diff --git a/.gitattributes b/.gitattributes
index b07769d3719ff6085a87d190af28d6f077173caa..0bcd6a01e7ae4c3555b9707946ee8d37edf6e900 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4349,3 +4349,5 @@ dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/mesh/spoon_0
 dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/spoon_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/mesh/tray_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/tray_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material.mtl b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9cfa5de9c0dc3928f97e975153779d003d1c67a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8767e0986c42e3182a1402d0156076de401aa218
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7618955ceee1803207f55d3eed479ba15266534b8f771ff400b1b944599eb5b5
+size 9160359
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ebc0e53057d1c85e7a4c5ca45d95693ca19c0de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e2acd8666448ba3068309b7a4280a061f3223c9533662b56f67cff4f4a4b3e
+size 12536792
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.mtl b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40195de4c7ca57099523812a9bfd008768fe6291
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.mtl
@@ -0,0 +1,6 @@
+newmtl plate_032_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/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e38d22df8a0ea51e29544e856b8e8b99a3b9ccf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.obj
@@ -0,0 +1,109236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_032_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032_collision.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f3b744f0a416fd4e14166d2d86d087c4c9917a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032_collision.obj
@@ -0,0 +1,8456 @@
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+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d36b1a1082e34c87628395a9dcd11e42d1b7fefa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4be4fe143bc7b1d7dca195d5e22c5ec1d30fa7df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision.obj
@@ -0,0 +1,8456 @@
+# https://github.com/mikedh/trimesh
+
+o plate_032_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_0.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20cd4b076482be90d25ec192fca43045b440a64
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_1.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d6ef85808420266394709fda816edab29fc8f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_10.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94318077cdfd3bbf8e8524abf3838b7145b2f2d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_10.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_11.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b60364687d25a3388fde8a7d83a1cd1063a4115
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_11.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_12.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e07d9ebff7c5d08f2ba0afa290196c9cd1f8276a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_13.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14979e1333a306c8615c6566c4caba286e0d349
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_13.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_14.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8128f096019a70e495f44aa3f53479c5199b5a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_14.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_15.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a167d62f44db19a6697d8af744c351d8841c84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_15.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_16.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38eaf5f962936374cb53195b9bee48904b20f77e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_16.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_17.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e102d313395525b701cdf755e7c9822f3c7209f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_17.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00161084 0.06748825 0.00184806
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+
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_18.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beca7d68d441d6c09c2a1eb5eb779606cfee3c7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_19.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ac442270abcadb3e83a5701b052c7508189d7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_19.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00052464 0.06750323 0.00186165
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+
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_2.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d61e2da3cd83c0140a3d55b514277f9e15e8d2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_2.obj
@@ -0,0 +1,745 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_20.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e47d57be5ee8d2f08d29bbd5b5026d03db645c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_3.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0162c491cd3f977e5403248ca9a3d142d3c4a9ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_4.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e437dba0cef674f651d88c939e5198af12bbd834
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_4.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_5.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6901e8701d0086dc37af7c18b7c7b31c7a7261
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_5.obj
@@ -0,0 +1,664 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_6.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928028b95c942d73351f07f15e9f006209835ab5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_7.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334070698bdad62b4590333ba34cf36e84605196
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_7.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_8.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9c335467af7436e2c8221b694b82486f1b8e40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_8.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_9.obj b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0190027eba55130b4ea49e3b4b3fefe46894e7a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/mesh/plate_032_collision_9.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/plate_032.xml b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/plate_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68b6629ac9e806dd7d99747beeb593a73a6d5a95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mjcf/plate_032.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_032_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_032_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_032_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_032_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_032_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_032">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.urdf b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ffb5900858c05283ff2c5fde72a5c1340887cc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_032">
+   <link name="plate_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>bcf80c0b262450fa9fc5907264a761d3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>gray dinner plate</name>
+         <color>gray</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>round shallow gray plate with broad rim</description>
+         <min_height>0.0280</min_height>
+         <max_height>0.0280</max_height>
+         <real_height>0.0280</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154210</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.095031 -0.095710 -0.011719</min>
+            <max>0.094969 0.094921 0.016296</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/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a1302be95d554547a5db1c03147d914017c1760fc4aef992b13dc3be27ed20
+size 4934259
diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/textures/material_0.png b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/video.mp4 b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/video.mp4
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc7ae4d99a1b5de1b9d5b254c3106b173b1d408243318f790ba5994a81e295d
+size 77745