diff --git a/.gitattributes b/.gitattributes
index 08ae13ef07b53619fbce3b344301ee42cea502bc..f71b8972d8a7a8b29b06bcd2b3809fc91b3ce3e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4051,3 +4051,5 @@ dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_03
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material.mtl b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c33402c7bed29653d5885062167e5f07df99f8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material_0.png b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..203068f26bcaad68d863d114fde308d9bb7e4318
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aae9213fc968075e344331663c414945b1767ed584f2a42c9598b26138624f4
+size 8501326
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.glb b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fe3174ebdf5d202125c21dd413b845668531d350
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e5b4f20190ca69fe5774ae191af804674174950e752879bb085327dcb35ed4
+size 11800384
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.mtl b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ce732787a65819a33c96e7c58e12e5fe320b6c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.mtl
@@ -0,0 +1,6 @@
+newmtl plate_027_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/054e5991850e5b7093728c802615e0a2/mesh/plate_027.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5804c154b4f1bd9c0ab7ab3960805b1b743944d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.obj
@@ -0,0 +1,106750 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_027_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027_collision.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2526261ce314a3a4b42399b1e3d00ae468ea8ecc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027_collision.obj
@@ -0,0 +1,8392 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..203068f26bcaad68d863d114fde308d9bb7e4318
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+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027.obj
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index 0000000000000000000000000000000000000000..2c03e6692c6d3766068bf0dbc3f0260ab3df6093
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+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027.obj
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745b7e3dab9b4527827508c932761c17ef0cf306
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision.obj
@@ -0,0 +1,8392 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_0.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd25c073c149c5f2c4dd55d8216f417ac7b9deb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_1.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5760284387ce8988a9b69777b947934e9aaa8c3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_10.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8d9253fbcd6694b5a5073e1e462b2c447edea4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_11.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2754dd5367bdd509ac8821ba83d14541fe91dfaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_11.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_12.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bb83f31884c0df23be984c8b24a25dca48d615
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_13.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77fbec0a35574297139de87e15fa32e1ead4c6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_14.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2dc3d0b5daad745fb2d11231c56ef0bc319c9ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03701557 0.04280803 -0.00248438
+v 0.05227078 0.04280803 -0.00248438
+v 0.05097622 0.02437028 -0.00248445
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+v 0.05518845 0.04280802 -0.00061549
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_15.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1999912dc32b3b0baa8710e29596c77857b023
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_15.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.06041374 -0.00018740 -0.01063419
+v -0.05923774 -0.00018739 -0.01320656
+v -0.04259048 -0.00018740 -0.01063419
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_16.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40c2d4f41ac46a53d3d0095f32a5b12f70f66bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_16.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03139853 -0.02966094 -0.01068020
+v 0.03139853 -0.05175810 -0.01068028
+v 0.03139853 -0.04297705 -0.01517345
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_17.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c28bfeb7af766595e2a4ab069551889f54dfc0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00138586 0.06097920 -0.01063567
+v 0.00435769 0.06082560 -0.01063567
+v 0.00138586 0.06064597 -0.01249648
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+v -0.00011709 0.06064337 -0.01249648
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+
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_18.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4181a13481f21cee6105987ba066f1c015e5494
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_18.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.03140135 -0.05175518 -0.01068028
+v 0.03140135 -0.05074552 -0.01259099
+v 0.03193932 -0.05020031 -0.01304576
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_19.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40738873a1cfb91003ccfacdc30eda894efce072
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_19.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_2.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56917fe50bd6ea98edddb52150d6f33c123cb41
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_20.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c61e5926bcec032e5c9173e24582ecf6e5d49ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_21.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a1cb5d1d9e83239ccddf69595d88db68730149
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_21.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_22.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6ef9615b48ca9596a55873d7b73e5564ffb95a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_22.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_23.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9119ca08be906c1b88650dd704fe960566a839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_23.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_24.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8651df340e830131a46cd7174f8b75907cc1756f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_25.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6c7db80f69019a12b0006500f80a284fd5a767
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_25.obj
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_3.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efbbe7d5963494b25fc501e48acff64c68f98a2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_3.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_4.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4b091cdc023b27ff28033af52fc8648c070941
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_4.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_5.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0cdb6cdd24c715e87875a629543a2bab2d61cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_6.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bac2178ffc54850cc9a11e3136c6dd9a18c90b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_7.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e6bc3f7e6513cf21997c56c60835f5934c9df95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_8.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..230b9902b734c33ea671c975e98533c6d182f4a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_8.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_9.obj b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1db8afce5c9052fe2149d23e203a1937bf75acd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/mesh/plate_027_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/plate_027.xml b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/plate_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd829ac3596dfcbe9b2c450eef4effaef250fde2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mjcf/plate_027.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_027_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_027_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_027_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_027_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/plate_027_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/plate_027_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/plate_027_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_027">
+      <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" />
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+      <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" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.urdf b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d345602b01244e7fe896117c6ee9811ad83dcbe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_027">
+   <link name="plate_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_027.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_027_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>054e5991850e5b7093728c802615e0a2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>white plate</name>
+         <color>white,green</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round white plate with slightly raised rim and foot ring</description>
+         <min_height>0.0379</min_height>
+         <max_height>0.0379</max_height>
+         <real_height>0.0379</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154017</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090104 -0.090007 -0.015786</min>
+            <max>0.089896 0.089806 0.022134</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/054e5991850e5b7093728c802615e0a2/plate_027.usd b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/textures/material_0.png b/dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/textures/material_0.png
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