diff --git a/.gitattributes b/.gitattributes
index b241e92763d2285d79de82f91ea468a571b22ccb..ad2203bdcfb87128c53e59da2faf5667a170fb24 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,6 +4878,5 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/baby_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/f899fa42214a5975803ccdaf05e23e38.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/wine_glass_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material.mtl b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2114ad700eff77299c396b53ce65a74a022d410
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_013_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd wine_glass_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material_0.png b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c5c90344345f78b625cc1e15765757f2facfe24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70982b716185491bb436187d52ba42ad39f0a3b09c7dc67a626bdd8ef7c5f4d1
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.glb b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e4658a26551339ca7311420a23e1f534fdf95b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16173188
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.mtl b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86a0772dc186780cfe1b708ae2c0430ac915d78e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.mtl
@@ -0,0 +1,6 @@
+newmtl wine_glass_013_geometry_Looks_material_0
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+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/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c302b28d4cd1f2afebaaf3067680f50db6fcb17c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013.obj
@@ -0,0 +1,111346 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wine_glass_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013_collision.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ced33c347b8a87854f1c31489142c34a927ad6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013_collision.obj
@@ -0,0 +1,19662 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mesh/wine_glass_013_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..2c5c90344345f78b625cc1e15765757f2facfe24
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013.obj
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index 0000000000000000000000000000000000000000..3729acadd6456a26a75f52e4a5069651cdf30440
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47511d7849b8fc869f540f909b75b694b45b5c91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision.obj
@@ -0,0 +1,19662 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_0.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9a81876d4aecc87de98458f65bff5e1c05c65e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_1.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2978f8c5f99cfe96c558659f2d41015a349eeb3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_1.obj
@@ -0,0 +1,388 @@
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_10.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6378ec52a271d2c2caee039ea7e523ab618ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_11.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28938a78594f6a2d22b7e458646aa28a4022d56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_12.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a9c16fb277fbbcbcd15a029aa68b69cff63b52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_13.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca8fa1b08e6d1cec9af0b906c0f81a908e9824c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_14.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a101341cc983f2bda1b5c1c90d9af5dbceabfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_14.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_15.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1711855cc32d2ec595e3cf7109976e15ded8a548
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_16.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a972ea506918f1ddbe6b448f0621469e77cabad8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_16.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_17.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642d90ebe9e664bdae89d49390abfcf0c4533eb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_17.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_18.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95ab30ac7f54d77a71d8d249168085967d8ce5d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_18.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_19.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63d1be243fb0586e41f343e280e765d8a731d96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_2.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633b01ae1ebb93c6bb4abdf45697dc27b2f2f0d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_2.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_20.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..debaeb1a86c7172ef1c936192b7d336a6790c210
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_21.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac877d534cf80c4a0a3ed59afbe8600ea3eeaafb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_21.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_22.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b00ac67f48ea549238579354e1af68630afc40a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_22.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_23.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2816e8f27ab263c48ef848b399695e67c49920a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_24.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12a6fed9e9d251e4aaf04ef11c5f5f0c9b8411a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_25.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a6e19bb582d0b5b08b390bf9d932de2b6dec56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_26.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd23318eca69579ff66c22b1d253cff1700662de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_27.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cef7265e831e50170de168bcb198143186b9625
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_27.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_28.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb0e30e807b990b7013a4bb2254c495129b4c38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_28.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_29.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209c0a52cffa57b605b6ff4cffc3b045779fc535
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_29.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_3.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8dd32139085206c517824ae949a54286955b14d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_3.obj
@@ -0,0 +1,3535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_30.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01fc05ad46b398d956d0ee81d7aea440edeb072
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_31.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a13c9eae30e5a2910c47efcb5e06196eae40a2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_31.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_32.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d95d61747b5cb20aedba2639c4ebeec056d8da4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_32.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_33.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6dbfd33adf6d880ad0ca297eda9d570636cb33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_33.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_34.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfcf914a8735cff9076c6e11adfbb31701010a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.05182540 -0.07410185 0.05291533
+v -0.05182540 -0.07305782 0.05523900
+v -0.05182540 -0.07404890 0.05208151
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+v -0.04916301 -0.07268957 0.03941184
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_35.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e564da2c9f8360376532b051b31d829a9c04489
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_35.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_36.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08f1551ad7990db9b41da97e3285029a2eedc2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_36.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_37.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9737f2015046e25fc3cf990f6d4e2ea15b942e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_37.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_38.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc04d6113fca2efb9b6b5a4f182b2104a10c8688
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_38.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00000511 -0.08760388 0.03879710
+v -0.00000511 -0.07886196 0.03879713
+v 0.00149346 -0.08759914 0.03879710
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_39.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84146b00067eb3c5e7efec4089a5c811f8f77ddf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02767640 -0.06223842 0.02600805
+v 0.02767640 -0.07428096 0.03879409
+v 0.02767640 -0.07977827 0.02600799
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_4.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea516138ae2b0cbbd299858e72e3a947b5fe0808
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_4.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_40.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55fdc94a3f12e28cd29040ed72c141a1f4d2e0ae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_40.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_41.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b299fe388dbb8462a606506e84663896f8a55f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_41.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.07039231 0.05235878 0.03889299
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+v 0.07142124 0.05059651 0.03699383
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_42.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1842568eff6bf5b4f3e5f1348010e2a82382bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_42.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.08634036 0.00369342 0.05732302
+v 0.08631843 0.00369342 0.05732302
+v 0.08634192 0.00150481 0.05732302
+v 0.08782971 -0.00007333 0.05661761
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+
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_43.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2231990499b13b28b6b92b9423d1abc16ff9f86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_43.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_44.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10768311e8834621952ebe664f3b06af46c88b51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_44.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_45.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef9b1fac5b0e024f51104771465bd4a30537fbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_45.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_5.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4478163fc025a42adf71455656115303f60244
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_5.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_6.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6ef1662eea58e55298ea1b34efca9e4c29ed8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_6.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_7.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8812f14a5c7d5c6a8a3327a53e1b8e9ff218d90b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_8.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7de35b23c24b613b625a56a7b6f5ba56e582a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_9.obj b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03f3d96903a9ef822bd263b1515571ddebe1497
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/mesh/wine_glass_013_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/wine_glass_013.xml b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/wine_glass_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4f223d6eca26e58c12ed6eab5a59fd9bd528a6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/mjcf/wine_glass_013.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_013">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_33" file="mesh/wine_glass_013_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/wine_glass_013_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/wine_glass_013_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/wine_glass_013_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/wine_glass_013_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/wine_glass_013_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/wine_glass_013_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/wine_glass_013_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_013">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/textures/material_0.png b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:70982b716185491bb436187d52ba42ad39f0a3b09c7dc67a626bdd8ef7c5f4d1
+size 12695871
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/video.mp4 b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/video.mp4
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:689908423bf514b2d973a4ebdc2e8fb411486295262386e30d77644d1c68ab82
+size 413527
diff --git a/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/wine_glass_013.urdf b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/wine_glass_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3181836870f7e1cd700eebe8cd32edf4448bb138
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+++ b/dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/wine_glass_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_013">
+   <link name="wine_glass_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3750" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f482ca945b0b5a4585de01d6a234ccd9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>pedestal dessert glass</name>
+         <color>transparent,white</color>
+         <shape>cone</shape>
+         <material>glass</material>
+         <description>shallow cut-glass pedestal bowl with frosted rim and short stem</description>
+         <min_height>0.1169</min_height>
+         <max_height>0.1169</max_height>
+         <real_height>0.1169</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192824</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090111 -0.089984 -0.059885</min>
+            <max>0.090117 0.090016 0.057008</max>
+         </aabb>
+         <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
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+size 4991880