diff --git a/.gitattributes b/.gitattributes
index a0ef50c061e03b5e128f4af08ee9d95d15d25509..e80e39f7b3b61deae64a624d812e1f8368b79df7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4778,3 +4778,5 @@ dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/mesh/thermos_011.
 dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/thermos_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mesh/mug_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/mug_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/material.mtl b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36adcee9a6c479cbcc569fe4086725dee91f289d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/material_0.png b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a50129a7baa44e3fd5aa8ae4edb58c1ac2c63921
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/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/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..765be2358d9a86e12d053d9de1a81fd60569505f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a71ced0a6fe2ff556809215c4fc1ececf2b5fbf13a60c7ed0f684afc686f24f
+size 11887836
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.mtl b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7444d2ee5518d65bfcdc2c2006b7cde18bfbb239
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_037_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/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5253d3c63124e106d5cdde078d716eca39673d14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037.obj
@@ -0,0 +1,103482 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037_collision.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70908c9e92f144f5cacb3b7a3060aa64ca97397a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037_collision.obj
@@ -0,0 +1,29119 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mesh/wine_glass_037_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f9f1099533084bf663afe8a8619e9f081ca411
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision.obj
@@ -0,0 +1,29119 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_0.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0181d110fd1a0f806e986893ca89aaecbc965ae4
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_1.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee95b540688a4d8af226a918de3feef16056773
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_1.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_10.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9b841c3f6bcb86c0634de9f4c627f8ce4128ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_10.obj
@@ -0,0 +1,1213 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_11.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee99ed80fca118921e035dda7c1b77dc64101f90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_12.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f06ca70a761e7d33a547d0e034d435db628ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_12.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_13.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a71b0e7085f4fe82fea431d2053147df6787ed7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_14.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dbe258daa2797f30fffced489641d18c1a34251
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_15.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e702182a3da7aad15749cbb6344e389097efdd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_15.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_16.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d88a0bd52ce9f7f5d413317ca0c6a37447a0c20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_16.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_17.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c10307733329f6a47b73247f644e62d196d6168d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_18.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ff50d55c69c11a7db744c5b1a040ee074cbdf4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_19.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c85bf38335eea6e52dfbec0dfdb6e3dd55ac40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_19.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_2.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02c898655be04a66efa47b6139895adb1e1c3e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_2.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v -0.02638769 0.00000344 -0.05301473
+v -0.02573044 0.00000345 -0.05440099
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_20.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c262fc74f952e3d319f06c99175d19b1ab576ebc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_21.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4daf18d8cf994316c0c92204f75df9809275cd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_22.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4951c00e4bd1c0f3fc3fe03696a6b644e2e028a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_23.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d475789e645a300a89ccb00dcc21568bd70acb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_23.obj
@@ -0,0 +1,1615 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_24.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6006f4c5afc148389b3dfd66b32bf5422a61534
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_25.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c3f6c1e4512a9989fbd79cb59ed7d18a477959
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_26.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2175883cc75c1b47a30c0f7c12b53e58d270c1af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_26.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_27.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34fe96c45a37fcee8b98a0908c6d18d4dd8b59f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_27.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_28.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace077dd4eea476b24d270bc7500c950cddcb08b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_29.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1291d278be78d1c33f99031c801a558aba401bea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_3.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b2e01e6485160b04da23f6e9a582ab653f7f0a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_30.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe7a2825c9dd77a85898ca58aeb8207638bc2f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_31.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7fab7fe5c9eefde2455b7b286b3c337d372b53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_32.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f0f111c2c50ad8f3f285d458a2ba94ba890aca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_33.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b445d70ee5383a53a891fbbccdd0e55c5ede2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_33.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_34.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d0477029db6d81ec574aa22ecd2202324e63b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_34.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_4.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3891ca092bdc00404d61df7e0d357243fe20029c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_4.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_5.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e21e83577d5447cead2ad8c363db451fd93526
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_5.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_6.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43542c5b3f5a10bfeb4a672f466aadfeec11d009
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_7.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0f6f92ddcda299ce816224217bdf7a229c1263
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_8.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d894311dbfceafcb6ed54f723752936bb0fa488
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_9.obj b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708159c14b04177722c19e5ba2d0847576ce4ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/mesh/wine_glass_037_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/wine_glass_037.xml b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/wine_glass_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3718bd1e54e154dd550f82f3d7dc5e03accc4de0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/mjcf/wine_glass_037.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_037">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wine_glass_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/wine_glass_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/wine_glass_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/wine_glass_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/wine_glass_037_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/wine_glass_037_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/wine_glass_037_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_037">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" 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/b1d9ab11484d566393201fd99eaf36fb/textures/material_0.png b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a47ab3bfca24e35a7f3973f7355b092bd499ed5aac60f96c5900fa037a690338
+size 8592199
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/video.mp4 b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2830f61a5acee31be2f65761899441eeab010f1f0e7a8689e7650695580f889f
+size 258138
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.urdf b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35478a25e26b954f722e1ee55c0dac553972c537
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_037">
+   <link name="wine_glass_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_037.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_037_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>b1d9ab11484d566393201fd99eaf36fb</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 wine</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>20260611161340</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037947 -0.037661 -0.054445</min>
+            <max>0.037946 0.037671 0.055555</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>NO: {"summary":"Stem/base and bowl are merged; green marks only opening, not a functional part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd b/dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/wine_glass_037.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4882899