diff --git a/.gitattributes b/.gitattributes
index ad2203bdcfb87128c53e59da2faf5667a170fb24..defa1ae2f244922c1837f579f04abfe377bfd267 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,5 +4878,7 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/baby_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/wine_glass_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material.mtl b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a512a5a469edd2d90de8245fdb3bde6b40187dec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material_0.png b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2b296b45f7d1e60eb52f35cc9f0ccdefa91a8a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41dc0d0d1dab43883d5d0111fca073f5c4ede8786e561cb10958eefcc08c8fd8
+size 10555243
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.glb b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef1e722172846a1deba990f0dc1a349b6db2905a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fec6de243746efebcbbea3fd0d1bb80fa1339e21828392ce2f596cd768be12
+size 58247472
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.mtl b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f69d0b0291c758fe771f2b1d5192936551a0998
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_001_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e8c14b47b85f36f6ee162ae5548f8f5c5b71f28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f261d765eca624e4db4c3afe57245ba91fd760a6adc6137d876d8b513ee013d0
+size 75428885
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001_collision.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..777f82f2e04be59cfeb5657f221098ade4382334
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mesh/wine_glass_001_collision.obj
@@ -0,0 +1,15276 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_0.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af3bab39d188d4db05fe9c69e5c13b8162f675b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_0.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_1.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65518fa8c1cc152218a0ddff60866caf1fe4556c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_1.obj
@@ -0,0 +1,1321 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_10.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be5a30b4e4aa30cf12e7f42eaa5b2791210ca54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_11.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bceb7448c7573c889e093f397804942768f779
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_11.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_12.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f34b36778f17f0cdaa33ec423107465b68566f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_12.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_13.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758176cee89e3c5d535c1e6bc2c5a46e71e782db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_13.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_14.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99c4fee3dece6b88e225960638a8a52c8089d93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_14.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_15.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f8c873e166d719a5d48e87c680c0bcd071c35e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_16.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d0e6c0ef51cf53c8a1837b8ceeba54f8fff3cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_16.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_17.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abc76d5a21a2b8ccc9e00454cf93b1df312aea5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_17.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_18.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb24f3c3e49334152e66a58b1b7f925740498b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_18.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_19.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..719d5627bdf611e2651b337c8dccfb1eba33c032
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_19.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_2.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce16d3baacff1e85322c31decb697dba145197d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_2.obj
@@ -0,0 +1,766 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_20.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28caa597c0c8063dc925a793d286ce652d6f4a47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_20.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_21.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8b3829348f78f010de9c24ef05674404a44b09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_21.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_22.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403b8a915f17b20b2f0a3a923dfc9ac52afef79a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_22.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_23.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f40c84af90b9a9e4be10e316b74822d2936ac32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_24.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a503c96b9230338c684fc685c9b8d8df00012993
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_24.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_25.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1120384d5c68e55edfe75a5f9c08862b0016862
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_25.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_26.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaeba59a84c34d6e10cac837bc604942b82aa649
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_26.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_27.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2880e06f5742af2874d814d089da2b125d87f2c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_27.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_28.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2592ed624ccd8eecf9e2d20a7f943cc1397f5ddd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_28.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_29.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bed641f2a9df67c9fbfb70b4ea13bb0b0c0b69a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_29.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_3.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0055f64fea435c5ac47f14b61272fadf44c0ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_3.obj
@@ -0,0 +1,1096 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_30.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770b10e6820652543a915fe934675d9c0e809a20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_30.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_4.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6508e05b7d793598f056ebdc165ce5dcc3e4e65a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_4.obj
@@ -0,0 +1,1042 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_5.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f7e1e88f49493889370ba27abd2a7f605ffb03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_6.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0084b4ae1a15883f27b8be7c5ae68a9bb2559e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_7.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b44a8c3352e56955d13f2eea254b85886f66879
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_8.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c3ba84cdbe9c3acc4cbdf2b9bd2c7faf56bd9ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_9.obj b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1226c6d168b58d8b2e8834791728a83fd7c7e84c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/mesh/wine_glass_001_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/wine_glass_001.xml b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/wine_glass_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d25a7b8711e929823d3f00415fb1f1f7d8fec002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/mjcf/wine_glass_001.xml
@@ -0,0 +1,76 @@
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/textures/material_0.png b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/textures/material_0.png
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+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:41dc0d0d1dab43883d5d0111fca073f5c4ede8786e561cb10958eefcc08c8fd8
+size 10555243
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/video.mp4 b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/video.mp4
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+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85c295cb1531dd2374fd1e4475fc88cae8f97db763f67dea6d77110d43101fe
+size 143567
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.urdf b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11efa4c63cde595253ecb4024c393ae04aac800a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_001">
+   <link name="wine_glass_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>ea3d62333a4a5a4d9c0f9d0ad0e0f4f8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>clear wine glass</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent wine glass with a stem and circular base</description>
+         <min_height>0.1393</min_height>
+         <max_height>0.1393</max_height>
+         <real_height>0.1393</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414154507</generate_time>
+         <gs_model>""</gs_model>
+      </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":"Entire wine glass is one color; bowl, stem, and base are distinct functional parts but not separated.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.usd b/dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/wine_glass_001.usd
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+version https://git-lfs.github.com/spec/v1
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+size 86406800