diff --git a/.gitattributes b/.gitattributes
index 643fb34a55e110a4952405b993c73c79bc1a8178..17989d15e948f636762d78da607619aa9ff648e3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4197,3 +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
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material.mtl b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac6ad7d3bdf9aab94f4ee00534395018c80d66c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material_0.png b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58d93eec4199d9b0918bc67258536e585bad8f0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a9516a49ce91c23b4b92052c8e91ea7f8ea0f8c104d75bfc112ac87c3387d0
+size 8949112
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..38f12b6969c943e3a41237f755597463f60ee91e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ccef1125a533a6c35085529b1b478e3521f2d9439cf934a3de5b0f5813d14c6
+size 12273084
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.mtl b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24f5efb5c3eaf6595fb37e16b3285b52eae5718d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.mtl
@@ -0,0 +1,6 @@
+newmtl plate_030_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/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a7ac516f0d20cab6f80c507e96e83e89600e50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.obj
@@ -0,0 +1,105244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_030_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030_collision.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8664b30c0423737ee9c3cd1deed95345d5d3a62e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030.obj
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+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c9c35d937ef2c6c4af639c3a19c91a42dba586
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision.obj
@@ -0,0 +1,13872 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_0.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30415c5d8ccd13d804c7d0ac7ceb6d89aa611d7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_1.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edd1a04360d6db71e62d1ae325c082719380f0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_1.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_10.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7907babf543025f983335071b58e81e083342e1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_10.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_11.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e0388a96f10bca537d01e29c072c8c8da867a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_11.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_12.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5654fe16b0d317980165a402639acbea728d32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_13.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f00c0f2e5757462077e786234c657af4d9a720f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_13.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_14.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cfc51a3005c039b1f3f5016c9c48e8e34cdae5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_14.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_15.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289c2b7b0f8feb60626b24643a287d152488d481
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_16.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06fc9607f2732c88880ae53c147a076e7336054c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_17.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165e8848c27231d1a7c37efe3cd32d1cce33ec3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_18.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4301553239ed531cd06e88be4a88a0e7a597f00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_19.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108ff607d505174c0c8260271525c000ea389335
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_2.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69c31b1057adf152bf27a20be62770e69b2c2e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_2.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_20.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60bb237d68fbe0aeebf0990ca79334044f821f9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_20.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_21.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d73c2ac05158f84d795920b0e8631d9dab1af6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01907147 -0.06733310 -0.00756185
+v -0.02178463 -0.06733310 -0.00699745
+v -0.01907147 -0.06291614 -0.01718982
+v -0.01907147 -0.06733316 0.00764041
+v -0.02202056 -0.06733310 -0.00694765
+v -0.02151289 -0.06252215 -0.01670842
+v -0.01907147 -0.06152546 -0.01860082
+v -0.02493174 -0.06733311 -0.00627037
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+v -0.02963133 -0.06733311 -0.00502205
+v -0.03091208 -0.06733311 -0.00463029
+v -0.03109535 -0.06733311 -0.00457385
+v -0.03394755 -0.06733312 -0.00361105
+v -0.03642900 -0.06733312 -0.00271465
+v -0.03734322 -0.06733312 -0.00236937
+v -0.03822373 -0.06733312 -0.00202078
+v -0.03934860 -0.06733312 -0.00154602
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+v -0.03980782 -0.06733313 -0.00134682
+v -0.03989840 -0.06733313 -0.00130698
+v -0.01907147 -0.04557645 0.00048590
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+v -0.02795035 -0.05972802 -0.01688769
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+v -0.04058933 -0.06733313 -0.00098826
+v -0.01907147 -0.06151480 -0.01860746
+v -0.04058933 -0.04557646 0.00344734
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+v -0.02965872 -0.05932978 -0.01638305
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+v -0.01907147 -0.05608203 -0.01910876
+v -0.03740852 -0.04557638 -0.01918507
+v -0.03876931 -0.05063646 -0.01916186
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+v -0.03387803 -0.05180352 -0.01950381
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+v -0.04058933 -0.04848763 -0.01930461
+v -0.03977833 -0.04885819 -0.01936105
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_22.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a7faf0bb206acb7e7c136982914846ec1b10aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_22.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03130270 0.00090054 -0.00805421
+v 0.04942094 0.02190567 -0.01010186
+v 0.04942094 0.00090054 -0.00856732
+v 0.03130270 0.00090051 -0.00028750
+v 0.03130270 0.04498136 -0.01010177
+v 0.04942094 0.04524615 -0.01010177
+v 0.04942094 0.00090051 0.00068723
+v 0.04942094 0.04524609 0.00583090
+v 0.03130270 0.04524610 0.00150774
+v 0.03130270 0.04524615 -0.01010177
+f 1 2 3
+f 1 3 7
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+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 6 10 9
+f 6 9 8
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_23.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5625b4f1c8ba77225a416dc0a6bc2fcf166603e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_23.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02379305 0.04524614 -0.00868597
+v 0.00041772 0.04524614 -0.00816745
+v 0.02379305 0.05527843 -0.01738245
+v 0.02379305 0.04524611 0.00072632
+v 0.00041772 0.06087673 -0.01780232
+v 0.02379305 0.05649742 -0.01817995
+v 0.00041772 0.04524611 0.00012044
+v 0.02379305 0.06952119 0.00968781
+v 0.00041772 0.06384222 -0.01895771
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+v 0.00041772 0.06952120 0.00713748
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+v 0.01059752 0.06416538 -0.01880553
+v 0.00170363 0.06384222 -0.01895489
+v 0.01356062 0.06266838 -0.01909580
+v 0.01059752 0.06268264 -0.01907325
+v 0.01059752 0.06221690 -0.01907325
+v 0.00833916 0.06230957 -0.01904507
+v 0.02379305 0.05802056 -0.01895773
+v 0.00041772 0.06680770 -0.01773466
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_24.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f5466469c4edd5ddb4fb7118c47008f9f6ae91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_24.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.05278862 -0.03020451 -0.01946228
+v -0.05473566 -0.03020451 -0.01945924
+v -0.05463498 -0.02807908 -0.01960537
+v -0.05278862 -0.02965945 -0.01949882
+v -0.05278862 -0.03020459 0.00342454
+v -0.05542650 -0.03020451 -0.01937399
+v -0.05778403 -0.02522283 -0.01939528
+v -0.05760125 -0.02214734 -0.01958099
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+v -0.05278862 -0.02732695 -0.01933135
+v -0.05278862 0.00089746 0.00124771
+v -0.06861284 -0.03020462 0.01149902
+v -0.05693829 -0.02807908 -0.01931613
+v -0.05636982 -0.03020451 -0.01917304
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+v -0.05970784 -0.02214734 -0.01928871
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+v -0.06281971 -0.01028995 -0.01932520
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+v -0.05956224 0.00089753 -0.01883497
+v -0.05278862 -0.02611807 -0.01917607
+v -0.06861284 0.00089743 0.00716656
+v -0.05278862 0.00089750 -0.01129026
+v -0.06861284 -0.03020457 -0.00363302
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_25.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..176d0138e5e7e3aceb7a3555fa477644774f9b49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_25.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_26.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddb86ee469eeeeca4d3ea13c0709083d6a9125a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_26.obj
@@ -0,0 +1,1042 @@
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_27.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c71617fda1f5e681ec79c2089f72952970a8ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_28.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce90e35462747938cdbd4b23deb72c6c42b36591
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_28.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_29.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e9ebc1b43c966528c3180ff83b3fd31d45c249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_29.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_3.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ad8bef5029d8f98c3dd7b86c64e5bcc825d4d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_3.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_30.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae26233395df51736972eda9d5883e5a59df2250
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_31.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644379580e6397b7e134e3f09dc140088017fc2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_31.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_32.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce33d1fae17502d2086d8dc645f4ec466f8a2bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_32.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00467901 -0.08657571 0.00714205
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_33.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562d77d8d4a02dfa532c702bef886145ca500fee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_33.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03130270 0.04498111 -0.01010177
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+v 0.03130270 0.04524386 -0.01021051
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_34.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90375260d11eeaedfae3cdb4afc5ceca97619f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_34.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.05130489 0.00090055 -0.01034779
+v -0.03056961 0.00090054 -0.00834389
+v -0.05130489 0.00090051 0.00092478
+v -0.05130489 0.01650821 -0.01135054
+v -0.03056961 0.00090051 -0.00041694
+v -0.03305598 0.04468860 -0.01135044
+v -0.03122926 0.04468860 -0.01062744
+v -0.03056961 0.04468860 -0.01008693
+v -0.05130489 0.04468854 0.00640481
+v -0.05130489 0.04468860 -0.01135044
+v -0.03056961 0.04468856 0.00128644
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 11
+f 2 11 5
+f 3 5 9
+f 4 10 6
+f 5 11 9
+f 6 10 9
+f 6 9 11
+f 6 11 8
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_35.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ece541da954b0cc9b057b46d0a83e65236ed8c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_35.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.02425481 0.04469530 -0.00889722
+v -0.02425481 0.05506286 -0.01762396
+v 0.00041772 0.04469530 -0.00815392
+v -0.02425481 0.04469527 0.00065513
+v -0.02425481 0.05703139 -0.01888644
+v 0.00041772 0.06087850 -0.01780267
+v 0.00041772 0.04469527 0.00008205
+v -0.02425481 0.06952043 0.00985863
+v -0.02425481 0.05845795 -0.01909071
+v -0.02201844 0.05898532 -0.01911907
+v -0.01988350 0.05923807 -0.01907935
+v -0.00550891 0.06235125 -0.01902827
+v 0.00041772 0.06384343 -0.01895734
+v 0.00041772 0.06952044 0.00713790
+v -0.02425481 0.06952049 -0.00508129
+v -0.02425481 0.05958317 -0.01909921
+v -0.01312126 0.06198913 -0.01911622
+v -0.01016036 0.06215197 -0.01909636
+v -0.00719464 0.06228563 -0.01905380
+v -0.02201844 0.05993556 -0.01911907
+v -0.01016036 0.06279355 -0.01909636
+v -0.01312126 0.06272551 -0.01911622
+v -0.00126318 0.06384343 -0.01896018
+v -0.00719464 0.06412534 -0.01890910
+v 0.00041772 0.06680836 -0.01773455
+v 0.00041772 0.06952050 -0.00919501
+v -0.02201844 0.06952049 -0.00562316
+v -0.00348023 0.06834428 -0.01628482
+v -0.00545577 0.06826894 -0.01607771
+v -0.01608698 0.06586298 -0.01688061
+v -0.01836200 0.06555919 -0.01652030
+v -0.02033995 0.06526270 -0.01579402
+v -0.02425481 0.06306087 -0.01697708
+v -0.02425481 0.05967066 -0.01909921
+v -0.01608698 0.06255782 -0.01909069
+v -0.01016036 0.06427602 -0.01879846
+v -0.00126318 0.06680836 -0.01773172
+v 0.00041772 0.06749369 -0.01713877
+v 0.00041772 0.06869180 -0.01479253
+v -0.00126318 0.06952050 -0.00918083
+v -0.01913724 0.06952049 -0.00627001
+v -0.00126318 0.06868694 -0.01479253
+v -0.00126318 0.06839046 -0.01635291
+v -0.00437140 0.06709269 -0.01733453
+v -0.00719464 0.06668927 -0.01749909
+v -0.01016036 0.06647783 -0.01738844
+v -0.01140896 0.06952050 -0.00793820
+v -0.01312126 0.06620321 -0.01720120
+v -0.01608698 0.06404028 -0.01829063
+v -0.02201844 0.06348374 -0.01733455
+v -0.02425481 0.06094655 -0.01852045
+v -0.02201844 0.06141802 -0.01874456
+v -0.01983037 0.06184575 -0.01894883
+v -0.01785483 0.06241929 -0.01904813
+v -0.01312126 0.06420797 -0.01861121
+v 0.00041772 0.06839288 -0.01635575
+v -0.00422891 0.06952050 -0.00898224
+v -0.00807614 0.06952050 -0.00856519
+v -0.00706905 0.06952050 -0.00869002
+v -0.00452114 0.06952050 -0.00895954
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 33
+f 1 33 51
+f 1 51 34
+f 1 34 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 13
+f 3 13 25
+f 3 25 38
+f 3 38 56
+f 3 56 39
+f 3 39 26
+f 3 26 14
+f 3 14 7
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 8
+f 8 14 26
+f 8 26 40
+f 8 40 57
+f 8 57 60
+f 8 60 59
+f 8 59 58
+f 8 58 47
+f 8 47 41
+f 8 41 27
+f 8 27 15
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 10 12 11
+f 10 16 34
+f 10 34 20
+f 10 20 22
+f 10 22 17
+f 12 19 13
+f 13 19 18
+f 13 18 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 17 22 21
+f 17 21 18
+f 20 34 35
+f 20 35 22
+f 22 35 24
+f 22 24 23
+f 24 36 37
+f 24 37 25
+f 24 35 36
+f 25 37 38
+f 26 39 40
+f 27 41 28
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 28 41 47
+f 28 47 42
+f 29 46 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 33
+f 31 33 32
+f 33 50 51
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 34 51 52
+f 35 54 36
+f 36 54 55
+f 36 55 45
+f 36 45 37
+f 37 45 44
+f 37 44 43
+f 37 43 56
+f 37 56 38
+f 39 56 43
+f 39 43 42
+f 39 42 40
+f 40 42 57
+f 42 47 58
+f 42 58 59
+f 42 59 60
+f 42 60 57
+f 45 55 46
+f 46 55 48
+f 48 55 49
+f 49 55 54
+f 49 54 50
+f 50 54 52
+f 50 52 51
+f 52 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_36.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9d03d40cc94bc10b21a7c2fc7e9d7eb04c2f02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_36.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.05278743 -0.03020756 -0.01946179
+v -0.05278743 -0.02965995 -0.01949994
+v -0.05214867 -0.03020756 -0.01946179
+v -0.05278743 -0.03020764 0.00342628
+v -0.05161260 -0.03020756 -0.01939671
+v -0.05278743 -0.02732718 -0.01933162
+v -0.04059144 -0.03020763 0.00064803
+v -0.04059144 -0.01536854 -0.00011718
+v -0.05278743 -0.01536855 0.00171180
+v -0.05225016 -0.02807959 -0.01931142
+v -0.05012258 -0.03020756 -0.01904887
+v -0.05278743 -0.02611722 -0.01917453
+v -0.04059144 -0.03020759 -0.01035952
+v -0.04059144 -0.01536851 -0.00874817
+v -0.05278743 -0.01536849 -0.01464580
+v -0.05278743 -0.02596906 -0.01914760
+v -0.05027898 -0.02968755 -0.01899276
+v -0.04955665 -0.03020756 -0.01869654
+v -0.04726072 -0.03020757 -0.01688775
+v -0.04916385 -0.03020756 -0.01842051
+v -0.05278743 -0.02420714 -0.01860451
+v -0.05278743 -0.02333562 -0.01828808
+v -0.05278743 -0.02125415 -0.01749589
+v -0.05278743 -0.01914216 -0.01667676
+v -0.05278743 -0.01901579 -0.01662515
+v -0.05278743 -0.01781745 -0.01601474
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 19
+f 1 19 13
+f 1 13 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 6 12 10
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 10 12 11
+f 11 12 16
+f 11 16 17
+f 11 17 14
+f 11 14 18
+f 13 19 14
+f 14 19 20
+f 14 20 18
+f 14 17 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 21 17
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_37.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77956abd6fd237511034049f406dafe3fa586e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_37.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.04390521 -0.03103657 -0.01092979
+v 0.04802654 -0.03011372 -0.01548517
+v 0.04904185 -0.03103655 -0.01720086
+v 0.05320688 -0.03103657 -0.01092979
+v 0.05320688 -0.01110500 -0.01092972
+v 0.04935053 -0.03103655 -0.01755898
+v 0.05320688 -0.03103654 -0.01924455
+v 0.05320688 -0.02185507 -0.01663599
+v 0.04982495 -0.03103654 -0.01792197
+v 0.05227899 -0.03103654 -0.01922502
+v 0.05320688 -0.02880263 -0.01915991
+v 0.05320688 -0.02214187 -0.01675644
+v 0.05124183 -0.03043367 -0.01871552
+v 0.05191658 -0.03103654 -0.01908666
+v 0.05320688 -0.02717938 -0.01874400
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 14
+f 1 14 10
+f 1 10 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 11
+f 4 11 15
+f 4 15 12
+f 4 12 8
+f 4 8 5
+f 5 8 6
+f 6 8 9
+f 7 10 11
+f 8 12 9
+f 9 13 14
+f 9 12 13
+f 10 14 11
+f 11 14 13
+f 11 13 15
+f 12 15 13
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_38.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ae1f1950c9f18073c96f02d3c99c027cc1fe42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_38.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05320687 -0.03103662 0.00365007
+v 0.04160426 -0.03103661 0.00087710
+v 0.05320687 -0.03103657 -0.01092979
+v 0.05320687 0.00090050 0.00140098
+v 0.04160426 0.00090051 -0.00003332
+v 0.04160426 -0.03103657 -0.00976095
+v 0.05320687 -0.01110713 -0.01092972
+v 0.04390434 -0.03103657 -0.01092979
+v 0.05320687 0.00090055 -0.00979509
+v 0.04160426 0.00090054 -0.00802541
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 8 7
+f 4 9 10
+f 4 10 5
+f 6 10 8
+f 7 10 9
+f 7 8 10
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_39.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e520340c7157f5046aa27d2166b95beba4c8b213
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05278743 -0.01536849 -0.01464502
+v -0.05278743 0.00090055 -0.01129032
+v -0.04059144 0.00090054 -0.00850893
+v -0.04059144 -0.01536851 -0.00874918
+v -0.05278743 -0.01536855 0.00171186
+v -0.05278743 0.00090051 0.00124756
+v -0.04059144 0.00090051 -0.00023681
+v -0.04059144 -0.01536854 -0.00011678
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_4.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437b86cf1cf7f6fc868794f837552631bf660e84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_4.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00041772 0.00090054 -0.00823936
+v 0.00170258 0.00090054 -0.00823363
+v 0.00041772 0.00090051 -0.00044447
+v 0.00041772 0.04524614 -0.00816923
+v 0.03130270 0.04524615 -0.01020971
+v 0.01059985 0.00090054 -0.00819119
+v 0.03130270 0.00090051 -0.00028733
+v 0.03130270 0.04524610 0.00150787
+v 0.00041772 0.04524611 0.00012002
+v 0.03130270 0.00090054 -0.00805355
+v 0.01652531 0.00090054 -0.00815908
+v 0.01423675 0.00090054 -0.00817284
+v 0.01356258 0.00090054 -0.00817628
+f 1 2 6
+f 1 6 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 8 7
+f 5 7 10
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_5.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f570d80a115dcfa62a6245b69ac53aa826d795ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_5.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.04059143 -0.04557641 -0.01043246
+v -0.02442152 -0.04557641 -0.01043246
+v -0.04059143 -0.04557646 0.00345057
+v -0.04059143 -0.03039042 -0.01043240
+v 0.00467901 -0.04557642 -0.00856526
+v 0.00467901 0.00089599 -0.00821856
+v 0.00467458 -0.04557645 0.00005592
+v 0.00467901 0.00089596 -0.00043721
+v -0.04059143 0.00089596 -0.00023609
+v -0.04059143 0.00089599 -0.00850802
+v 0.00467901 -0.04557642 -0.00773766
+v 0.00467901 -0.04290593 -0.00015471
+v 0.00467901 -0.04289229 -0.00015471
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 6 8
+f 5 8 13
+f 5 13 12
+f 5 12 11
+f 6 10 9
+f 6 9 8
+f 7 11 12
+f 7 12 13
+f 7 13 8
+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_6.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7274a881b2aa288d69c8ef9467d38f50a7a3c71e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_6.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v 0.04942423 0.05088727 0.00804704
+v 0.06031497 0.03687174 0.00804699
+v 0.04942423 0.06701801 0.01893723
+v 0.04942423 0.07213250 0.00804711
+v 0.07928487 0.03687174 0.00804699
+v 0.07544612 0.03687170 0.01965126
+v 0.04942423 0.06984350 0.02070368
+v 0.04942423 0.07228304 0.00820610
+v 0.05113290 0.07161527 0.00876000
+v 0.05184074 0.07044570 0.00804711
+v 0.08024292 0.03687174 0.00923681
+v 0.07839597 0.03868206 0.00804699
+v 0.07796140 0.04012183 0.00838262
+v 0.07693751 0.03687169 0.02060767
+v 0.04942423 0.06988981 0.02071377
+v 0.04942423 0.07368033 0.00992333
+v 0.05311154 0.07089731 0.00964196
+v 0.05439223 0.06892102 0.00848240
+v 0.04968761 0.07359156 0.01004446
+v 0.05320373 0.06942281 0.00804711
+v 0.08090795 0.03687173 0.01024747
+v 0.07997295 0.03801042 0.00961155
+v 0.07767826 0.04012183 0.00804700
+v 0.07749060 0.04193601 0.00895167
+v 0.07878774 0.03687169 0.02082973
+v 0.05211070 0.06977402 0.02093584
+v 0.04942423 0.07295463 0.02082860
+v 0.04942423 0.07455655 0.01115480
+v 0.05069833 0.07427091 0.01192446
+v 0.05190329 0.07259183 0.01078385
+v 0.05403338 0.07158824 0.01152196
+v 0.05520212 0.06987441 0.01044569
+v 0.05636757 0.06813358 0.00936941
+v 0.05483009 0.06814516 0.00804710
+v 0.08111865 0.03687173 0.01057427
+v 0.08102318 0.03707630 0.01056543
+v 0.07950875 0.04021832 0.01056544
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_7.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3e6d51bc4699085727fea7b3a92d65967c0a09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_7.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.03056961 0.00090054 -0.00834479
+v -0.00422917 0.00090054 -0.00825794
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+
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_8.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dda864ba72e55e34335c73548c385ad096e2b13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_8.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
+v 0.06850217 -0.03103660 -0.00366678
+v 0.06850217 -0.02941097 -0.00417114
+v 0.06955672 -0.03103660 -0.00292986
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_9.obj b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c167f9400735c4975f3a0de01f6af3e9cbe13c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/mesh/plate_030_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/plate_030.xml b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/plate_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6de4a87a415c7eeafe35341b5fb569b61c432298
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mjcf/plate_030.xml
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_030">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/plate_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/plate_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_39" file="mesh/plate_030_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_030">
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.urdf b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4d4eb25909052c9e98a14c7bbb7c98b40e9ed0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_030">
+   <link name="plate_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>41595c16627f550ca1fb1b46f44ca836</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>gray plate</name>
+         <color>gray,brown</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round gray plate with brown rim and foot</description>
+         <min_height>0.0403</min_height>
+         <max_height>0.0403</max_height>
+         <real_height>0.0403</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154124</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.089778 -0.089881 -0.019413</min>
+            <max>0.090222 0.090063 0.020935</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/41595c16627f550ca1fb1b46f44ca836/plate_030.usd b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.usd
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@@ -0,0 +1,3 @@
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+oid sha256:88eb747fdcae65aa6171755f4b3f26e34e26fdfe08d6a8b02e3c1c1274b68b26
+size 4894003
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/textures/material_0.png b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8949112
diff --git a/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/video.mp4 b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac3769365ab4b1ce0aa2803cb50f7d3c90ae19708a1bf37ea2aa7a74ea888e1
+size 85038