diff --git a/.gitattributes b/.gitattributes
index 86c7d8e9169e00f7ff9ae4f4e33ef2a06e8cbe01..4b1b77bb128b592f7aa6fb18e2465de5531d9c50 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4197,7 +4197,5 @@ dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/mesh/soup_sp
 dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23b7d78e83b18a1b96b3b065d40f09f753f607f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d124615206df583ccaacbf1066f877d6aae7b849
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132ea6adfba56bcf0829d5a5324eefd796d164fedd2666f8cd8acb8f82db2387
+size 8239107
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.glb b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..eecf7147933eec56a68c5f572c23798eea0017b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1600e62e432792d5d1bdd94888505d8c8dfc50fff695de6376b268407fac15cb
+size 11473188
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.mtl b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e94a52714b8c40c086fd095f144f2c7ee9234d52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.mtl
@@ -0,0 +1,6 @@
+newmtl plate_033_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/4336853c986f54578a6bfc410562e16e/mesh/plate_033.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9316940f07990b18972a091f32533afa737d43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033.obj
@@ -0,0 +1,106938 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_collision.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55b1dc7b37c48b838fa811a94a67091db6a91f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d124615206df583ccaacbf1066f877d6aae7b849
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mesh/plate_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8239107
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d124615206df583ccaacbf1066f877d6aae7b849
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132ea6adfba56bcf0829d5a5324eefd796d164fedd2666f8cd8acb8f82db2387
+size 8239107
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a4b7efde21b62a8da0a26ea74bb861ec227637
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf71229c167b446f42c0b96728d3843c9fd3b67a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision.obj
@@ -0,0 +1,8747 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_0.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9acf00044c4d1ef34094d0affa37bcbf260b50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_1.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f13d1dd0946f59f6bc5c07d4f363cf72bd2767
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_10.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6b25b48fe5e3bd0356540d6272232220f15d9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_10.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_11.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99b2d17b7c5d33bdc63133c506299055c60d8a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_11.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_12.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ce9f42df96d22ce433a891fa7030bf601e503f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_12.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_13.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fe4aeef26e59119d9b938d976ba6bbb91c027a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_13.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_14.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f7c77c26caab81d46cf21703ef1dfb3278626d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_14.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_15.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323fffcc98d44df87d230a8b514973cfd9aa93b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_15.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_16.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0adc90723e4ee65a12010ff602a5706c6701072
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_17.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef277be309d5fdf1a7fbae7a3f5fede9ff84ab2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_18.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6cd094b0beff5c9fa206ddd67dd6a645f6e8f66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_18.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_19.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd31f6150b7d6e3c59c6c4be2ff1e29ef97512e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_19.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_2.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57df683eed7930904cc357fb220a65af0ceb89cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_20.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3813251b0b50d25767ca2a755318c66e375a1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_3.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9517b09b7521971b850834e43bccbd24903baca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_4.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e82990a787d66f7a21644fbea033bf7ccef0c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_4.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_5.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d4e892414801c07ec3954a7da00ec6b17d0faa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_5.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_6.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302c665dec4faca68e7eaf7f25a1c6ac9c046632
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_6.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_7.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480b8543221b344c6a7a3b156101c14e762a7a48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_7.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_8.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39512d2d5b6f1a07b9a13592e6d21b5fba0c927e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_8.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_9.obj b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c70f8d6b2a8e79c462ee81359923ff72646c48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/mesh/plate_033_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/plate_033.xml b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/plate_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dcde4320b9202032fd7ce381b9d6763c0ea0dc89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/mjcf/plate_033.xml
@@ -0,0 +1,56 @@
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+    <mesh name="collision_mesh_0_0" file="mesh/plate_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/plate_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_033_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_033_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_033_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_033_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_033">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.urdf b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36f25fc8f50cf5611eac5703c3b89b59a3909904
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_033">
+   <link name="plate_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>1.000000</scale>
+         <uuid>4336853c986f54578a6bfc410562e16e</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>0.0298</min_height>
+         <max_height>0.0298</max_height>
+         <real_height>0.0298</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154231</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.095042 -0.094740 -0.012644</min>
+            <max>0.094957 0.094657 0.017114</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/4336853c986f54578a6bfc410562e16e/plate_033.usd b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.usd
new file mode 100644
index 0000000000000000000000000000000000000000..470580977c32e0bd69ad222d0605e72f74139923
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/plate_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3655dd0d09ad475becb59ec108c649d33c2e0e08cda811edd0def1e85191216
+size 4841650
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/textures/material_0.png b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d124615206df583ccaacbf1066f877d6aae7b849
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132ea6adfba56bcf0829d5a5324eefd796d164fedd2666f8cd8acb8f82db2387
+size 8239107
diff --git a/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/video.mp4 b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f8ea056998d89e0d4b56c905560be3fe9ce5da4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22e3888fb45afb2fdc657694a9d31597130db0ebe0effb577189b3da860d085
+size 73622