diff --git a/.gitattributes b/.gitattributes
index 92f0cf2cfda4d5efd457c8b8bfee1a64ab9861f6..a85acc47be02b8a6d57b0b5dfb50aff41487f740 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4356,5 +4356,6 @@ dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsti
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.urdf b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44799511c0601a0fae62d8d8078aad6d9c4ec840
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_napkin">
+   <link name="red_napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_napkin.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0.198687</scale>
+         <version>v0.1.7</version>
+         <category>red napkin</category>
+         <description>elongated red napkin folded into a tapered, cylindrical shape</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260120023844</generate_time>
+         <gs_model>mesh/red_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.607851028442383</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.usd b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3770a86d5159d4d2961c339f873b5afe52e45372
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4feb58a92c5d98138cda048895313e42a83d43105bb091f0e3232046dc2704f
+size 792671
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e87edae6fbcfb8096cf82831a6a673c580fc0ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d5eb9a37e05405670bcd87bba977229bf6b32774815ffa54709a53efcccca9
+size 1212792
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.glb b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69ffc2dd2ca56fe0a0f8df808ee73063a7f196df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3b5386fc56982ea76708e2d2dc36ab2db1e0c80fcb93bb2d4449cb6172ea8c
+size 1734452
diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f86c38e38fe0d8c6e1bc929a03f67ae81f2765
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.obj
@@ -0,0 +1,47468 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a46ae02aa902e15cbfd54396d3e52a6e9a2d18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_collision.obj
@@ -0,0 +1,7188 @@
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_gs.ply b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/c913719d666b52bfa431ee70ae5ca112.xml b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/c913719d666b52bfa431ee70ae5ca112.xml
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..bef11022b3df913cf8736fdf25436802a7aa9f13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin.obj
@@ -0,0 +1,47468 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bafb183d257d6723431b268cb4e40d9447e271
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision.obj
@@ -0,0 +1,7188 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c9218e298e2b105319480bfcad9cdc6370e9ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0372bf139542813e1b69855fc557da77a0e314d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_1.obj
@@ -0,0 +1,1228 @@
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ca9303f1d8e897f0779b55c548b146d01066a5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368096dcb2d6245aa7668e916340edfa889c4027
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e16fa5ff2cad2edc9bca245c621dfcda0ef4b0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_4.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd89fb5ce1fab75051cdc1655ffd2ef48d27e79a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_5.obj
@@ -0,0 +1,1426 @@
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diff --git a/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0f10c8662e91475e2f7f11ff6bd122f575ea88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mjcf/mesh/red_napkin_collision_6.obj
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