diff --git a/.gitattributes b/.gitattributes
index 1b22648f19f462be620006e094e2affbd876ed84..e5207643a9136c43d6c8f82e1a2b31111230f47b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4279,7 +4279,5 @@ dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/chopsticks_0
 dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mesh/chopsticks_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mesh/chopsticks_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mjcf/mesh/chopsticks_005.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/98e170234bdb57c0b71c4a3b17744c82/bowl_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/98e170234bdb57c0b71c4a3b17744c82/mesh/bowl_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/fork_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/fork_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..93968fb6bb3bf9e305c1d701545978e4ab263805
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7104e34b85b582b228d6e71c469c813af38386ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d07a4811532f469c7f60167ce32dcb227e8dc681db156d26b7a197610753da
+size 10347074
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4b68805601d0bbd315c99e4da18b0c89c862f6bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c340d66b9450eb031d54f99bdc017485a65f369f6adb73d6b430ea37ede79160
+size 13569952
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.mtl b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..486e30412157245f78ac7784494a3e8e2bce90bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.mtl
@@ -0,0 +1,6 @@
+newmtl plate_029_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/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927647ad86c98830e00960cb3379c6a061838d10
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.obj
@@ -0,0 +1,102460 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_029_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_collision.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2661c0ed268fb6e0d176689ed29ed81cc1589978
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_collision.obj
@@ -0,0 +1,13118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7104e34b85b582b228d6e71c469c813af38386ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d07a4811532f469c7f60167ce32dcb227e8dc681db156d26b7a197610753da
+size 10347074
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7104e34b85b582b228d6e71c469c813af38386ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d07a4811532f469c7f60167ce32dcb227e8dc681db156d26b7a197610753da
+size 10347074
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf2ec36611eb1e1dae9044e605caf8866102bf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544d259b994fd9584c484ee257ad85119be978c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision.obj
@@ -0,0 +1,13118 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_0.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e7594f81b218bb39e5ca48bbc5e8cb2c469d7c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_1.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46292568121d1a45967f5b76ebb2348d0f149b77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_10.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b085d686d0e47c6a2b21c83747cbce0dabeba8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_10.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_11.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5c402c3a3ea7c071b511634aa451076974789b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_12.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b9d5889622154e9aefe967fbddef71cf69d1ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_13.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd55551c37ce21ac9db37ab6890dbea048ade80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_14.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0f264dd5ad9b37f4a91ded4eddcbb32602a63a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_14.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_15.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ffbac2c75c580ba48eb0036b2ff4f1e6f7cc249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_15.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_16.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8272cf518375b17fe0d5f0cf5ccfdea96a872e63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_16.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_17.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0071eaa0921fd2b7de4dece09b60424731faf28d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_18.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dada02ce67a8edbd9538720e8c3153f5607ea9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_19.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95086dd0024dfe50a66ceb24ad6538ae57e3c538
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_2.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c509be4680b627427e856b35b49d915fe66373bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_20.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b119745dbf654df5933c3000cdcadb438fbb19d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_21.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb5c07a14558f752fe314ce1d3b361a17e32529
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_22.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d6c808af6761f420f15ae7e83a797d7b8a4781
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_22.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_23.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150872f55f0a63e03d8c9fd6be2d6b4cf2273adf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_23.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_3.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b28b6942df0b9a2ee123ed8c59c646cc3e3ad1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_4.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ef522249ab5220f2018f9d69702c970483dc30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_5.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e2975dc7eb310beadae0387f260930435ccdc7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_6.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34c7744942b11a34f3fe75a098523ece16320ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_6.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_7.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d16d81de5fd5cacd2bd18e504a3f67367d49bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_7.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_8.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdeafa48251a40904da7d13e51fab45f085d0c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_8.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_9.obj b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36219beb9ce94248d8df739091b8443c6d5010a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/mesh/plate_029_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/plate_029.xml b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/plate_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..34bf25195a89a0830a774283004dfced51798515
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mjcf/plate_029.xml
@@ -0,0 +1,62 @@
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+    <mesh name="collision_mesh_0_4" file="mesh/plate_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_029_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_029_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_029_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_029_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/plate_029_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.urdf b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5657a61587b9ed033d9bb675cc441a6f02142964
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_029">
+   <link name="plate_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.40</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>9aa79c63b5525ffbb57f006670fcfc9b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>floral plate</name>
+         <color>white,blue</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow white plate with blue floral rim pattern</description>
+         <min_height>0.0319</min_height>
+         <max_height>0.0319</max_height>
+         <real_height>0.0319</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154059</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090135 -0.091606 -0.013281</min>
+            <max>0.089865 0.091548 0.018615</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/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a324d2e4f9c778e580d28c3e03c92ebe2c6bc08472dd1fc95ad3b0ff99cc8893
+size 4823982
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/textures/material_0.png b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7104e34b85b582b228d6e71c469c813af38386ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 10347074
diff --git a/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/video.mp4 b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1520ae569fa473d0b4e34cdfd84e895e865dcc6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f83754b0e7c41123948661946406a7b0ee667d569003daede9029c2a0df2d02e
+size 327215