diff --git a/.gitattributes b/.gitattributes
index 5e60ed3ce8d83f938e163bb113b60d2f991169d8..23bbf5c38ff91ae7a51c921021aaed458d8dba62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4766,6 +4766,7 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/coffee_cup_004.us
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 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material.mtl b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ec00003c094a001476549999954e18b68ff5921
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_040_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material_0.png b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.mtl b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f91c47afdbb3197a19990b6f13146dc4c2978264
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_040_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1720043b2ff78b991217a2144edcb96e94bd0b56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.obj
@@ -0,0 +1,103832 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_040_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040_collision.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af46b7724f0b3c5065d0631d4ff52b22ae849b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e39d84dafc8051df7949fb71f403aa5cfd05b3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision.obj
@@ -0,0 +1,12444 @@
+# https://github.com/mikedh/trimesh
+
+o wine_glass_040_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_0.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d22e56c4257dbde45172223e6b28e5f61074f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_0.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_1.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47683efb03cfe3cb7b55a713ebe8fc1ad514b589
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_1.obj
@@ -0,0 +1,1126 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_10.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f3248c7bc5e049b933e2b61f9dde08dca43127
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_10.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_11.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051655afcd267223e0718a7c1d7763b15b87b26d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_12.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03eed5bc37a989782cb16442913d4d1aac1989ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_12.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_13.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403d02a7593469d8e5f8e30b2306db804fec0621
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_13.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_14.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f177fa970b66e5b779fc1e1cc23a37483d3e523a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_14.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_15.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606afc977a4c1e2f0bbcf571b92b6b467edde9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_16.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235fcada5e5e3eef1b727ef69361f39a78c05926
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_16.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_17.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbc56ed6e0a4e5934772d5356088645d8c2709b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_17.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_18.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd18685598601f0649ed71ea741e2e55cee65fcf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_18.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_19.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0882fca7fd4814c8eb7e2c386771d87b2f265a6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_19.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_2.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad0ddd24d9a6b10a72be635f00e6d8746328c43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_20.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23682c0d53003e21c5d463cfffe7e49ba7257fc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_21.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9981cb6fea8e422d498707ffea05b1955b340853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_22.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7254744b288058c60f2867dc4ecefd4d7f74f8fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_23.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1b8b3043c211d7f612431528381dc4e424332a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_23.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_24.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a784bc751413eb6a3635c40c56999db8cefd13c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_24.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_25.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7540e837b71ccbcfc1c7cbfb88558870ec5de150
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_26.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb048d7b67d2032503d22aa39efdeb390ff6a63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_26.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00001551 -0.00002432 -0.00925240
+v -0.00571703 -0.00002432 -0.00925240
+v 0.00001551 -0.00571968 -0.00925242
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+v -0.00571871 -0.00119910 -0.00925240
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+v -0.00361905 -0.00022732 -0.02120386
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+v -0.00127292 -0.00568956 -0.00925242
+v -0.00217791 -0.00318154 -0.02120387
+v -0.00404291 -0.00405458 -0.00925241
+v -0.00284431 -0.00285299 -0.02120387
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+
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_27.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd44a81a95deb3b7189e326ae3d9adacd76d80b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_27.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 -0.00959094 0.00136597
+v -0.01155778 -0.00002437 0.00273944
+v -0.01155778 -0.00959095 0.00553257
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+
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_3.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d81e3dcf82270c6d111c199cdba1813fda54f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_3.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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+v 0.00388041 -0.02994720 0.02108297
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_4.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bf3c316f1d1df1cea48de6ab11552aa289bbba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_4.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_5.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044222a439b591939bd4922de4481a5cb3bc9eb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_5.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_6.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0166da2db9b19b0d924ea12f7ab57d2847376828
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_7.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d4881e548d7128456d6753faedef1a0e89a4f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_8.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4132c942ffc6e969a9378a9ffc9916e87f39e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_9.obj b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a5245b9d43d15e66708580f8bba6d6ed7f373d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/wine_glass_040.xml b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/wine_glass_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3a11c170d90711112bdf2f29152ccd8e141592e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/wine_glass_040.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_040">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_040">
+      <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_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/textures/material_0.png b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24298c03f855d77cc38271998247d58806f8ca14df0b1291223a28cbc173ad7e
+size 6450070
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/video.mp4 b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6d8f0ae988851e9f9b798411431a50390fd67dfa2729783d1de1282d58bb09
+size 86892
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.urdf b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..24fb6dfabc778115e17656555a0d2efe803aa09b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_040">
+   <link name="wine_glass_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>a2ce1f36017f53d2a773e502966f0467</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>black wine glass</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>glass</material>
+         <description>tall black stemmed wine glass with tapered bowl</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611161453</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030143 -0.030041 -0.082491</min>
+            <max>0.030195 0.030067 0.077509</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd b/dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 4818510