diff --git a/.gitattributes b/.gitattributes
index 1c3a568e86995639c5573cbf84a0ac6694aeb8ee..e8f333d65cedb8f5bc69c16834e524e1e4fc23ae 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4661,3 +4661,5 @@ dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/baby_bottle_008.u
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material.mtl b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7977119c01fb9dd886a1e99ed2e06afc0eaa6f94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material_0.png b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f757fea4723029ecbc24942d07917dfa4a1242a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ecd172a5144391ab3348d68e9e8ce446368b5cb9b015bf9ac10fa9df2905d2
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.glb b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a4ad712b4546c96a81c908f4c5cb16e5a66b285e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d3945209651a1c5745794570240162a8cf26a8cb2f40f9122981d293dbf360
+size 13484712
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.mtl b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42885d6d3703b0f1d8fe7ae9691f4845f044510b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_034_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/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daa12985e297f3f2d1c4bc083655ac7da14ac7b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034.obj
@@ -0,0 +1,105938 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_034_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034_collision.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f061069203edb584b4b7b8717bc4111c950695d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034_collision.obj
@@ -0,0 +1,25192 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mesh/wine_glass_034_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10057714
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034.obj
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index 0000000000000000000000000000000000000000..3b1d8e7148db4893e545d82d1a6b95aed1d7d6ae
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bde0b3f351b4759574b79f1468b7e0ecadefa45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision.obj
@@ -0,0 +1,25192 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_0.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb72b6d62b0c609b0c322153b90d2ea902f62e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_0.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_1.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4803b763791928450759fa954d0e2d804efe07f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_1.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_10.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c053378ae5c9cc24c7e92d22abe03da742e27a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_10.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_11.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3ee4f5fb367b25fd23529ebe02f0a667423f9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_11.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_12.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae7f520d4915a36c4e17510462d1d65518df130
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_12.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_13.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68eb28848b372f7600e1ce0da72bb9a8a7c778c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_13.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_14.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7079725a70fba354f7a2ccbe07885c1ec04fe3fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_15.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abd8335ade0297cb1173c9d3d5fcf19857bb574
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_16.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c88c0214070e941c84f2ef9a3485d973fd4c39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_17.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b344958ec15f053ca411c714e97688e68cae67a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_18.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62ebfcabac9e702f56583119ecc7ed58185461c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_19.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aedcb74cc4832decb0b2e6370d869238a1fb6ad6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_2.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586dbdca0a7960cf18e5c789b679f116fc91dfde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_2.obj
@@ -0,0 +1,4129 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_20.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805a30a001eff8fe49d08d75f8aea6470dd428f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_21.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7215cfe04b5bb722b09aba315e7486144ec04528
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_21.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_22.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a116842758873e6cdee46ccf0eb9ae0664e1e70b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_22.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_23.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4319fd3e580c42bbf828873f65359e64fabe27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_23.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_24.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acdd830044e80cafe1443ef0e5ebfb17157a97da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_24.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_25.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ed172b786ac82f1a82d3a385d8cfac35d41525
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_26.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e29ac26e5850c1b24e5bc06ce8e4744b9f6756
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_26.obj
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+
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_27.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa59291858a04732e2fbf9209d6fe174b462e51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_27.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_28.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c307b9614d2a1ab2d5917441423435bb5b6d867
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_28.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00009700 0.00001437 0.00104998
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+
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_29.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e2230b3af928da99f2c4b6b8845fda4dbec0b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_29.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_3.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71567ad0559b34663b66e9a5baa353c734a24f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_30.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0981ebd2825e9b2c07b240f75af5c4894e280941
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_30.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_31.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7335152709988730df79d51da28a289cd846a01c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_31.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_32.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772e95aaad6755eb317bec7ddd047463a7279a1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_32.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_33.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e559d1ba9012160d74ef44f0fffac1f465797bd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_33.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_34.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7850422c73ee4face223b13a83c6b85b996c2344
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_35.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8817cd0ff80645702e2a8bb97288cee4aaa646fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_35.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_36.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9142b4a5c5121590729b5e6c583fb9b397bd9c80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_36.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_37.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5014f26fe2de9b1b0cbaac458e9138e36b9834
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_37.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_38.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d5581a1c434bf60c7ac79b6a86bc1a9b69eddc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_38.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_39.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c0dedf509d7c11fe5d26ed754f1d7688b8950a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_39.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_4.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e89d526eb0b9a74a55541ee4f25a678dedf0b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_4.obj
@@ -0,0 +1,1513 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_40.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a365d2fe1188900d88a54dc995c5abfe84697503
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_40.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_41.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb4f11fbec0cc7e96a07a523b8efa3792e75aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_41.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_42.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17860adcc2fe1b3760886a3aefff59ffaa6de78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_42.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_43.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8c8dc07e2d4fb3f777344e8e2949ff6d54f893
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_43.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_44.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1494857678ce3d93e12f08b2ca3a71a6502974
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_44.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_45.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c8121079ab9f3921deed0c970bc1cb2c282096
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_45.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_46.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2466144c9dcd54e3d65b8adfa4f6b1ced00119
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_46.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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+v -0.00986460 0.03253489 0.02561920
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_47.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849575750ac3cff362ea4707052332f298eb9696
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_48.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f97823de95768b37e4b847c532a5e10788b857
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_48.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_49.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b124e9e94d00e6273469e040e980219766499120
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_49.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_5.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d09e6141dc23e77b5d9cad0f3443d1ea628e985
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_6.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2a9841681cd3730725de4018892de2b11a4373
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_6.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_7.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2628ee5b9d3260e6582d29d76918e9202393f04f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_7.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_8.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c044e5321990a27492ee3abffd1c46394aa1fbfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_8.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_9.obj b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2434796f1c8a54211910d799b154e0ded7cf55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/mesh/wine_glass_034_collision_9.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/wine_glass_034.xml b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/wine_glass_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbba8465516950369a0ddff0aed9fed87a498da7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/mjcf/wine_glass_034.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_034_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_034_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/wine_glass_034_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/wine_glass_034_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/wine_glass_034_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/wine_glass_034_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/wine_glass_034_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/wine_glass_034_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/wine_glass_034_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_034">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/textures/material_0.png b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:10ecd172a5144391ab3348d68e9e8ce446368b5cb9b015bf9ac10fa9df2905d2
+size 10057714
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/video.mp4 b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6507583b3964eedf989cf30ea2e3cf757415f8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60b509e3aa99231431b8481a372097ecd25e90b4fd614482f3e9d1ece39d79b
+size 383255
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.urdf b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a70292fbb3ccbdee0ba577f5dda2adf44bf1741
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_034">
+   <link name="wine_glass_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3750" />
+         <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>244f8b6a123c5944bc787d7e5532afb6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>ornate goblet</name>
+         <color>white,golden</color>
+         <shape>irregular</shape>
+         <material>ceramic</material>
+         <description>white ornate goblet with gold trim and red rose accents</description>
+         <min_height>0.1100</min_height>
+         <max_height>0.1100</max_height>
+         <real_height>0.1100</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611161217</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041164 -0.040997 -0.046171</min>
+            <max>0.040897 0.041016 0.063829</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":"Cup bowl and stem/base are merged; distinct functional parts are not separated and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.usd b/dataset/kitchen_supplies/ware/244f8b6a123c5944bc787d7e5532afb6/wine_glass_034.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4966805