diff --git a/.gitattributes b/.gitattributes
index e94dc1e2be272e15f06ee869f980e68ce32a95e4..5f24d402bae87fb88d1b467e0c6afd766a2c9b14 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4741,3 +4741,5 @@ dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/wine_glass_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material.mtl b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e592d9ea4efe66ab32e3516c97b595fe0475bc2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material_0.png b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d08c0b574d27d54dc82987b69eb06b8b0c8bc2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f54fb3a0a35233c9407b1d917373cd633dba94ebc2d64cc7648b25233848645
+size 14352440
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.glb b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d97f8c18a254a073623aca82149b7e70844c0512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5529fe7bb0b47033cd7a10107aaec5345609543849e73a464c0b0c80f1f8c5
+size 17863252
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.mtl b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f403bb2c5025aa457889fc0ac401d2ea3db3b47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_010_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/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be382f3a5ff813b858fa769301cc652b65ccdc06
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.obj
@@ -0,0 +1,113868 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_collision.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1f30e062acad10fc2a059ae73cb2f0a9d50be7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_collision.obj
@@ -0,0 +1,11279 @@
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d08c0b574d27d54dc82987b69eb06b8b0c8bc2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f54fb3a0a35233c9407b1d917373cd633dba94ebc2d64cc7648b25233848645
+size 14352440
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d08c0b574d27d54dc82987b69eb06b8b0c8bc2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f54fb3a0a35233c9407b1d917373cd633dba94ebc2d64cc7648b25233848645
+size 14352440
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698e9338ce326fc437b63dea0248826bcb7726fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f98257d350980f948c227529404b745fd4ae2e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision.obj
@@ -0,0 +1,11279 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_0.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3493fd4234bd6a3608768ccc8c148cf884211fee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_1.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8bdd2f770b617732f8dc678e985ad5cdcad8e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_10.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a0da7d9188d9bdb016ffac12aec5dfeedc1f57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_10.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_11.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ac78de5fdd6024f997fef55efb7740d71ec04e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_11.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_12.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbc58d97ede8db1c58ae3980fad70d151fb2c47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_13.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba2881cfd137ef79de5c72f8cf337066ae587b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_13.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_14.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8d5ba4153bd74c021aa2f3c15835c2372f3515
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_14.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_15.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e0443b81199ba84e7b57b52b21d9390310c865
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_15.obj
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+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_16.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915be53c36ba20071164a1296edfda247b1c8679
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00009437 -0.01033737 -0.00575460
+v -0.00009437 -0.00018610 -0.00708570
+v -0.01765910 -0.01033740 0.00230283
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+v -0.01617001 -0.01033736 -0.00848546
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+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_17.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f1f2dad697d89ae8a72ace8d9b8cb72cc85936
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_17.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01746816 -0.01071221 0.00252469
+v -0.00009265 -0.01071218 -0.00562154
+v 0.01746816 -0.01071219 -0.00391728
+v 0.01746816 -0.00022921 -0.00111621
+v -0.00009265 -0.00022918 -0.00708725
+v -0.00009265 -0.01071215 -0.01480338
+v 0.01746300 -0.01071217 -0.00701391
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+v -0.00009265 -0.00022914 -0.01830157
+v -0.00009265 -0.00877646 -0.01830160
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+v 0.01621505 -0.01071217 -0.00811271
+v 0.01655540 -0.00852608 -0.00893833
+v 0.01746816 -0.00928249 -0.00774371
+v 0.01746816 -0.00156546 -0.00956824
+v 0.00849867 -0.00022914 -0.01830157
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+v 0.01232850 -0.01071216 -0.01063241
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+f 33 39 34
+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_18.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b522aab6d50b3ba68f646ac8fd42a070315edc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00009437 -0.01909256 0.00040976
+v -0.01765910 -0.01909261 0.01228290
+v -0.00009437 -0.01909253 -0.00852001
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+v -0.01105449 -0.01909254 -0.00611253
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+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_19.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d556172708cf35c5b557461dfd1fc79b3da75d37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01746816 -0.01962780 0.01333589
+v -0.00009265 -0.01962775 0.00115498
+v 0.01746816 -0.01962775 0.00033391
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+v -0.00009265 -0.01071321 -0.00562013
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+v 0.01735299 -0.01962775 0.00020442
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+v -0.00009265 -0.01071318 -0.01480334
+v -0.00009265 -0.01909363 -0.00851867
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_2.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4107d532d8ea167ae32a6d188178e70e94f83bd3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_2.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_20.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2eacb9f15e2f21cbdef3afecf85cbff001b7faa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_20.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_21.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..656c654ae3ea892785bedd4c3b3efbc388aa4efb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_21.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_22.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411b8d108f185d058bfe4cdd0c41f2727e7c9b67
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_22.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_23.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323d5cca7ec8fa0823d2414d7db9ca62a31ea3fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_23.obj
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+f 91 99 92
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+f 92 98 93
+f 93 98 97
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+f 93 96 103
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+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_24.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9971ebd0a7c9814c736ca5639010bb8b9d1998ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00009373 -0.00022811 -0.01830157
+v -0.00009373 0.00835775 -0.01830154
+v 0.00849566 -0.00022811 -0.01830157
+v -0.00009373 -0.00022815 -0.00708713
+v -0.01207165 -0.00017640 -0.01348602
+v -0.00867437 -0.00017638 -0.01830001
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+v -0.00839236 0.00169173 -0.01830000
+v -0.00717686 0.00432462 -0.01829999
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+v -0.00459938 0.00686304 -0.01829998
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+v -0.00182516 0.00808445 -0.01829998
+v -0.00065338 0.00835888 -0.01829998
+v 0.00849566 0.00053443 -0.01830157
+v 0.01026207 -0.00022813 -0.01492273
+v 0.01026207 -0.00022816 -0.00564730
+v -0.01207165 -0.00017643 -0.00507948
+v -0.01207165 0.00078184 -0.01348446
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+v 0.00411462 0.01118295 -0.01342826
+v 0.00682982 0.01118295 -0.01255001
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+v -0.00009591 0.01126167 -0.01388221
+v -0.01207165 0.00120360 -0.01348290
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+v 0.00717960 0.00397035 -0.01830156
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+v 0.01024677 0.01118291 -0.00348673
+v 0.00598596 0.00588006 -0.01830155
+v 0.01026207 0.01086915 -0.01139565
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+f 1 16 3
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+f 1 17 18
+f 1 18 4
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+f 1 5 6
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+f 55 58 59
+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_25.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b21cc6b73e90d53cab1856b3c209d20771beec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01026207 -0.00022813 -0.01492394
+v 0.01026207 0.00118497 -0.01491927
+v 0.01738790 0.00120283 -0.00962769
+v 0.01738898 -0.00022814 -0.00963003
+v 0.01026207 -0.00022816 -0.00564380
+v 0.01026207 0.00396983 -0.01416131
+v 0.01369311 0.00508690 -0.01167459
+v 0.01496992 0.00408711 -0.01101256
+v 0.01717905 0.00396981 -0.00946860
+v 0.01877345 0.00120282 -0.00845568
+v 0.01877453 -0.00022815 -0.00845334
+v 0.02125925 -0.00022820 0.00420246
+v 0.02125925 0.01118381 0.00897475
+v 0.01026207 0.01117827 -0.00348221
+v 0.01026207 0.00672342 -0.01316708
+v 0.01326248 0.00673458 -0.01145937
+v 0.01514971 0.00673458 -0.01028268
+v 0.01678610 0.00673457 -0.00913875
+v 0.01856352 0.00396981 -0.00824279
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+v 0.02025804 -0.00022815 -0.00705442
+v 0.02125925 -0.00022816 -0.00600406
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+v 0.01026207 0.01015171 -0.01173539
+v 0.01050430 0.01039300 -0.01153187
+v 0.01229787 0.00948370 -0.01101255
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+v 0.01654064 0.00813203 -0.00892352
+v 0.01817165 0.00673457 -0.00784977
+v 0.01963578 0.00673456 -0.00645085
+v 0.01999105 0.00396981 -0.00684387
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+v 0.02125925 0.00120281 -0.00600640
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+v 0.01026207 0.01105989 -0.01128390
+v 0.01427769 0.01118387 -0.00909896
+v 0.01722211 0.01118386 -0.00673389
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+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_26.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8bc243fb3b19c438dce7e773bf1337084d541a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01207257 -0.00017700 -0.01348776
+v -0.01563792 -0.00017701 -0.01103697
+v -0.01207257 0.00078163 -0.01348554
+v -0.01207257 -0.00017703 -0.00507522
+v -0.01563516 0.00120271 -0.01103475
+v -0.01757956 -0.00017701 -0.00963968
+v -0.01207257 0.00120272 -0.01348332
+v -0.01207257 0.01126163 -0.00236268
+v -0.02148587 0.01126159 0.00917045
+v -0.02148587 -0.00017707 0.00426439
+v -0.01757403 0.00120271 -0.00963747
+v -0.01735379 0.00396885 -0.00947333
+v -0.01515136 0.00408085 -0.01101478
+v -0.01896460 -0.00017702 -0.00845976
+v -0.01207257 0.00295200 -0.01323047
+v -0.01207257 0.01126166 -0.01037821
+v -0.02148587 0.01126163 -0.00274860
+v -0.02148587 -0.00017703 -0.00594465
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+v -0.01970181 -0.00017702 -0.00775890
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+v -0.01247435 0.00948438 -0.01101476
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+v -0.02021325 0.01126163 -0.00403720
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+v -0.02015888 0.00396885 -0.00683402
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+v -0.01711235 0.01126165 -0.00693601
+v -0.01741553 0.01126164 -0.00666764
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+
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_3.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edee6cc80176f97c08d13f33bece4b6f4d5628cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_3.obj
@@ -0,0 +1,1867 @@
+# https://github.com/mikedh/trimesh
+v 0.00129223 0.03334549 -0.09421063
+v 0.00129223 0.03314843 -0.09257134
+v 0.00324296 0.03308932 -0.09268612
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+v 0.00129223 0.03272151 -0.09770405
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+v -0.00146799 0.03163772 -0.09129993
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_4.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183658ced2e6e66fd02e77d4f8a3e97a7c27abe2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_5.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340ade7cb39704b63a6a62f0bb3c41b4bfd36bfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_5.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_6.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195b985b422714457593052584231c3bebc0bf86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_6.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_7.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be81cd540fe90062d5247fdb18ffe682716e33f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_8.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f683147b2269789b9220197ce9878034f7b8ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_9.obj b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9a03529b63dd7f6d91074611737eb46948b92f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/mesh/wine_glass_010_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/wine_glass_010.xml b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/wine_glass_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d91e43f2790787698c73053cc077cdf9fa3ce06
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mjcf/wine_glass_010.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/textures/material_0.png b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d08c0b574d27d54dc82987b69eb06b8b0c8bc2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f54fb3a0a35233c9407b1d917373cd633dba94ebc2d64cc7648b25233848645
+size 14352440
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/video.mp4 b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4feef9d663a71772d512daf8d3aa136a10bc4771
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e54d16af73b2f14d282668af1985b76c527e1a616d5452c3f3143a97a9c6f560
+size 666196
diff --git a/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.urdf b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b98dc3385aae0682cfd135fc84c26717f7b685f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_010">
+   <link name="wine_glass_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>6d6649b30cc952fa879fee71e0c91b1b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>decorative wine glass</name>
+         <color>silver</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>ornate wine glass with intricate patterns and a stemmed base</description>
+         <min_height>0.1692</min_height>
+         <max_height>0.1692</max_height>
+         <real_height>0.1692</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428022115</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>10</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/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58e66c3bdea09178bc91a4f5fcac04373eb557b6de0c6c55e58b799c8120dee
+size 5022806