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v -0.02730143 -0.00102285 0.03294235
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_27.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a948f85cf4cdd554b4842185c56a43441d7f403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_28.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f5d9f0bf89ca9bdbee951a4d96a055a8859244
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_28.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_29.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a5bd43cf8f6eb246d1104483d44d9413744be0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_29.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_3.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bcad155701156292fb93c8ba8d52fda94c4f18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_3.obj
@@ -0,0 +1,1345 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_30.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49900c1254435e8904afb16e7fb3138e98f9ac1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03413925 0.00226890 0.02740974
+v -0.03404251 0.00226889 0.02860953
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_31.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a71fc3d0945a64a9ef3d61cae023cb7dad16312
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03789307 -0.01416326 0.03733192
+v 0.03762815 -0.01153512 0.03998427
+v 0.03773439 -0.01104575 0.04263848
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_32.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0120633fa510993f64a43611e9c0ef6fdd5479f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_32.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 -0.01770141 0.01240422
+v -0.01753654 -0.00832281 0.01427631
+v -0.01753654 -0.01770143 0.01974570
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_33.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a968a3e54f906fead74be247f77e2fa37d456dd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_33.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_34.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc43c53a05ac9e92c6e195710f1afa34696b7bc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_34.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01544007 0.00009188 0.00192011
+v 0.01544007 0.00009186 0.00925153
+v 0.01544007 0.00154626 0.00194078
+v 0.01873926 0.00093076 0.00398023
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_35.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd9c2013e62a97614df6b935c24dad8cb185c0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_35.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02734166 0.01531909 0.03293774
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_36.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5c863a3fc37cd0098866f289b82d829e840503
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_36.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03414325 -0.01836561 0.04546578
+v 0.03351936 -0.01944078 0.04546578
+v 0.02846382 -0.01836561 0.04546578
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+v 0.02324324 -0.02293325 0.07183370
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+v 0.02436021 -0.01942084 0.07622023
+v 0.02472851 -0.01836572 0.07633324
+v 0.02118037 -0.02347008 0.07590863
+v 0.02217659 -0.02185964 0.07620799
+v 0.01358699 -0.03325448 0.04546573
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+v 0.02292123 -0.02790643 0.05591273
+v 0.02161508 -0.02911581 0.05591272
+v 0.02202162 -0.02929165 0.05325821
+v 0.02335192 -0.02846174 0.05060371
+v 0.01358699 -0.03399800 0.04794918
+v 0.01873109 -0.02619579 0.07381617
+v 0.02041359 -0.02547694 0.07183369
+v 0.02239797 -0.01836572 0.07653486
+v 0.01731022 -0.02487382 0.07647069
+v 0.01358699 -0.02799597 0.07593305
+v 0.01358699 -0.02843715 0.07535267
+v 0.01452485 -0.02690075 0.07640653
+v 0.01731022 -0.02677116 0.07461649
+v 0.01358699 -0.02563893 0.07648290
+v 0.01358699 -0.02714448 0.07642791
+v 0.01961661 -0.03052109 0.05590050
+v 0.01865461 -0.03135406 0.05500852
+v 0.02128301 -0.02881809 0.05789826
+v 0.01999095 -0.03060592 0.05325821
+v 0.01868279 -0.03137874 0.05325820
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+v 0.01358699 -0.03138032 0.06310036
+v 0.01358699 -0.03411834 0.05060368
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_37.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a1492d30db4123b1a02f8164df04a79dab9448
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01895193 0.01650299 0.01699621
+v 0.02697056 0.01650936 0.03293454
+v 0.01895666 0.01650942 0.01700401
+v 0.01896139 0.01650942 0.01699621
+v 0.02510617 0.00009183 0.01699615
+v 0.02962295 0.00009177 0.03293448
+v 0.02955676 0.00036497 0.03293448
+v 0.02926205 0.00159596 0.03293449
+v 0.02905717 0.00250555 0.03293449
+v 0.03202003 0.01650936 0.03293454
+v 0.02502579 0.01650942 0.01699621
+v 0.03026123 0.00009183 0.01699615
+v 0.03424690 0.00009177 0.03293448
+v 0.03201215 0.01650936 0.03217000
+v 0.03254641 0.01474482 0.03293453
+v 0.03254641 0.01474482 0.03202332
+v 0.03147947 0.01650937 0.03076418
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+v 0.03183879 0.01451824 0.02957211
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+v 0.03308224 0.01211730 0.03202331
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+v 0.03418544 0.00599608 0.02833321
+v 0.03505066 0.00009179 0.02824426
+v 0.03437141 0.00435689 0.02672456
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+f 33 43 34
+f 34 43 36
+f 36 42 37
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_38.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b081f86e351201487b35c77b75c9764c7f16fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_38.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02692792 -0.01104569 0.02633081
+v 0.02924162 0.00009067 0.03467963
+v 0.02949870 0.00009070 0.02633085
+v 0.03253180 -0.01104569 0.02633081
+v 0.03225568 -0.01104576 0.04547827
+v 0.03119245 0.00009063 0.04547831
+v 0.03012077 0.00009065 0.04111085
+v 0.02984782 0.00009065 0.03998431
+v 0.02927654 0.00009066 0.03743694
+v 0.03466671 0.00009070 0.02633085
+v 0.03319513 -0.00853496 0.02633082
+v 0.03461170 -0.01104570 0.02917997
+v 0.03721422 -0.01104576 0.04547827
+v 0.03582515 0.00009063 0.04547831
+v 0.03466248 -0.00081090 0.02633085
+v 0.03473019 0.00009070 0.02659890
+v 0.03689895 -0.00959574 0.03297384
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+v 0.03704178 -0.00420149 0.04547829
+v 0.03473230 -0.00365087 0.02705813
+v 0.03442656 -0.00291498 0.02633084
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+f 27 29 28
+f 29 34 32
+f 30 38 31
+f 31 38 37
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_39.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6771ba37cc05174b1c678b639d7d746d8251b95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_39.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02073456 -0.02938172 0.04901156
+v -0.02073456 -0.02935133 0.04991897
+v -0.02159269 -0.02898946 0.04794791
+v -0.02289573 -0.02840902 0.04529380
+v -0.02073456 -0.02933395 0.04635411
+v -0.02143304 -0.02900104 0.04991897
+v -0.02073456 -0.02336898 0.04991899
+v -0.02289925 -0.02831495 0.04794792
+v -0.02073456 -0.02930066 0.04529379
+v -0.02468243 -0.02753764 0.04263968
+v -0.02468243 -0.02749276 0.03998722
+v -0.02273960 -0.02803703 0.04991898
+v -0.02717465 -0.01459594 0.04991903
+v -0.02073456 -0.02282613 0.03294227
+v -0.02489843 -0.01459588 0.03294230
+v -0.02495126 -0.01459589 0.03467903
+v -0.02499821 -0.01459589 0.03511612
+v -0.02661704 -0.02646942 0.04263968
+v -0.02073456 -0.02919932 0.04263967
+v -0.02673443 -0.02648388 0.03998722
+v -0.02087777 -0.02868109 0.03300041
+v -0.02102451 -0.02873611 0.03467897
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_4.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073da634465be52b3b365e3ffaece53e724a16e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00078645 0.01433080 0.00975866
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+v -0.01873234 0.00227013 0.01486856
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diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_40.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b40947042be0cccbe93134cc5f7596e87343c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03311846 0.00227002 0.03292974
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_41.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714df703f1ce1897d6388aa53a5a10dae6df115d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_41.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 -0.00832187 0.00557930
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+f 26 48 46
+f 27 30 35
+f 28 46 49
+f 28 49 29
+f 29 32 30
+f 29 49 32
+f 32 49 48
+f 32 48 47
+f 32 47 50
+f 32 50 37
+f 32 37 36
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+f 46 48 49
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_42.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4941af7ad1dafc1d39e5c9a5d951f95469edea28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_42.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00078713 0.01433085 0.00058478
+v -0.00115960 0.01433085 0.00066178
+v 0.00078713 0.02126158 0.00686418
+v 0.00078713 0.01433081 0.00976266
+v -0.00121378 0.01433085 0.00067310
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+v -0.00115960 0.02118557 0.00693211
+v -0.00377249 0.02239482 0.00841307
+v -0.00377249 0.02370772 0.00982611
+v 0.00078713 0.02157253 0.00720385
+v -0.01179093 0.01433943 0.01352847
+v -0.00951050 0.01433080 0.01269515
+v 0.00078713 0.02645614 0.02371635
+v -0.00377249 0.01433085 0.00134111
+v -0.00638538 0.01947362 0.00614407
+v -0.00638538 0.02222898 0.00857385
+v -0.00899950 0.02192840 0.00890220
+v -0.00899950 0.02324129 0.01010011
+v -0.00377249 0.02103009 0.00708609
+v -0.00638538 0.02354015 0.00989857
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+v -0.01179093 0.01433081 0.00998684
+v -0.01178477 0.02566321 0.02371634
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+v -0.00598889 0.01433084 0.00228540
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+v -0.01072952 0.02159499 0.00925772
+v -0.01179093 0.02424498 0.01179619
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+v -0.00899950 0.02453174 0.01142709
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+v -0.00638538 0.03197898 0.02371637
+v -0.00377249 0.03197725 0.02371637
+v -0.00115960 0.03196516 0.02371637
+v -0.01179093 0.01433083 0.00617801
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+v -0.00641616 0.01433084 0.00253902
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+v -0.01179093 0.03139508 0.02371637
+v -0.01179093 0.01768391 0.00769974
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+v -0.00908076 0.01433083 0.00424642
+v -0.01133410 0.01433083 0.00584514
+f 1 2 3
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+f 1 12 23
+f 1 23 25
+f 1 25 15
+f 1 15 4
+f 1 4 14
+f 1 14 26
+f 1 26 41
+f 1 41 56
+f 1 56 58
+f 1 58 57
+f 1 57 43
+f 1 43 29
+f 1 29 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
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+f 2 7 8
+f 2 8 9
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+f 3 11 12
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+f 5 16 17
+f 5 17 6
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+f 8 21 9
+f 9 21 10
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+f 18 20 22
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_43.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730f839c0da6268db6f12f967bf8b4a03ebd5700
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_43.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00145600 -0.03816578 0.04546571
+v 0.00083220 -0.03814894 0.04546571
+v 0.00162510 -0.03815315 0.04546571
+v 0.00360297 -0.03132386 0.07347674
+v 0.00145600 -0.03137159 0.07367210
+v 0.00078836 -0.03136317 0.07364158
+v 0.00078836 -0.03814753 0.04546571
+v 0.00406894 -0.03795942 0.04546571
+v 0.00534534 -0.03124104 0.07314706
+v 0.00431194 -0.03094484 0.07441085
+v 0.00145600 -0.03094766 0.07500001
+v 0.00078836 -0.03093924 0.07496643
+v 0.00078836 -0.03338451 0.04546573
+v 0.00423178 -0.03793556 0.04546571
+v 0.00668312 -0.03112874 0.07260980
+v 0.00929481 -0.03005485 0.07448717
+v 0.00668312 -0.03057986 0.07448717
+v 0.00929481 -0.02912556 0.07626686
+v 0.00668312 -0.02938104 0.07641339
+v 0.00406894 -0.02955792 0.07648054
+v 0.00145600 -0.02963372 0.07650191
+v 0.00078836 -0.02962530 0.07649886
+v 0.00078836 -0.03264192 0.04795057
+v 0.01358373 -0.02766973 0.04546575
+v 0.00667811 -0.03742739 0.04546571
+v 0.00813239 -0.03128034 0.07067137
+v 0.00912070 -0.03082972 0.07166653
+v 0.01210190 -0.02919573 0.07467643
+v 0.01310148 -0.02856264 0.07568992
+v 0.01135910 -0.02886024 0.07605012
+v 0.01190900 -0.02998605 0.07183137
+v 0.01358373 -0.02714623 0.07642866
+v 0.01210190 -0.02753367 0.07646529
+v 0.00929481 -0.02730485 0.07665150
+v 0.00078836 -0.02767124 0.07649887
+v 0.00078836 -0.03190916 0.05060332
+v 0.01358373 -0.03325396 0.04546573
+v 0.00078836 -0.03139959 0.05255090
+v 0.00078836 -0.03131396 0.05288974
+v 0.00078836 -0.03107111 0.05387881
+v 0.00078836 -0.03058682 0.05591187
+v 0.00078836 -0.03042960 0.05658955
+v 0.00078836 -0.02997619 0.05856461
+v 0.00078836 -0.02884194 0.06353125
+v 0.00078836 -0.02876474 0.06387010
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+v 0.00078836 -0.02817375 0.06652590
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+v 0.00078836 -0.02705777 0.07183138
+v 0.01358373 -0.02382488 0.07448719
+v 0.00684471 -0.03739230 0.04546571
+v 0.01064762 -0.03125927 0.06791789
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+v 0.01358373 -0.02885181 0.07397433
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+v 0.01190900 -0.03476725 0.05060331
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+v 0.01358373 -0.03383374 0.05239522
+v 0.01358373 -0.02563857 0.07648056
+v 0.01358373 -0.02477525 0.07647751
+v 0.01358373 -0.02390208 0.07471919
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+v 0.01189772 -0.03458615 0.04546572
+v 0.01358373 -0.03350664 0.04624415
+v 0.00078836 -0.02698057 0.07250907
+v 0.00854700 -0.03678446 0.04546571
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+v 0.01358373 -0.03406957 0.05091773
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+v 0.01349980 -0.03406114 0.04795056
+v 0.01000128 -0.03596606 0.04546572
+v 0.01190900 -0.03499746 0.04795056
+v 0.01358373 -0.03412432 0.05053615
+v 0.01358373 -0.03408781 0.04969362
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+f 77 81 79
+f 77 79 78
+f 79 81 80
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_44.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885d5ddc23de31a36ca39df7273ed591173e7b61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_44.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 0.03836500 0.03292734
+v 0.00078836 0.03289625 0.03292732
+v 0.00078836 0.03793543 0.03212842
+v -0.00116066 0.03791419 0.03212482
+v -0.00118225 0.03831898 0.03292734
+v 0.00078836 0.02645628 0.02371635
+v -0.00978897 0.02630873 0.03292730
+v 0.00078836 0.03701375 0.03080111
+v -0.00116066 0.03701848 0.03079840
+v -0.00377310 0.03596343 0.02937009
+v -0.00638750 0.03471486 0.02765684
+v -0.00799697 0.03460275 0.02780833
+v -0.00377310 0.03751884 0.03253329
+v -0.00379469 0.03758375 0.03292734
+v 0.00078836 0.03194863 0.02371637
+v -0.00977916 0.02630873 0.03286057
+v -0.00966336 0.02630873 0.03202379
+v -0.00953185 0.02630876 0.02371635
+v -0.01774602 0.02630873 0.03292730
+v 0.00078836 0.03599766 0.02937009
+v -0.00116066 0.03600592 0.02937009
+v -0.00638750 0.03197932 0.02371637
+v -0.00377310 0.03475617 0.02762078
+v -0.00899994 0.03195925 0.02371637
+v -0.00899994 0.03245727 0.02445397
+v -0.00813436 0.03477504 0.02937009
+v -0.00502338 0.03711996 0.03292734
+v -0.00475841 0.03723915 0.03292734
+v -0.01108440 0.03222596 0.02476957
+v -0.01504918 0.02979961 0.02371636
+v -0.01127479 0.03252453 0.02671635
+v 0.00078836 0.03249149 0.02447020
+v -0.00116066 0.03196634 0.02371637
+v -0.01926324 0.02630876 0.02371635
+v -0.00537472 0.03688983 0.03292734
+v 0.00078836 0.03475380 0.02762619
+v -0.00116066 0.03381088 0.02629345
+v -0.00377310 0.03197814 0.02371637
+v -0.01179885 0.03143291 0.02371637
+v -0.01181847 0.03154739 0.02395623
+v -0.01438577 0.03014657 0.02371636
+v 0.00078836 0.03380498 0.02629977
+v 0.00078836 0.03404690 0.02663792
+f 1 2 6
+f 1 6 15
+f 1 15 32
+f 1 32 42
+f 1 42 43
+f 1 43 36
+f 1 36 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
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+f 1 5 14
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+f 20 36 21
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+f 21 38 22
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+f 22 24 23
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+f 29 41 30
+f 30 34 35
+f 30 35 31
+f 32 33 42
+f 33 37 42
+f 33 38 37
+f 36 43 37
+f 37 43 42
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_45.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d01adb3e0291d3bd3608db4a977b0b1451f1999
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_45.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.02777292 0.00226891 0.02551666
+v -0.02338744 0.00226893 0.01990460
+v -0.03395896 0.00226891 0.02551666
+v -0.02557501 -0.00659812 0.02551663
+v -0.02338744 0.00226895 0.01316515
+v -0.02338744 -0.01580724 0.02551659
+v -0.03389791 0.00226891 0.02527885
+v -0.03389170 0.00160427 0.02528472
+v -0.03395586 0.00206561 0.02551666
+v -0.02797264 0.00226893 0.01811515
+v -0.02338744 -0.00098776 0.01166340
+v -0.02338744 -0.01769950 0.02551658
+v -0.03341362 0.00226891 0.02448614
+v -0.03139783 -0.00365220 0.01984587
+v -0.03148993 -0.00627947 0.01964768
+v -0.03383479 0.00026718 0.02536839
+v -0.03385755 0.00043529 0.02551665
+v -0.02918543 0.00226893 0.01944219
+v -0.02338744 -0.00365217 0.01060058
+v -0.03054205 0.00226892 0.02094393
+v -0.02394002 -0.01770145 0.02551658
+v -0.02338744 -0.01770145 0.02376089
+v -0.03196594 0.00226892 0.02256457
+v -0.03122606 -0.00230142 0.02006753
+v -0.02920819 -0.00627946 0.01677779
+v -0.03051515 -0.00627947 0.01832063
+v -0.02920819 -0.00890672 0.01672200
+v -0.03134816 -0.00799188 0.01980327
+v -0.03383479 0.00026718 0.02543151
+v -0.02981459 -0.01416129 0.02551660
+v -0.03384824 0.00036883 0.02551665
+v -0.03177553 0.00160428 0.02209629
+v -0.03167102 0.00226892 0.02221519
+v -0.02338744 -0.00627944 0.01051983
+v -0.02416354 -0.00627944 0.01127877
+v -0.02815373 -0.01770145 0.02551658
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+v -0.02804197 -0.00890672 0.01539495
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_46.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68c4eca34a5975ef31b88e2e8fc4cfb1180b9d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_46.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01753711 -0.01770141 0.01292920
+v -0.02179643 -0.01770142 0.01549664
+v -0.02338744 -0.01592506 0.01474183
+v -0.01753711 -0.01615498 0.01144437
+v -0.01753711 -0.01770143 0.01974559
+v -0.02206732 -0.01770142 0.01567206
+v -0.02338744 -0.01573051 0.01455578
+v -0.02338744 -0.01770142 0.01669797
+v -0.01862127 -0.01579433 0.01181647
+v -0.01753711 -0.01416485 0.01001980
+v -0.02163091 -0.01769915 0.02551658
+v -0.02126780 -0.01770145 0.02481492
+v -0.01753711 -0.00984549 0.01463199
+v -0.02338744 -0.01417025 0.01345369
+v -0.02338744 -0.01770145 0.02376066
+v -0.01753711 -0.00984547 0.00741693
+v -0.02288230 -0.01633574 0.02551659
+v -0.02338744 -0.01770069 0.02551658
+v -0.02338744 -0.00984551 0.01844329
+v -0.02338744 -0.01580822 0.02551659
+v -0.02338744 -0.01229239 0.01238348
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+v -0.02338744 -0.01160722 0.01209290
+v -0.02338744 -0.01089514 0.01180054
+v -0.02338744 -0.00984548 0.01152767
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+f 16 23 24
+f 16 24 25
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_47.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff3ca5d77320f740023240617d5e092e7debade
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_47.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01753711 -0.00984547 0.00741690
+v -0.02338744 -0.00984548 0.01152557
+v -0.01753711 -0.00814498 0.00626571
+v -0.01753711 -0.00984549 0.01462958
+v -0.02338744 -0.00892290 0.01115126
+v -0.01753711 -0.00104778 0.00204760
+v -0.01753711 -0.00343367 0.00318114
+v -0.01753711 -0.00398152 0.00348836
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+v -0.02338744 -0.00984551 0.01844338
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+v -0.01968882 0.00226894 0.01590972
+v -0.02058684 0.00226894 0.01688083
+v -0.02237602 0.00226893 0.01881422
+v -0.02285996 0.00226893 0.01933685
+v -0.02338744 0.00226893 0.01990539
+v -0.02338744 -0.00627850 0.01052093
+v -0.01753711 0.00160492 0.00186751
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+v -0.02338744 -0.00365070 0.01060040
+v -0.01796779 0.00226899 0.00311759
+v -0.02338744 -0.00098733 0.01166156
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+f 18 23 20
+f 18 20 22
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_5.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc60b9e58bbc67c75fdb59fae717d92184cad49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_5.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00145549 0.04036792 0.03733364
+v 0.00145549 0.04024996 0.03998765
+v 0.00306408 0.03987218 0.03998765
+v 0.00304330 0.03990295 0.03733364
+v 0.00298303 0.03985339 0.03570604
+v 0.00145549 0.04000895 0.03545824
+v 0.00078836 0.03999527 0.03549929
+v 0.00078836 0.04030981 0.03733364
+v 0.00078836 0.04028929 0.03808586
+v 0.00078836 0.04020552 0.03998765
+v 0.00145549 0.03989098 0.04176921
+v 0.00301005 0.03981234 0.04157713
+v 0.00078836 0.04012346 0.04051699
+v 0.00830759 0.03725498 0.04529420
+v 0.02202011 0.02997613 0.04791592
+v 0.00598823 0.03753367 0.03293765
+v 0.00562661 0.03774394 0.03293765
+v 0.00403048 0.03816104 0.03293765
+v 0.00303914 0.03839182 0.03293765
+v 0.02202011 0.02977442 0.04594081
+v 0.02202011 0.02972485 0.04551558
+v 0.02202011 0.02935049 0.04264016
+v 0.02202011 0.02917442 0.04131022
+v 0.02202011 0.02896074 0.03972514
+v 0.02202011 0.02861544 0.03733360
+v 0.02202011 0.02822057 0.03467958
+v 0.02202011 0.02799151 0.03324553
+v 0.02202011 0.02794194 0.03293761
+v 0.00145549 0.03925679 0.03413122
+v 0.00078836 0.03951150 0.03464737
+v 0.00145549 0.03775071 0.04791595
+v 0.00425702 0.03757635 0.04791595
+v 0.00078836 0.03987730 0.04173402
+v 0.00078836 0.03773191 0.04791595
+v 0.00633946 0.03726865 0.04791595
+v 0.00668237 0.03720882 0.04791595
+v 0.00668237 0.03733362 0.04748046
+v 0.00820783 0.03716609 0.04691447
+v 0.01244546 0.03507029 0.04791594
+v 0.02202011 0.02462725 0.04791590
+v 0.00145549 0.03847216 0.03293765
+v 0.02202011 0.02290589 0.03293759
+v 0.00078836 0.03836960 0.03293765
+v 0.00078836 0.03298989 0.04791593
+v 0.00740146 0.03705326 0.04791595
+v 0.00916800 0.03657632 0.04791594
+v 0.00916592 0.03659000 0.04785876
+v 0.00078836 0.03290106 0.03293763
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_6.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a308239a3b26f41aabfc4d8da64f3812a3abdc80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01076007 -0.02849523 0.03294059
+v -0.02451794 -0.01770304 0.03294062
+v -0.01076007 -0.03363399 0.03294057
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+v -0.02940649 -0.01770304 0.03294062
+v -0.02079524 -0.02871045 0.03294058
+v -0.01076007 -0.03362152 0.03210704
+v -0.01076007 -0.01770295 0.00811693
+v -0.02943028 -0.01770304 0.03249591
+v -0.02926739 -0.01950902 0.03294062
+v -0.01076007 -0.03360748 0.03164288
+v -0.02094166 -0.02861064 0.03294058
+v -0.02058842 -0.02848742 0.03122978
+v -0.01504282 -0.03098739 0.02671461
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+v -0.01076007 -0.03347491 0.02936829
+v -0.01076007 -0.03357160 0.03060279
+v -0.02206725 -0.01770298 0.01567218
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+v -0.02481626 -0.01770299 0.01875600
+v -0.02830103 -0.01778412 0.02593458
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+f 32 59 33
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_7.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25c7d274d768868c06bcc223873c2a944b46a49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_7.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03466678 0.00009081 0.02632898
+v 0.03466277 -0.00081064 0.02632898
+v 0.03454257 0.00009082 0.02581352
+v 0.02949610 0.00009081 0.02632898
+v 0.03442637 -0.00291436 0.02632897
+v 0.02897121 0.00009086 0.01252870
+v 0.02725633 -0.00988573 0.02632894
+v 0.01420041 0.00009088 0.00865904
+v 0.01420041 -0.00988567 0.01160980
+v 0.03410584 -0.00455026 0.02632896
+v 0.02868674 0.00009087 0.01192111
+v 0.03367111 -0.00648794 0.02632896
+v 0.03319431 -0.00853501 0.02632895
+v 0.03283771 -0.00988573 0.02632894
+v 0.01420041 0.00009091 0.00088985
+v 0.01420041 -0.00988565 0.00501844
+v 0.02676150 -0.00342411 0.01085034
+v 0.02631075 -0.00239764 0.00944342
+v 0.02639889 -0.00102251 0.00937122
+v 0.02640490 0.00009088 0.00936624
+v 0.02413709 -0.00988567 0.01156000
+v 0.02647102 -0.00538035 0.01177417
+v 0.01874003 0.00009090 0.00398009
+v 0.01874003 -0.00037692 0.00398009
+v 0.01420041 -0.00102248 0.00089981
+v 0.01420041 -0.00901154 0.00455279
+v 0.02121218 -0.00988566 0.00937865
+v 0.02342590 -0.00988567 0.01092253
+v 0.02346997 -0.00730534 0.00959530
+v 0.02404494 -0.00555321 0.00923175
+v 0.01420041 -0.00390557 0.00186348
+v 0.01420041 -0.00359011 0.00174395
+v 0.02320553 -0.00102251 0.00711018
+v 0.02497650 -0.00102251 0.00834280
+v 0.02426731 0.00009088 0.00779497
+v 0.02324560 0.00009088 0.00708528
+v 0.01420041 -0.00584131 0.00288193
+v 0.02264659 -0.00988567 0.01030498
+v 0.02288098 -0.00890608 0.00998127
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+f 33 36 35
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_8.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3a1a474efe48b0464e368a8bccf955d99eed7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00078836 -0.03330761 0.02632886
+v 0.00145518 -0.03330074 0.02632886
+v 0.00078836 -0.02792214 0.02632888
+v 0.00078836 -0.02280484 0.00944931
+v 0.00145518 -0.02318314 0.00989722
+v 0.00406858 -0.02323816 0.00964771
+v 0.00411438 -0.03325717 0.02632886
+v 0.01455045 -0.02434787 0.02632889
+v 0.01455045 -0.00988567 0.01175508
+v 0.00078836 -0.00988565 0.00675583
+v 0.00078836 -0.02148197 0.00760954
+v 0.00078836 -0.02103260 0.00702935
+v 0.00078836 -0.00988561 -0.00438199
+v 0.00668332 -0.02303870 0.00981306
+v 0.00929537 -0.02400162 0.01134919
+v 0.00668332 -0.02405664 0.01113576
+v 0.00668332 -0.03319986 0.02632886
+v 0.01455045 -0.03077880 0.02632887
+v 0.01455045 -0.00988565 0.00524975
+v 0.00113996 -0.00988561 -0.00428579
+v 0.01190876 -0.02378381 0.01164079
+v 0.00929537 -0.02276358 0.01002349
+v 0.00668332 -0.02172499 0.00848433
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+v 0.01190876 -0.02598708 0.01477621
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+v 0.01379741 -0.03146889 0.02632886
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+f 36 39 37
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+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_9.obj b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8406e3e5aa980b29b0570f5521e82401b7963fc2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/mesh/wine_glass_009_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00078723 -0.03783362 0.03294055
+v 0.00078723 -0.03231330 0.03294057
+v -0.00012940 -0.03782968 0.03294055
+v 0.00078723 -0.02280587 0.00944876
+v -0.01075824 -0.02849381 0.03294059
+v 0.00078723 -0.01770338 0.01240694
+v -0.00116922 -0.03770749 0.03294055
+v -0.00115905 -0.03730149 0.03214128
+v -0.00272331 -0.02081925 0.00671530
+v -0.00115905 -0.02085867 0.00668401
+v 0.00078723 -0.02148147 0.00760844
+v -0.00377331 -0.03537991 0.02936800
+v -0.00638531 -0.03412842 0.02766137
+v -0.01075824 -0.01770339 0.01536796
+v -0.01075824 -0.03363376 0.03294057
+v 0.00078723 -0.01770335 0.00409847
+v -0.00310534 -0.03742171 0.03294055
+v -0.00377331 -0.03638899 0.03099215
+v -0.00778117 -0.02341290 0.01205422
+v -0.00638531 -0.01782358 0.00451944
+v -0.00638531 -0.01770335 0.00439713
+v -0.00437460 -0.01770334 0.00397047
+v -0.00377331 -0.01806008 0.00420087
+v -0.00899958 -0.03183632 0.02449841
+v -0.01059661 -0.02868493 0.01997299
+v -0.01075824 -0.02866325 0.02000143
+v 0.00057249 -0.02081531 0.00673806
+v 0.00078723 -0.02103211 0.00702818
+v -0.00377331 -0.01770334 0.00388514
+v -0.00115905 -0.01770334 0.00395625
+v -0.00828978 -0.03401805 0.02782066
+v -0.01075824 -0.01770336 0.00811475
+v -0.00845141 -0.03496013 0.03294056
+v -0.01075824 -0.03362194 0.03210716
+v 0.00078723 -0.02052363 0.00652188
+v -0.00534775 -0.03666491 0.03278127
+v -0.00377331 -0.03700784 0.03232047
+v -0.00521551 -0.03674769 0.03294056
+v -0.01075824 -0.02632779 0.01700630
+v -0.00650851 -0.01770335 0.00445686
+v -0.01075824 -0.03172201 0.02464632
+v -0.01075824 -0.03114456 0.02375319
+v -0.01075824 -0.02880121 0.02019770
+v -0.01075824 -0.03277839 0.02675970
+v -0.01075824 -0.03220487 0.02543991
+v -0.00878031 -0.03435705 0.02936800
+v -0.00854183 -0.01770335 0.00594732
+v -0.01075824 -0.01855280 0.00897376
+v -0.00535792 -0.03667082 0.03294056
+v -0.00924936 -0.03448122 0.03210715
+v -0.01075824 -0.03360617 0.03164353
+v -0.01028806 -0.03386237 0.03127944
+v -0.01075824 -0.03357068 0.03060248
+v -0.01075824 -0.03347411 0.02936801
+v -0.01008687 -0.03381507 0.02936801
+v -0.01075824 -0.03325140 0.02820181
+v -0.00810442 -0.01846213 0.00636545
+f 1 2 5
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+f 1 33 49
+f 1 49 38
+f 1 38 17
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+f 1 7 3
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+f 51 53 52
+f 54 56 55
+
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/wine_glass_009.xml b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/wine_glass_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..764b67532a97c8d7123d0f26c3b06558741855df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/mjcf/wine_glass_009.xml
@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wine_glass_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/wine_glass_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/wine_glass_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/wine_glass_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/wine_glass_009_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/wine_glass_009_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/wine_glass_009_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/wine_glass_009_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/wine_glass_009_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/wine_glass_009_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/wine_glass_009_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/wine_glass_009_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/wine_glass_009_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/wine_glass_009_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/wine_glass_009_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/wine_glass_009_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/wine_glass_009_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/wine_glass_009_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/wine_glass_009_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/wine_glass_009_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_009">
+      <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_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" 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/a7db578a074952ec8ed167322abd303e/textures/material_0.png b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb8fcecc3f271421ac2582d9575e33f3e1ee0994d41bb19766edf35991a4897
+size 9727227
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/video.mp4 b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f1bf4f8d378e1331eb894073f1804163d953a8d5303ec838f6ee25ed37e400
+size 194390
diff --git a/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.urdf b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab94d43b4f41ca2da69abbe93e4b3d4bc720a951
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_009">
+   <link name="wine_glass_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</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>a7db578a074952ec8ed167322abd303e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>geometric wine glass</name>
+         <color>black,transparent</color>
+         <shape>elongated</shape>
+         <material>glass</material>
+         <description>twisted stem wine glass with faceted bowl design</description>
+         <min_height>0.1605</min_height>
+         <max_height>0.1605</max_height>
+         <real_height>0.1605</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428022041</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>1</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/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/wine_glass_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4945562