diff --git a/.gitattributes b/.gitattributes
index 3e26446c1a35cd426c5e4d8902a1031ad922a59e..df362e81b441b7c4d08b7dc12ac7580ed22654c1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,3 +4679,5 @@ dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material.mtl b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..982b90a33b42f8aaea2e9fcce2fccec410eceb29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material_0.png b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1992f08f6803e5cd37a9b916e382bf72d014b722
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb57f39b743098fa3d7ef5c803dd5f400bd902e04e5d1d8d97e3fdeb9bdc547d
+size 8310340
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ee74001f242580d503203be529e48ed7f0754429
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542b814e92076e1360dd06f5690102794138f30446f48702e37393907372fd10
+size 11644552
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.mtl b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d32617809b66bd77dd5e647e4916692247f648cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_036_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/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a768e7602b9d70d41556eb439ced44ae49bc6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.obj
@@ -0,0 +1,104004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036_collision.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b4be37babfc812e48fddc03fc6830c23a0f920
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c306ab17969e9158830d133f73cbb9dc773ed657
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision.obj
@@ -0,0 +1,34835 @@
+# https://github.com/mikedh/trimesh
+
+o wine_glass_036_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_0.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05d188cee26f06ff8b62d8449bc4cf35d83c2d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_1.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223f6609e85726529f234831b76651965749059b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_10.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b7ed1ff0118f3c3c6b5ad93231d6b5648b68af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_11.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3215a743ceb7813072db4f3ed22741fd0b30b1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_12.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826c1b967196630440a885c569cd1d25e03c4f8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_13.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca25bb7a96ebffc417faa3040cb761bce411501
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_14.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fc5bba970a323b744e9ccef3049884dbb94c4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_15.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2f5a376f631216bd1b7acce2a516c767872e98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_16.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9549fbfc8faa800b4c5b1f3b919c32976af0c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_16.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_17.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a709d721836d7e3aeafe245229d12fbed443bd94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_18.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a52802a3e82440922c71552fb2d9a0ccc0fbd4e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_19.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd626e89191f0de3c92b991d2231b509f7a17c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_2.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9744ce6af333892c8ab5b46ffc6b4c539b8c1045
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_20.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f8c4977c35cbbe0c590acad554e2f0b104d5d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_21.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a71c883789f92d60b607919410742ce04573edc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_22.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf04a088a76fc339d895ec077885781f0fd84ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_23.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01992d59d7bf72f07eb87a94fd8e277e90a6d029
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_24.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..617c6d1d991f66b8b568963ab73c596e1bbe9787
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_25.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa74cfe98e989109630c7b15fe19b7d20d312d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_26.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf821c26fb5b26d5d78744f769ebd35d8b8c8a6a
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_27.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d9064f8f7033a0b88bb87aaaf41180b84be7c8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_28.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70476e737d479c5af664eba11df14f1da585f566
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_28.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_29.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a255cb814e6114c2e565b83a23e29bd29ae0ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_29.obj
@@ -0,0 +1,769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_3.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1536ef134724a15404900f8764dc68475ccb0f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_3.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_30.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294aebc6ec0ebc2d2b5124e9dac1370c23c0554b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_30.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_31.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55260dedf973ebbcf63de1a7b69e9b7702df96cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_32.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e741a435a68826c9360724d9e52295d1578966a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_33.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762f55bfdef6eab9a71992a9662feb6951279be4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_34.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0749eefd01c1f248de424cd1fe095f5b81762000
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_34.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_35.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487e90ed189798dd7d33acfa1cfe17b1c7fe6c3a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_35.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_36.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08e86278ee45fc0def237b2d9e50c24e2bd7695
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_37.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db05afd5f9293ab4e247c9f1f7e51cd7acf332a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_37.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_38.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a7fc33a90ec756529982c69ca3bda3583dc641
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_38.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_39.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5886531901afa1d11077631e6ab9d6eb3005ba7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_4.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb6ddc473d840bbae60b1ccd7a56fc5a27263d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_4.obj
@@ -0,0 +1,1747 @@
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_40.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52bda6e521c3b31f411d436c6d85482161936c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_41.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f0be34afe691dfe9ec80fe9e930423036a4665
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_42.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b7cae6ef63ba6ea712b8b1c90df4ac7dfd1f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_43.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1141377d554d3951aa4c657ad08d421b2af39a30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_44.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a110c36e0614327107c236a29bbba8b83f702f8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_5.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0632bec845bd5aec61d947a775dfa3977fc0238
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_6.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb02ca2c28aed69e50700f17bc92b1579c39d16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_7.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ee7614f5fbba8a175289920fca30f283cb0aa4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_8.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbf5865a6b3c35d75b9dc22a532cfe1ef8d3e87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_8.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_9.obj b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/mesh/wine_glass_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1f1d515147e7aca7cef610346a62bc14eec85f
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/wine_glass_036.xml b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/wine_glass_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..44ef752f53d228f9f5565e84666055fa4745e904
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mjcf/wine_glass_036.xml
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+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_036_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_036_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_036_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_036_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/wine_glass_036_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/wine_glass_036_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_38" file="mesh/wine_glass_036_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/wine_glass_036_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/wine_glass_036_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/wine_glass_036_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/wine_glass_036_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/wine_glass_036_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/wine_glass_036_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_036">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/textures/material_0.png b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bb57f39b743098fa3d7ef5c803dd5f400bd902e04e5d1d8d97e3fdeb9bdc547d
+size 8310340
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/video.mp4 b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f62343cf00b9d5c173a88276d1b7eb3b79471cddef45c0d8841fb09ad87c27cc
+size 211801
diff --git a/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.urdf b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dafee462a4cde7f29256a4deadffc809788c152a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_036">
+   <link name="wine_glass_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>3bd74be3321b5d5ea51ab78f86aa30ca</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>stemmed wine glass</name>
+         <color>transparent,red</color>
+         <shape>irregular</shape>
+         <material>glass</material>
+         <description>transparent stemmed wine glass partially filled with dark red liquid</description>
+         <min_height>0.1100</min_height>
+         <max_height>0.1100</max_height>
+         <real_height>0.1100</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611161306</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036409 -0.036015 -0.048102</min>
+            <max>0.036399 0.035984 0.061898</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/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd b/dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd
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+version https://git-lfs.github.com/spec/v1
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