diff --git a/.gitattributes b/.gitattributes
index 409ac6d3d2f558218cf35710da14ca5cdab6947a..00ff2536ef8119ea638187990eabd19be66d96cb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4242,3 +4242,6 @@ dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/mesh/chopsti
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.urdf b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0dd001081a8bdd0ec2cc4ff25fd1e9e70bed958e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_plate">
+   <link name="fruit_plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate.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/fruit_plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.218769</scale>
+         <version>v0.1.7</version>
+         <category>fruit plate</category>
+         <description>flat circular plate with slightly raised edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260117162318</generate_time>
+         <gs_model>mesh/fruit_plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.597430229187012</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b3ce4bff7a68a464ce09901a5512837ffddc6b62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532fd4ef0472380f7425722e73dc51b450aa3783aeef40a99c496e7b8a0addfc
+size 292316
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa0ff5eb3758caf5fb6b55c8e769d8f002544ac0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d5e56b5a6de850d9e05de94610393e7ac63c5cda4bd1deff035cc32ae3178d
+size 664392
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b5d38d557c61b393b84dcb809eb9a8fda169d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.obj
@@ -0,0 +1,17640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a00a6d2a3fac254f0b760edfdfbd0080f8301b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fb0cf4c65292ff31b5178ed794b15034caa3750b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd75b278c30b887630be7440d2ce22a4f99cf59a4d59faba7ac74f0258cb288
+size 2566057
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/material.mtl b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/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/8887816126ba52449505240857eb1e2c/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f7b338d35ea2ea29d654b0cf30d0888e509449
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3685520f71b1a4f8f2167a445b0286149518e2098d373ae56eb48396aba1c455
+size 470198
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/8887816126ba52449505240857eb1e2c.xml b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/8887816126ba52449505240857eb1e2c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..373951fe0b6060cc776f0373353f872d6d304b51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/8887816126ba52449505240857eb1e2c.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_plate">
+  <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/fruit_plate.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_plate_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_plate_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_plate_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_plate_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_plate_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fruit_plate_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fruit_plate_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fruit_plate_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/fruit_plate_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/fruit_plate_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/fruit_plate_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/fruit_plate_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/fruit_plate_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/fruit_plate_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/fruit_plate_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/fruit_plate_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/fruit_plate_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/fruit_plate_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/fruit_plate_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/fruit_plate_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/fruit_plate_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/fruit_plate_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/fruit_plate_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/fruit_plate_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/fruit_plate_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_plate">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efbcfc5434f9769cc0bce8045d3529f16fdbf5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate.obj
@@ -0,0 +1,17640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321005a773680ca91719749e830b2ebec47e05e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,8643 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683ba82c0a995b5edd35e3dfc6d9df82ee42c50e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_0.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450ebd8da2d7b4b83a52c66529e8f7c67443662f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_1.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e843773811050359aac7c0af14e15ebdab16a28b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_10.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a1c0fe8d467007dcbd69d3d19c04847d822b88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe215872e3fb6b1044ddb7968856942351f6ceb0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07eb8ef1e88b4e344b97d14289ccf592a162b21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_14.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238f805e60066188f4f4dac66f8186eeecedf473
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_14.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_15.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5213fe568ecb18482e04cf6eb48979274e335209
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_16.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55675ba822e08f6612bef54370155c32d3a99aaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_16.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_17.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0857d2ff4ff5aab790c3a5c12550cb3d17d68085
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_17.obj
@@ -0,0 +1,424 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_18.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b5aeb747597a12dbe2bf8f6233c915424b392d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.07130428 -0.00000826
+v -0.00603936 0.01551000 -0.00000846
+v -0.00603936 0.07130426 0.00551416
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+v -0.00603936 0.01550998 0.00574052
+v 0.08787531 0.01551000 -0.00000846
+v -0.00603936 0.01996194 0.00572782
+v 0.03504292 0.07130426 0.00589619
+v 0.07713851 0.07130426 0.00589619
+v 0.05619312 0.07063785 -0.00000826
+v -0.00603936 0.01632390 0.00573937
+v 0.07793622 0.01550998 0.00589599
+v 0.08762737 0.01689748 -0.00000846
+v 0.10336605 0.02051912 0.00589601
+v 0.10349541 0.01979260 0.00589600
+v 0.10408831 0.01550998 0.00589599
+v 0.07755892 0.07088365 0.00589619
+v 0.06322163 0.06473832 -0.00000828
+v 0.05942709 0.06816879 -0.00000827
+v 0.08634456 0.02237094 -0.00000844
+v 0.10247132 0.02449584 0.00589602
+v 0.07761283 0.07082903 0.00589619
+v 0.06680056 0.06093094 -0.00000830
+v 0.08549295 0.02589973 -0.00000842
+v 0.09974400 0.03440487 0.00589606
+v 0.08160140 0.06638252 0.00589617
+v 0.06986206 0.05709078 -0.00000831
+v 0.08522345 0.06210536 0.00589616
+v 0.08458743 0.02887135 -0.00000841
+v 0.09971166 0.03449773 0.00589606
+v 0.07127423 0.05510242 -0.00000832
+v 0.08886706 0.05689411 0.00589614
+v 0.08283030 0.03354181 -0.00000840
+v 0.09611117 0.04358192 0.00589609
+v 0.08167685 0.03660083 -0.00000839
+v 0.07421715 0.05069416 -0.00000833
+v 0.08925514 0.05629323 0.00589614
+v 0.09430014 0.04720904 0.00589610
+v 0.08057730 0.03884593 -0.00000838
+v 0.07821650 0.04362018 -0.00000836
+v 0.07690135 0.04602369 -0.00000835
+v 0.08963244 0.05563773 0.00589613
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+f 34 39 40
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+f 36 37 42
+f 36 42 41
+f 38 40 41
+f 38 41 42
+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_19.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51438060b60485b9d6bcca1a18089070ab32e085
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02090950 0.01173259 0.00532841
+v -0.02090950 0.01173259 0.00632842
+v -0.02090950 0.01738937 0.00532841
+v -0.02090950 0.01738937 0.00632842
+v -0.01834210 0.01173259 0.00532841
+v -0.01834210 0.01173259 0.00632842
+v -0.01834210 0.01738937 0.00532841
+v -0.01834210 0.01738937 0.00632842
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83e15f6afc7769eec894789e959a012a00eaffb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_2.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.10197578 0.00582771
+v -0.00603936 0.09001185 0.00018159
+v -0.00912111 0.10173706 0.00582771
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+v -0.02000945 0.04391230 0.00567661
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+v -0.01637496 0.10082769 0.00582771
+v -0.07702561 0.04391232 0.00018142
+v -0.08339355 0.04391230 0.00582750
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+v -0.02097108 0.09990127 0.00582771
+v -0.07723762 0.05531356 0.00582754
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+v -0.02608966 0.08566960 0.00018157
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+v -0.02879282 0.08476022 0.00018157
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+v -0.05318180 0.07150611 0.00018152
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+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_20.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88024853ed7773b12f7cae7ee089ec1649e3e066
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_20.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04096043 0.05931731 -0.00593349
+v -0.03455459 0.04391234 -0.00625988
+v -0.03814377 0.04391234 -0.00603050
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+v -0.04096043 0.04391234 -0.00581925
+v -0.04096043 0.05931729 0.00018093
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+v -0.00603936 0.04391235 -0.00787185
+v -0.04096043 0.04391232 0.00018087
+v -0.00603936 0.05931729 0.00018093
+v -0.00603936 0.04391232 0.00018087
+f 1 2 3
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+f 1 4 5
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+f 1 6 15
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+f 1 7 8
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+f 1 13 2
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+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_21.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5312b78d9f5cde545c93b515cff078e8c19f4ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_21.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.06375252 0.04799962 0.00589611
+v 0.06432684 0.04622155 0.00589610
+v 0.07568857 0.04799960 0.01015304
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+v 0.09248631 0.04799959 0.01283549
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+v 0.09895075 0.04799961 0.00838166
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+v 0.10212954 0.04175887 0.00896134
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+v 0.10247236 0.02449665 0.00589602
+v 0.10918165 0.01632515 0.01051858
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+v 0.10923063 0.01550450 0.01058101
+v 0.10700013 0.01632515 0.01197163
+v 0.10337168 0.02722575 0.01262685
+v 0.10337168 0.02359327 0.01281207
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+v 0.10281516 0.03812638 0.01117933
+v 0.09986788 0.04524502 0.01117318
+v 0.10581142 0.03086142 0.01076149
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+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_22.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc4b543817da02a6a594d37efa850c656f02837
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05566365 0.05234154 0.00559590
+v -0.05566365 0.05234154 0.00659590
+v -0.05566365 0.05851574 0.00559590
+v -0.05566365 0.05851574 0.00659590
+v -0.05046747 0.05234154 0.00559590
+v -0.05046747 0.05234154 0.00659590
+v -0.05046747 0.05851574 0.00559590
+v -0.05046747 0.05851574 0.00659590
+f 2 4 1
+f 5 2 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_23.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f1eca28574de9e684ab27e17978d0416e9eb46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_23.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03503398 0.07130972 0.00589619
+v 0.05519082 0.07130970 0.01035146
+v 0.07714188 0.07130972 0.00589619
+v 0.06094365 0.05013303 0.00589611
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+v 0.07793863 0.07130972 0.00600968
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+v 0.08137652 0.07057729 0.00645616
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+
diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_24.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3bb641f37c271642add4cc0faa4fa764d0ef51e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_24.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.06606190 0.05931729 0.00018093
+v -0.06254861 0.05931731 -0.00478168
+v -0.06269691 0.05915898 -0.00478168
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e3b9a065916348999b0ca11976024a72c66f68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c38d19710001898f9504b963cb843cde463974
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_4.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a2753adfc5e0f7a3e0167fc7cd8fa4c6a53052
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,832 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3761d84eed4e35e060440af1cff7c03a856222d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c5b23257794a535ad76a118a733be9c7a4ba648
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_7.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45c40f8f625d9982fd99459f4ab59fdad6ec04d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32438d4450738c851c22436ca6fd21a008eb0ad7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_9.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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