diff --git a/.gitattributes b/.gitattributes
index bffecf0d0ab945f60d684f87eab1d885ce9f43f4..92f0cf2cfda4d5efd457c8b8bfee1a64ab9861f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4356,6 +4356,5 @@ dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsti
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/c74419bc89df5c5c9ffa7c7c58b9f458.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5a376beac166644a3c173fd9718f4fde831f806
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33405286427678171cc59214b9e200419b425a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed7492ce96d7c3c50d7725b9abe28c1f2977bc2e90e7c4c8d5db9bb4df13d3d
+size 8711549
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.glb b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83f474ed8a07861c57a0fc2759ff99fb11352dde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377decb9948e0b0b352b887c308ae4f1f0efed8ddf62cf5a2e4c80355d449cf4
+size 11921084
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.mtl b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e574dfd821df9bd66816a01a37efe7b3bc534a4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.mtl
@@ -0,0 +1,6 @@
+newmtl plate_028_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/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842d17525b8ef692b24057a631ddc712fbbd68bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028.obj
@@ -0,0 +1,104146 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_028_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028_collision.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d8e138f265ffe337e1dff63a2c2600c7efdc0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028_collision.obj
@@ -0,0 +1,11566 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mesh/plate_028_geometry_Looks_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/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33405286427678171cc59214b9e200419b425a8c
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+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/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/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e01fd34d78067d138742281f87ddbc48e3d17f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision.obj
@@ -0,0 +1,11566 @@
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_0.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f9eb2e2023bc29d331434d45f6738ef504bf7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_1.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96979353f69e1a4861fa8dfb992a1cc453e212c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_1.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_10.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d5766fa9026d8ebc0b3b637f2760e46947118c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_10.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_11.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d28d341f22e897a2f55b9631e8ace3e3ee4b92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_12.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae38e180636dca880db27c3c019ad7a502b64b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_13.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15bb0174160c054f97dc30d8de0c141b9ada424
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_14.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f26bdefa04408f3f0682dd3f7ed7b208e5ea0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_15.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b093046d2809f12365c3c324d824d0d9291ee5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_16.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66cae87d5b4aa8ded84b06fc5f42e97337141dcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_17.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1952120923e2c976dd606450bab2bc3b4ba9f48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_18.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123ce46f1a4f52892322960afaa347f620fcc065
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_19.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1aa2b8995a12f7d40ee486e3583c6b5176c9f14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_2.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95723892829baf579b85da36dc0f06795444e88f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_3.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c025ac8656a94a92ac49b88daf45a4cec204421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_4.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6014c17252cdb983a7a2a0f2c854b418477888
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_4.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_5.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2638ea75b91e7289bd213021c25c06a51258fe71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_5.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_6.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..163d61a0718cb2ba51f7fc8df578ff23f6ddf7bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_7.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0775c3e0803ec052a600be1d25493a53634f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_7.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_8.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d9c3ad79e317fffb2693f78c2fb963273ebc591
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_8.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_9.obj b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e90c96281e1bf5e05c8d5c79579899746f1aae8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/mesh/plate_028_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/plate_028.xml b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/plate_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ed50c0cd1b981c1ad567b58c08c3d29b60c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/mjcf/plate_028.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_028_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_028_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_028_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_028_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.urdf b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2535d3abd440fcaf90e7b1acdd1b3d74711729e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_028">
+   <link name="plate_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c47f6ed6b4bf5e1186c8f4ed5d1215ed</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>floral plate</name>
+         <color>white,red</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>round scalloped ceramic plate with red rose motifs</description>
+         <min_height>0.0295</min_height>
+         <max_height>0.0295</max_height>
+         <real_height>0.0295</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154037</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.089687 -0.091355 -0.013068</min>
+            <max>0.090313 0.090377 0.016409</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.usd b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/plate_028.usd
@@ -0,0 +1,3 @@
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+size 4816212
diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/textures/material_0.png b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/video.mp4 b/dataset/kitchen_supplies/tableware/c47f6ed6b4bf5e1186c8f4ed5d1215ed/video.mp4
new file mode 100644
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