diff --git a/.gitattributes b/.gitattributes
index 4937ca13f495ff16fad60c6a1063d3ca1f3c82f2..a7a89816c8574bf7335938a856be3c96c13db59f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4331,3 +4331,5 @@ dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_p
 dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b1f1b9104004582ba1e27030c054be5d/coaster_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b1f1b9104004582ba1e27030c054be5d/mesh/coaster_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material.mtl b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..509cacc3ff21267baf1d006c12fa2c93fc0d298c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_038_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 plate_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b35e31c1d31361fe0183b10577d79134bb2776
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c284a720b301cc83e002dc272ffb23bc81bc20e750ac856242c75794ba1e5e2
+size 8507099
diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.glb b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a9824aab55d1af92e069223414ed2a40fb53c45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08302a448d790e8df8a25549024030d4f04f4de712d7d8ffe83574258401bcee
+size 11822092
diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.mtl b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ee08a68a24016840ef118e33e195fcb6b9cc87d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.mtl
@@ -0,0 +1,6 @@
+newmtl plate_038_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/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4be5248dd089ae9e3f24b51d9d517122417250
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038.obj
@@ -0,0 +1,111822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_038_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038_collision.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f8b3f33544706aa292b134d1ffa3ada32743de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038_collision.obj
@@ -0,0 +1,8803 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mesh/plate_038_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12998dcbc0390a3c3ba5c0c3f5be1f3cf608c6b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision.obj
@@ -0,0 +1,8803 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_0.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97917df58c26314418d10770b2cd5d7d03280886
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_1.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ba1a65f38a978c3f0a1e16da9951416f6b3f29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_10.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14039f75e733b2d87d70930882219a573589a5fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_10.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_11.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee51c41ac2c4ef542d52eb57ccc5cde080384339
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_11.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_12.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab6eb76944fd06560e9ff99bb884e7dbaae7aba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_12.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_13.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b443ac3e1616e1610d61abf68967d886cbb3f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_13.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_14.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c1ffb60d2c5e9eb28070df63592ec799dacb6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_15.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c30edc15a54a5be92431501e5ccd79f56263b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_16.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7185405f53fbcf9469d6e4e103493ac10baa9965
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_16.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_17.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b5f95038d60d260ad907899e754468943387287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_18.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60bbd1aecc02e912ea87d65173152ef0a086b30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_18.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_19.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d325f6e4add54df156981fa15487a31fe2f17d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_19.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_2.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c5962ddb2bcc4fbe9b749f3be7b4bc5d024873
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_2.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_20.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69432c6503cdcc0724dd757d27a20b5312baf8ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_20.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_21.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c4a3e332229c161949eb748c70ae6ee9a1ae9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_21.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_22.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5e1b285c3d7a155c372fd87cfb7a68ae0e439e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_22.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_3.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2625307113cf494c75747956479a5f311730e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_3.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_4.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b10c7c110aaf854954d1a3db2259a0e80a3559
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_4.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_5.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292e856799473e252bc9c576a89240ffbe962df0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_6.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38358a6bca638c337ca2691eacb2a6e76df9031d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_6.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_7.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201f8d8632c79a2c57ae261528a4750242633d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_7.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_8.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68296ed1329313779d72dfb527f24337e0227b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_8.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_9.obj b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d397b57bf984d8ab9407768c40849d6820609c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/mesh/plate_038_collision_9.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/plate_038.xml b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/plate_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de6f53ce7fc94b85a4ec2ba045ffc8f60cc21ad4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/mjcf/plate_038.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_038">
+  <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/plate_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_038">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.urdf b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90bd371984805db43f99bd9b41655f6435889f76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_038">
+   <link name="plate_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_038.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/plate_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>b23691de27465fc09a5ae695d8d76084</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>gray plate</name>
+         <color>gray</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round gray plate with slightly raised rim</description>
+         <min_height>0.0290</min_height>
+         <max_height>0.0290</max_height>
+         <real_height>0.0290</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154444</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.094990 -0.094967 -0.012827</min>
+            <max>0.095010 0.094813 0.016212</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.usd b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/plate_038.usd
new file mode 100644
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+size 4900529
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diff --git a/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/video.mp4 b/dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/video.mp4
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