diff --git a/.gitattributes b/.gitattributes
index ea30bc13b6d506bf5100d0b034940a9305f2c3ab..0b6f3354763e901c3b1b06767f48f8b1da26130b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4670,3 +4670,5 @@ dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/coffee_cup_033.us
 dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/mesh/coffee_cup_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/mesh/mug_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/mug_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material.mtl b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2b081289c8e7f75df4649fd78c8494962a8d830
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material_0.png b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..326a94bd4618111d5a0a67519e7b9fbc9bcda648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5126ca9fd78e8c95506d83c9945e6fbd84abe9325c7124163b37838b845f57fd
+size 7334888
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.glb b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cab9627f6609ae1794e2f5668fe6e00a043634ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3f5bae3cbc47143f22f38c3cebd4f009a6afbee2e0228107dfb4f97f172358
+size 10634780
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.mtl b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6416439fc3cdc859baad6f1595b18176388d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_003_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/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94dc9d0ec1ae05302e00e7be5de5bb0e75de1639
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003.obj
@@ -0,0 +1,104854 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_collision.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91135170189625a427465395ced4330bc97a56d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_collision.obj
@@ -0,0 +1,17612 @@
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..326a94bd4618111d5a0a67519e7b9fbc9bcda648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mesh/wine_glass_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5126ca9fd78e8c95506d83c9945e6fbd84abe9325c7124163b37838b845f57fd
+size 7334888
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..326a94bd4618111d5a0a67519e7b9fbc9bcda648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5126ca9fd78e8c95506d83c9945e6fbd84abe9325c7124163b37838b845f57fd
+size 7334888
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0c708dc081ad0f13f277ee48249d4193196c85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003.obj
@@ -0,0 +1,104854 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641cdec6ece360b44b68f0c39280c2021ed59670
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision.obj
@@ -0,0 +1,17612 @@
+# https://github.com/mikedh/trimesh
+
+o wine_glass_003_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_0.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cdc2af0ec03c26c7813c7016b47bad8fdb20a89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_0.obj
@@ -0,0 +1,1240 @@
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_1.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9f7df0552aa94f908e84b379895dd49dffba10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_1.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00839287 -0.00124119 -0.07674384
+v 0.00753801 -0.00373533 -0.07674385
+v 0.00838636 0.00090473 -0.07674384
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_10.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..decb2fac63193349cc45635e2db10d2cc56fcd8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_10.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v 0.00008865 -0.00631945 -0.01398873
+v 0.00008865 -0.02090409 -0.00461781
+v 0.00008865 -0.00631942 -0.02214480
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_11.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b859191de948c003564aa7e94881dc92a8a56820
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_12.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d5b6d5f350357a11a3ee3adc3a01e9e19de446
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_13.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fbef9c51ee514db38d2661adcb2142b5b5af4e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_14.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a7c3e1ce6b31df7bbec199dfb274f5daa4ea64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_14.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_15.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa9e6694116b3c610b01eea3a81e414aa8ef6b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_15.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_16.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80254781d2b4a23a2eef3b1dd22b5e24280cc44b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_17.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5859c8afe86fd6ef44effae5eeb8b989d730d149
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_18.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9c7d894cb2e9f582aadfdc73c9482593f13fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_18.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_19.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667c841d058ab48eb255685ab7f6006eb226dc53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_19.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_2.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3124ab5b8c517b9c92b3da2cc266aebf59c0b083
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_20.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f447e89a298eac854e3ed58076d4cb30fa5ee15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_21.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6f6065176316fa8c061226053024db89816bd9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_21.obj
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_22.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4b14eb3e3046770a799f648a50341569e033b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_22.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00364143 0.00000934 -0.03408930
+v -0.00364191 0.00125342 -0.03408930
+v -0.00140845 0.00000934 -0.03408930
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+v -0.00279333 0.00289405 -0.03408929
+v -0.00625694 0.00051340 -0.02213609
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+v -0.00625694 0.00636122 -0.02008438
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+v -0.00625694 0.00662881 -0.01325834
+v -0.00415637 0.00662884 -0.02071049
+v -0.00140845 0.00662884 -0.02166291
+v -0.00140845 0.00662881 -0.01389873
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+f 11 16 13
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_23.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9adf303d2e03771807ef5fd93c299a57f071d2a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00562649 -0.00713864 -0.01329143
+v 0.00562649 0.00000926 -0.01408809
+v -0.00685676 0.00000926 -0.01384027
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+v -0.00364063 0.00000934 -0.03409134
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+v 0.00397810 -0.00713861 -0.02053536
+v 0.00008870 -0.00370105 -0.03409135
+v 0.00562649 -0.00104162 -0.02356029
+v -0.00685676 -0.00390051 -0.02063160
+v -0.00685676 -0.00618286 -0.01988407
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_24.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e936435ae770656cc5f803517f7dd70cc60864
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_24.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00588595 0.00001213 -0.02284942
+v 0.00588381 0.00134423 -0.02284942
+v 0.00582240 0.00000929 -0.02284942
+v 0.00380602 0.00000934 -0.03409024
+v 0.00587810 0.00135844 -0.02284942
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+v -0.00140845 0.00000929 -0.02284942
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+v 0.00437438 0.00399366 -0.02284941
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+v -0.00114998 0.00373002 -0.03409023
+v 0.00134409 0.00371752 -0.03409023
+v 0.00143762 0.00580314 -0.02284940
+v -0.00002683 0.00372491 -0.03409023
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_25.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea6460f2ced1e7cc5de5442cc5f8be484e92b48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_25.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_26.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e357ff0ff90cd8e30b97cd641c64ff3d162cc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00685866 -0.00126151 -0.02134011
+v -0.00685866 0.00000929 -0.02133684
+v -0.00685866 -0.00390095 -0.02062972
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_27.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015018f960c59612aa6e450db624c7ee7efcaa9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_27.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02813867 0.01167458 0.01017081
+v 0.02306576 0.01167458 0.01017081
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_28.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57af7c1f1629061e04606cd961d610fb449b04f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_28.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_29.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2059d8c91ad9a6b47f3a54dbeedaa733a78f06a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_29.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_3.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d886573be4c62c50aeec706936c4a8b10a2fd68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_30.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9855a53fbc5590928a7f12ee470949fc1d48f60a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_30.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01075921 0.02840807 0.01016960
+v 0.01075921 0.02340833 0.01016959
+v 0.01075921 0.02820931 0.00809587
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_31.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af26fbb458f16787c45a1f3d68e9f6721ca624aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00140845 0.00000929 -0.02284941
+v -0.00140845 0.00000926 -0.01449196
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+
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_32.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683036e0b5eaf84a9bb5c9ad94a7bc67629ef755
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_32.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01076040 0.02840842 0.01017087
+v 0.01136771 0.02819220 0.01017087
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_4.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58f195959c4a4d5b799e88ff7efb06ae45f926d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_5.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74cab0ce5efa8be2c6489a792b619b46247dd158
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_6.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e1ad86bcbdce21392d048fe30cc8465582e086
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_7.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d74fe59d43f84a4dd98b116603edf5c0a896898
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_8.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42427ae4bdddb26a0ae82605c6005512107af11c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_9.obj b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd724a6a3df9e9d71d2f5c433332319ff37ee40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/mesh/wine_glass_003_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/wine_glass_003.xml b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/wine_glass_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40b639e0246be99839f518a2e1142e6a3a2e5294
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/mjcf/wine_glass_003.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_003">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wine_glass_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wine_glass_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/wine_glass_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/wine_glass_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/wine_glass_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/wine_glass_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_003">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/2d8bdecd39435577ac0d28f49f5ab296/textures/material_0.png b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..326a94bd4618111d5a0a67519e7b9fbc9bcda648
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5126ca9fd78e8c95506d83c9945e6fbd84abe9325c7124163b37838b845f57fd
+size 7334888
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/video.mp4 b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e03c8f42b8db34c7b3b2740f3a1aee0cdb71f4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33663b7827e45c66af8f8222bad2f06aa1fc42e6f4771801975591877525295
+size 87603
diff --git a/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.urdf b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bf154c6f84a3ac995609421597869718b5ba9ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_003">
+   <link name="wine_glass_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_003.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_003_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>2d8bdecd39435577ac0d28f49f5ab296</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>transparent wine glass</name>
+         <color>transparent</color>
+         <shape>elongated</shape>
+         <material>glass</material>
+         <description>elegant transparent wine glass with a stem and circular base</description>
+         <min_height>0.1556</min_height>
+         <max_height>0.1556</max_height>
+         <real_height>0.1556</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021718</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>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/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.usd b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ad6b3086ac1bc0a60ac70fc5ff5268b964f78816
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/wine_glass_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3aff5a451ff31327b85b383cb088299ba9f9585bd7e700ae5359b575a4429d9
+size 4885679