diff --git a/.gitattributes b/.gitattributes
index 94615dabffdeb7af0ad6b7dd536e6b1a0fbc389d..ce79cbecb6dd6aca0d38970f74d2f2a2401d57d1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4383,7 +4383,5 @@ dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon.g
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/coaster_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/mesh/coaster_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f/mesh/spoon_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f/spoon_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..510109333f34010831883c3056f7c46f0208f1c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..406bcc895fa7f7b89c15b63ac3461a7b57c558d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9b94f2ea40cb5b100206fb49c3857e06ca3a53872688631318ba00e5204c68
+size 8611345
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..588ba562fe9eed8b4a49a4d42127be7aae090a58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdfd2d1c365083c5dbae12212c674b6da750b130dfd08281d7aa7040ee155078
+size 11825860
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.mtl b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2700df8ee477da0be4906d86e49b928f734b05d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.mtl
@@ -0,0 +1,6 @@
+newmtl plate_025_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/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f2558bcce1622f95ad77ed2c01aa8863b12666
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.obj
@@ -0,0 +1,109586 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_025_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_collision.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b481e9addec1f0932c1dd914c66f74497cff8941
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_collision.obj
@@ -0,0 +1,13726 @@
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..406bcc895fa7f7b89c15b63ac3461a7b57c558d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8611345
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..406bcc895fa7f7b89c15b63ac3461a7b57c558d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9b94f2ea40cb5b100206fb49c3857e06ca3a53872688631318ba00e5204c68
+size 8611345
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025.obj
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index 0000000000000000000000000000000000000000..a8d91bd60c3e1d4782fec64cf5c02576faf9e822
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+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0798a921c02daf94f58912bd9119753b4140c44b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision.obj
@@ -0,0 +1,13726 @@
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_0.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4549480ae87a96d2e609096e5e360086fe9e21d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_1.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55cb03c8aa9a90d96a10e48ffe88173422be33a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_10.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2659a894383ffa57c46b3ded3bf676c8dc9c0b2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_11.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060240a8ed42e28bc6f3db7793584db79c78ae5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_12.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5f899ce950dfd315feecb81233b1f7c8854eb2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_12.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_13.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3df65ac45ad4233483d41d2fd17b4d6470ebc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_13.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_14.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0341122ea2d80f1763f4df91cb884fb97c16eab2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_15.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfb4b7123fe0efb3f424b3088a484eeedeefc88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_16.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a957de8a1a3bb3981af031ee1f387622e9060733
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_16.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_17.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d35dc5d21b61ac594da0f01b3221077f3d7418d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_18.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa69a332056a240c2e96549db89e07ac899849d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_18.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_19.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0decee44ddb639604c09bf7841c037bf717dc43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_19.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_2.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a07c8b033bb3b87039f4904843acc9a021f571
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_20.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba84f7018b203381b09e4a9b353c0c750862b700
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_20.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_21.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a3bf57ec237e650a5138d09d8bd1d6d5b2ee3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_21.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_22.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df04b8af3b62bb93999ef4d9a921d2032bf46c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_22.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_23.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722c7591b1897802d0e099380bf75b0fbe377e25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_23.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_24.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f764e9ee983a55533c0e5b2d8b8a98e9b04f948
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_24.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_25.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9e196f186875101b7774a587fb03274f5e70dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_25.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_26.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c319416d95ff2e53af9a505c2a369711b966d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_27.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae42d816b001361879ec4536225e950288db2248
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_27.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_28.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6906bbb73c366dc6b896921bdec43d39df8de3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_28.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_3.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0b814f6eacff81f5a0d6652136b53ef5612692
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_3.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_4.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4edf2b076d8af92fc79f57e287316c8f8a3624
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_5.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14edbaa82e8a7af47c0bbc3a1236e36465fcf5b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_6.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af343bf434a0aa17107307c9eceb297c3f5e1c9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_7.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ae45e844940c607e6b309facda21a57e4ef21d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_8.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55fc12542f235433db6056cb69b6408be2d1e85b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_9.obj b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6c7cb92ea618bea7e5aaa4b441b4886d7d8f5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/mesh/plate_025_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/plate_025.xml b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/plate_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02b67ee00f3c5272224069dd786c8a972e2ef7ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mjcf/plate_025.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_025_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/plate_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/plate_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/plate_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/plate_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/plate_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/plate_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_025">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" 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/d04d6ad4deb35f7f8533ad101e885c25/plate_025.urdf b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f132f5e06866cda588cc93161fdbffbaba324ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_025">
+   <link name="plate_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</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>d04d6ad4deb35f7f8533ad101e885c25</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>marble plate</name>
+         <color>gray,white</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>round shallow plate with gray marble pattern and small foot ring</description>
+         <min_height>0.0259</min_height>
+         <max_height>0.0259</max_height>
+         <real_height>0.0259</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153935</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.089851 -0.089234 -0.011407</min>
+            <max>0.090149 0.091103 0.014475</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655b70f563990e707fcbae3031e600a2c171b5d35b551666ed39ecd58dec0c32
+size 4832988
diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/textures/material_0.png b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..406bcc895fa7f7b89c15b63ac3461a7b57c558d1
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+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/video.mp4 b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 132972