diff --git a/.gitattributes b/.gitattributes
index 61f20db6a724fdecb2539337dbda1d0d989472af..a88ec491b95afd51c85cb3b5537c13b8453f9204 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4390,3 +4390,5 @@ dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin.
 dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/mesh/tray_077.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/tray_077.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d415b527641ec77e2429e4a9ee4b601bc62ed30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7bc3f710f826bd4a88452c2cafcb5d547eacce7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46076aabf223b7f5c4a806b332da370403a7fe37debe52959da94441673b9057
+size 8955843
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..97c93b158f3c5524bee31c951398880d82fb771f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22aaf9a4b7522b7e9c718620c36e282b6921c9e9e3b7df3ad8c2574837daf353
+size 12293240
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.mtl b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ccc4365b75c8432f21d956051e6a3ac9b40bdd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.mtl
@@ -0,0 +1,6 @@
+newmtl plate_026_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/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d0b2d587b79bcbf92fc3c130ba5383690ff251
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.obj
@@ -0,0 +1,108326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_026_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026_collision.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbfc8819976013615c6ace7e6bfffc9db369d61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7bc3f710f826bd4a88452c2cafcb5d547eacce7
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baec03a87ca635f77d5cef9ca6403a59c14866d7
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+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f8684c738f04796e7e74213fbd13f61fad8a5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision.obj
@@ -0,0 +1,9702 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_0.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334b99c8b7f4532c07cc8a5b50e6f6ab87e599f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_0.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_1.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb574d1aae34794e63252ffce32258da9acf776
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_1.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_10.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8db386382b2692ce2a376ddfb2dda8bbbc014b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_10.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_11.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b16aeba3f625f61d17dbe6b72ff4569dc8c848
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_12.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299edebfd459e3524e1e90e301989458567ae786
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_12.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_13.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec82f449431ee12a20d0a4fba92045a399144743
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_13.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_14.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6960562847fb31ca4d533d8ff1cf3af53900cf0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_15.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b68490104a3b9b58b2c58a94becc1ffca36742
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_16.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8f4b2e8316fc30980c0538f28a406e84bc39cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_17.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87757299481892646ff1c3ac38e06892e6e2e081
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_18.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5572fe035f34065e553d95fd9e5d3043094dfd71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_18.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_2.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2741efe3eab4eb917214b80557fc57aa768c73a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_2.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_3.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d566f81e04ac1b89e8cce87e10c6955b6bbea24
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_4.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853a5f56304765becc23dd656d6a25540d1cb2b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_5.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83169ed7f2e517b6ddb3418aff32645a360f302
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_6.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f122e4dc0c3fee86979683aab8e399f0066e1787
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_6.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_7.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64809eb800714120db7dcfc3f02bc2ea818a7ad2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_7.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_8.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976fefec87fa6ebf755ef7b28619f4ea2ceab466
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_9.obj b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c7724bf397c68426b4989f65518361fdc33a32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/mesh/plate_026_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/plate_026.xml b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/plate_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b74bc152bac1c51741d082323b2bd7541a60873
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mjcf/plate_026.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.urdf b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d93eda63bbc74e48488f6fb508e4c2e86278bf31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_026">
+   <link name="plate_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>d8890017ead55bf899b720c2c5c9e596</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>floral plate</name>
+         <color>pink,white</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>round scalloped pink plate with red rose motif</description>
+         <min_height>0.0226</min_height>
+         <max_height>0.0226</max_height>
+         <real_height>0.0226</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153957</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090049 -0.090039 -0.009310</min>
+            <max>0.089951 0.090114 0.013280</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/d8890017ead55bf899b720c2c5c9e596/plate_026.usd b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041da610f090ff9251b93aab5be4cde4f52082e15479efc3d98a1602400fcee4
+size 4896565
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/textures/material_0.png b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7bc3f710f826bd4a88452c2cafcb5d547eacce7
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+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8955843
diff --git a/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/video.mp4 b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9446bb0ea48f290fb7a7ae6d0822f2ebb5203ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf017d3d9fac4f59cd3dc8ccc16525d3cf216096be947f03d6a5a351d65a636
+size 168070