diff --git a/.gitattributes b/.gitattributes
index 8fb6b82bf4580dd58c1a9742eb22649c2be01c51..9b6ebbd59df476daf33152e73bf7f5ce2c3066bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4184,3 +4184,5 @@ dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_
 dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/coaster_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/mesh/coaster_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbb1a0f94a0b5b8cb7ce7a21a356e45ff3e8a6cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_040_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd plate_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4dab92a8a68ceee91b3f522500a5f223ca4192c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.glb b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a7da9ad233da367f5aa93812bbf414461413022f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13979148
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.mtl b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5136937e76ad06cf929503986f79644de04c06e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.mtl
@@ -0,0 +1,6 @@
+newmtl plate_040_geometry_Looks_material_0
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+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/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c046186bde0d33ecf97be0373d53ad522c5240f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040.obj
@@ -0,0 +1,105434 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_040_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040_collision.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010bf6b642e43092cca3fff2050937eb3527e326
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_040_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..a4dab92a8a68ceee91b3f522500a5f223ca4192c
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 10587509
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4dab92a8a68ceee91b3f522500a5f223ca4192c
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+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/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/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040.obj
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index 0000000000000000000000000000000000000000..db56fe4a9808aec9efcc6fc8deee5f71c41a67cd
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+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5621023465568ede5f6fb78fdef9afeb01ca55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision.obj
@@ -0,0 +1,11771 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_0.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf48db83efdbfe4a6e5fc4ae749643bd2815f60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_1.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c23e30111252b4f6dab59c2311328b2f411f12d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_10.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ce456691d49c91d6ae1afddf821306e7836178
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_11.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fcde2ba7a4d9dc839bd6166c9243b5a1661ccb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_12.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c3e96883b833d997e1a767104d3586510c2fe9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_12.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_13.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f4ca12bd3305090748939f6fcc4b3a699fd404
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_13.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_14.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74da54514c117d29c7891ef8e9a1967219957cb8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_15.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ddb2a26e19de2480dec32f9774db1eae2752751
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_16.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8913ec97e379242a225748f819522b3fd53c3bfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_17.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693ea843c87205b2bf6d90882435fe05146849e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_2.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c66b02eb3b9525f36757e98a12e946fbdee5fa9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_3.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1b9dd31cc27e76bc260687e8232df963766cca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_4.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35817fab74e88eb28c42e72603029db6ff795a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_5.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff901e396c5076f902cdc715ab0fd24d7c04f9e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_6.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd5b52f81b17e0e44e06e94ff858476df1ce373
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_7.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5ffb0924db9271b5c597e3ad70323eb99c0a03
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_8.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d441ad351b400762a5b53450f701cffc39014e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_8.obj
@@ -0,0 +1,940 @@
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_9.obj b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb49b948775a96f0eb2ffd8c38b1279be59a60c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/mesh/plate_040_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/plate_040.xml b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/plate_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38a3339096e349c10c69a8c8b2359eae720cffd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mjcf/plate_040.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.urdf b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..005844876d43a1c04e13785ecbaffed69d7f2bc9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_040">
+   <link name="plate_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>41e2003aa71c5410b4e233edd7a2c02e</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>round white plate with blue floral rim pattern</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154527</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.095041 -0.095341 -0.012952</min>
+            <max>0.094959 0.094816 0.017015</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/41e2003aa71c5410b4e233edd7a2c02e/plate_040.usd b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673a2e55686acc2c233494f814e3d0a744f808407ab22678f8f344814be61c7b
+size 4930568
diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/textures/material_0.png b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/video.mp4 b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d33cf4a6ca238d9266ff34161bc79ad2191086738d91292a429b9a61cf3a5fd
+size 341365