diff --git a/.gitattributes b/.gitattributes
index 1260275b2217bf81c2143198efbded316f1a7119..6777ca4c46154608e6006cf4954faa46fd91c0a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4829,3 +4829,5 @@ dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/mesh/water_bottle
 dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/coffee_cup_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/mesh/coffee_cup_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material.mtl b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..521f28558c2fe25736eb16c823fff080dfe2e40c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material_0.png b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6154b0954163c2551b15348f4e11d35c303acb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1854b14c8195c8c5c6f8c21c77fef37dad27a6882923503d9a090aa651f8bb2a
+size 8003990
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.glb b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9c05948b1af74bfd13a709502f8a693ff3a9a439
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44372272d16ac54f5d57ac91274408e56692259176398077dcafe562deb0fcc4
+size 11292528
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.mtl b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f7e1816395823017689b8c999e312a73257066d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_039_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/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d41aa281d89592fecad6da267bad117c866eb8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039.obj
@@ -0,0 +1,105312 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_039_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039_collision.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8baffa9334932ea49d9651dda0d607d0244b97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mesh/wine_glass_039_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fa4c21bb985828ac08d3d13756faf448f60605
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039.obj
@@ -0,0 +1,105312 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aa64f24d75d9c90657bfd033e51ec65e94f239
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision.obj
@@ -0,0 +1,10809 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_0.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75742e0f43c7bad22c73992200bb2bd42b8c4e40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_0.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_1.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be688f0ef7cfbe0a8b014220528eb567470ef969
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_1.obj
@@ -0,0 +1,1840 @@
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_10.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbbb310279ab4119e585f00c21384616c8b8a6e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_11.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a43085d8085886c5ff092702ccacbbc442be16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_12.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2d072b6f42e9627ebdd167e015ce1395932ecb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_13.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ceb4fb187f878a8c0961660772d7de5ebf4f66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_14.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10e8d216ccec311254b619b7753032f78442532
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_15.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3544c6e5ba4755dd097cd5f3dc62e70fcc6fdeef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_16.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a863d84150227dd3bcea2f2ad650ce240776c703
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_17.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b67bcd23e100387a38af5067c172dc63e7a3a245
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_18.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d153ef719a01e6e10a96078f9b9baef400ea67
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_18.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_2.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969c790de8762770003d0cad87f8ba105eff0094
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_2.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_3.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbe81d68f669dd5543387428edfdef812089968
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_3.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_4.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975057457350ca793ceacc2b4bc7eae84b14c6f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_4.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_5.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0801a885c6e1d93557f8d73c682062f717778409
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_5.obj
@@ -0,0 +1,922 @@
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_6.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de338206e00ac7e92b129854c92a3bc4baa87f25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_7.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3f166dc93b1d5205ff1245deb3eb409195bfd3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_8.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c34f8417563d84e9ddc8f513ad0761f0941b598
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_8.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_9.obj b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c009353201789ec8abd9a79f1220ceffde3a07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/mesh/wine_glass_039_collision_9.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/wine_glass_039.xml b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/wine_glass_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d60878c5a78a5fd80f62fcbbe586619dabb9995d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/mjcf/wine_glass_039.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_039_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_039_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_039_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_039_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_039_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_039_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_039">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" 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/d6ebae594b5f59faba25dce50496ac02/textures/material_0.png b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8003990
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/video.mp4 b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a43e511b2dfec160f10f72484737858d8b02b832
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 169604
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.urdf b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_039">
+   <link name="wine_glass_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>d6ebae594b5f59faba25dce50496ac02</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>silver flute glass</name>
+         <color>silver</color>
+         <shape>irregular</shape>
+         <material>glass</material>
+         <description>tall slender metallic champagne flute with narrow stem and round base</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611161433</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024740 -0.025383 -0.069624</min>
+            <max>0.024560 0.025423 0.090376</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.usd b/dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.usd
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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