diff --git a/.gitattributes b/.gitattributes
index 16460ff2628a5a42a01de238cb2eb548b534447b..e8d9440273c5dd9c9cdef47863d2a4e0cca7bba2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4838,3 +4838,5 @@ dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.us
 dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/mesh/thermos_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/thermos_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material.mtl b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d55426dff9b5846c525f509e17bb14d3b5f73211
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material_0.png b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83704a88dfb4b6e3672307f93b4447608e2b2ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1702cfaa59b8c9a8d825acaab6e9709bc6d39199216e5250e2a43e55332f1dc2
+size 8755404
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.glb b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..10f8f719d3a646bacb5aea87c6934193a0076db1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee21d2d5a2147846598a6a9eeb3cd7349b2a2072c199a38f9b6aabef7f3b9cfe
+size 12120900
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.mtl b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b4b6371f178e38ab8f867a0abd2ec0ba950f57c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_005_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/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a9a70f7f2bbe0d707819b0f1b0ad8d224939bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005.obj
@@ -0,0 +1,103916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_005_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_collision.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc23c340403ccf2ce94b85fb359527dc14f41821
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83704a88dfb4b6e3672307f93b4447608e2b2ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mesh/wine_glass_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1702cfaa59b8c9a8d825acaab6e9709bc6d39199216e5250e2a43e55332f1dc2
+size 8755404
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83704a88dfb4b6e3672307f93b4447608e2b2ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1702cfaa59b8c9a8d825acaab6e9709bc6d39199216e5250e2a43e55332f1dc2
+size 8755404
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e121bf1dcf84031dd1c0b3161b93a229a76c97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_005_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01748a220b104285d2b93eda874cebe80904c704
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision.obj
@@ -0,0 +1,23164 @@
+# https://github.com/mikedh/trimesh
+
+o wine_glass_005_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_0.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad810eec60714ba631cc00bf701fb5e4fc24d4cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_0.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.00110580 0.01689263 -0.07581044
+v -0.00343340 0.01659157 -0.07581044
+v -0.00110580 0.00922214 -0.06912199
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+v -0.01088899 0.01288396 -0.07581045
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+v -0.01650630 -0.00334704 -0.07581051
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_1.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9e5636c112698118e724b7b4fb05fb0f650b4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_1.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00119677 -0.00781495 -0.01692222
+v 0.00148594 -0.00773209 -0.01692222
+v -0.00109779 -0.00780713 -0.01692222
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+v -0.00559470 -0.00548554 -0.01692221
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+
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_10.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14cc27d140fb1ea131480f4b3d12296649b40c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_10.obj
@@ -0,0 +1,985 @@
+# https://github.com/mikedh/trimesh
+v 0.03215451 0.01246806 0.01856008
+v 0.02264109 0.02589036 0.01856013
+v 0.03706692 0.01246806 0.01856008
+v 0.02669942 0.01246793 0.05557351
+v 0.02264109 0.03166130 0.01856015
+v 0.02264109 0.01894820 0.05458237
+v 0.03679557 0.01317543 0.01856008
+v 0.03694385 0.01370595 0.01981529
+v 0.03716330 0.01246806 0.01890449
+v 0.02723173 0.01246792 0.05722672
+v 0.02302809 0.01847268 0.05690528
+v 0.02264109 0.01880673 0.05557353
+v 0.02351444 0.03104039 0.01856014
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_11.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c5fa2f5b460db8bc794e4ceae007fc8c877aa0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_12.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a79d5133040c8f827be6aba27b436bdca43f576
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_13.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7e26b76f3612e7921177b4010fdabbf1cd2983
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_14.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba7028cae5d2568a974b95ac58ce595537bfc99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_15.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328bc78a67ba70a247902b474a69cb064207b880
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_15.obj
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+
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_16.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a1b02df90fb9f8be8a248fc4cf21a26f3750f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00005315 0.01308957 0.00138233
+v -0.01485686 0.01308957 0.00291831
+v 0.00005315 0.00015643 0.00130655
+v 0.00005315 0.01308961 -0.00838695
+v -0.01485686 0.00015642 0.00155316
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+v -0.00336348 0.00747253 -0.01691932
+v -0.00435155 0.00697500 -0.01691932
+v -0.00561108 0.00581917 -0.01691933
+v -0.00675677 0.00454814 -0.01691933
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+v -0.01485686 0.00585458 -0.00573058
+v -0.01485686 0.00795862 -0.00511113
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+
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_17.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4cbd1ed385b35f5de1fa5e122167f8bf8924940
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_17.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00012188 -0.01761807 -0.00447605
+v 0.00003860 -0.01761807 -0.00447605
+v -0.00110813 -0.01761807 -0.00447391
+v 0.00003860 -0.00781212 -0.01691938
+v 0.00003860 -0.01761810 0.00221125
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+v 0.00003860 0.00015649 -0.01691935
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+
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_18.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aed036430edb4d811fb1dd62a9c540ae1cdaba2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_18.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
+v 0.03774090 -0.01226773 0.02505719
+v 0.03764555 -0.01256623 0.02505719
+v 0.03763059 -0.01256622 0.02270780
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_19.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f160fa4118fe9dd4e9499e51f02463acde09512
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_2.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b8cdb0a8138c0ee59433e14c237a5de0ccbbdb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_20.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24876a9cb58c306c8c78e57ed0e050d954c721a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_20.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_21.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6824b3d8897797c6dcaee3052af3c2d48b0c590e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_21.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_22.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac50ae12c9e3505ebd69f048893e8862acc77e10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_22.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_23.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8c563a3a1b7d719d40afd806eb13d8af6af6e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_24.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3cfa1424407c43502963552aef0ff96f31381a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_25.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc1c7278eed771299387fbac253568e295d08f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_26.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bbfc7e06e605bcd3f246229d8ef58468e54894
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_27.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276273591f3452a10a4aa3715dbda1a4af61169f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_27.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_28.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b531c7741a86ff368f24e4bb05cab82480e7c158
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_28.obj
@@ -0,0 +1,1090 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_29.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c2fe137dc04c7a8faa07ba07761eaac10a4c37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_3.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3bdef6e77b891aa2466aabc1ac92a7d4615442e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_3.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_30.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e518dfbb353971a6737825e1bdb9def1eb95fb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_30.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_31.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84efb3320654174885c50ef37ba6027cac45017b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_31.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_32.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d72c987dbdc218e70c14437084680bb30431620
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_32.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_33.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19005c5b8aa3cf075452c03231fbf3c0182a2d8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_33.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_34.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d21a843a90a5cbdd4833d28e577cde8f6a8e68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_35.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccac3dba1a778dcb3b7f444d251a2e5f06703fcf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_35.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_36.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7ababd78669cf0b6512ba8d93fb03184ca9b4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_36.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_37.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214f920c94b9c9176c4140ca5756ee2b24ac5561
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_38.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ebcec496d8cee16a2b56fcfdd430cb46636cab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_38.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_39.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63a1653aa0cadff3f482d605598caa93931386d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_39.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_4.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ef7a282e132d0c5296c24cd606759271b35608
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_40.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418386efe38dc522928faf1525e0375e267e3d59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_40.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_41.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc162a12238b7f87e0e1972309c6915c2246c12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_42.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bf069ffa46fcdbeb6ca844672cfd7d0f4b885f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_42.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_43.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c44c2cb600b641a5d05b41ede1fc7c83ce2692e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_43.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_5.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a49e5448eb85b975ab44c6b0433fe329fa664f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_6.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f0eb534edc0fc2a2b57d031518d869c8dd2235
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_7.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50c4bf5160b3fb540dbb2f42d066ed0f229a162
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_8.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0e829411613b46cdc077de545a76fd9e79df8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_9.obj b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95431695abb900316955f72a00bbe9b6227db682
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/mesh/wine_glass_005_collision_9.obj
@@ -0,0 +1,748 @@
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diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/wine_glass_005.xml b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/wine_glass_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c8c0af7817569a521c6ce3958e326840e9200f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/mjcf/wine_glass_005.xml
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" 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/e19c9a4e5cc85356a8dbb9e0919ddf94/textures/material_0.png b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1702cfaa59b8c9a8d825acaab6e9709bc6d39199216e5250e2a43e55332f1dc2
+size 8755404
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/video.mp4 b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/video.mp4
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae37ec77a096b7a3066e6e00aca23a68bfef5245d2318d7a725a134fbd674636
+size 170278
diff --git a/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.urdf b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d94ed437296ab6b58c89fdaa83981fa00691566
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_005">
+   <link name="wine_glass_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e19c9a4e5cc85356a8dbb9e0919ddf94</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>iridescent wine glass</name>
+         <color>transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>elegant iridescent wine glass with a stem and circular base</description>
+         <min_height>0.1424</min_height>
+         <max_height>0.1424</max_height>
+         <real_height>0.1424</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021837</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>4</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/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.usd b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.usd
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+++ b/dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/wine_glass_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4926188