diff --git a/.gitattributes b/.gitattributes
index c5d3ee8944d61745ea9ec342393677e6fd3c3dcd..e7df409df990827a8a2246710e1f8292ea1dfafe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4194,3 +4194,6 @@ dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_04
 dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/chopsticks_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/mesh/chopsticks_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.urdf b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb5121db9854610648537fbd54143a8325efde28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_plate">
+   <link name="fruit_plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.371016</scale>
+         <version>v0.1.7</version>
+         <category>fruit plate</category>
+         <description>flat black plate with slightly curved edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260117164542</generate_time>
+         <gs_model>mesh/fruit_plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3883562088012695</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.usd b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8f2917ae6406ccdfc0cc49a6e9790d0bb2f6bd1e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/50565c7154e55096a938e513e8cc1eca.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:691d36024f458657983e41b745e03ac2f52f244f7ff527265b8bafa5cf78ebd8
+size 358494
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..401f2bf46507fd2c2b9871094d761cff43fd4bca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19553a242951045cf483e69a3de4b348ea7e67d637747b350449f21b90b6c92
+size 1411884
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c13b1c0fe6f03139dfdb0b583d3be8f0d42684a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate.obj
@@ -0,0 +1,21988 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac5f161a1987bacb86b4177a37f47932f2f9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3b0d47b77a437217ea0248a03784a3d1fb1e61fe
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/material.mtl b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/material_0.png b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4b49edc168bea7aa08112d62293729b25710ccb5c47fbd427de0e9b845176b62
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/50565c7154e55096a938e513e8cc1eca.xml b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/50565c7154e55096a938e513e8cc1eca.xml
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index 0000000000000000000000000000000000000000..9ad0176812c33a80f2043ec895eed33150ea0309
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8ef4d98889d6109bfe8b89ef4d565e90f28937
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate.obj
@@ -0,0 +1,21988 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7743b3b29d8ed803348f6e8bc93c73a8c64413
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,7711 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcdcf1911bc8822f342846fe2b23f7a4990ff050
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5705ad730cab009fb427b7d391f9a527d70c72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e7df8420485fb69cc4be3ff6e2124441e7b42f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d9df422d3a5d376f12c43abd45f0d8f5a48d89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d95eba83965006ebd01094294ddecd5e269931
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3809f471285182b8e7bd24430b9e1e94c5d221
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03eb92fa2ff5a6dff14ca0625c5bf013b761e68e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02779f2b8a835466ddbb2dffd280a7af4bac3aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_3.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60d77f18d56c35905e6158cb0aea17de42d0144
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_4.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcd647562ce9fe513d9b686c35596726232d843
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e81332f2b0d48a9520c0f1575c3b06c5bb68656
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76386da835eae9c40e1e03316b35669507e7c8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5256b429af558780a24aba57f0e57591800627cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_8.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ac6b103d6158793af7211a675fc9417af2a2e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/mjcf/mesh/fruit_plate_collision_9.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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