diff --git a/.gitattributes b/.gitattributes
index fec24936744e60cb9280f5d17f7ed76c160ac242..7848ad54044be75606215e04ef46208ae630dbaa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4143,3 +4143,5 @@ dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/mesh/tray_05
 dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/tray_050.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2bb12fb230d853f4b5de689f8fd38125/chopsticks_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2bb12fb230d853f4b5de689f8fd38125/mesh/chopsticks_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab286faba607e194bca38914d33c07101b465189
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_064_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 tray_064_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13fb2ab06dfb102994d53044cab3a864895c3e58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6068832b19df04e933ddcfcf5b69255943d3cdd651a9d8bc3651815a6f03eae7
+size 8345264
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.glb b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.glb
new file mode 100644
index 0000000000000000000000000000000000000000..70cb844db65c8cd027a3ca3794dad4c86fc324bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144cccb3bad7bd72feddf83d2e90937313f901f5dec0eb2264528e16905c7c9b
+size 11875608
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.mtl b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b523458c1742352834f8cdad600a43e4ab7248f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.mtl
@@ -0,0 +1,6 @@
+newmtl tray_064_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/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ebcc99c620bad2ade09f1d1da3e2b15740fe90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064.obj
@@ -0,0 +1,140224 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_064_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064_collision.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4833179b11e9cdab80d09891e89b61d2aa5b3896
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mesh/tray_064_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064.obj
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ccb446233356943b35b23f6a530c0b16a960b09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision.obj
@@ -0,0 +1,6230 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_0.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b6c435d188be8d6406b15268125bf49efead9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_1.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297e7ae9cb0f035f6ce4f6d116c3df3c7ed92f5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_1.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_10.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d702d567c25019d17711b2e868778316f199e51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_10.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_11.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a77db4c645ebdec87d01a7cce729c6865fc439
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_12.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f3ebd88e969d995b65df33058414b06db72d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_12.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_13.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e328cfe0ebd8dc12360557f0e70b4102bdca447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_13.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_14.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37be800bc925a3c5bf0495065763a2b73e7113d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_14.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.03379497 -0.16796390 0.00247206
+v 0.02858679 -0.16796390 0.00253449
+v 0.06022275 -0.16796391 0.00557573
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_15.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7314540a8ce9bbf48128d4744aa3f522c991a758
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00133274 0.14472067 0.00033501
+v 0.00133274 0.15031845 0.00536124
+v 0.00133274 0.16299888 0.00033508
+v 0.02134143 0.14283366 0.00033500
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+v 0.03487396 0.15251908 0.01480407
+v 0.02223227 0.15089010 0.01065074
+v 0.00133274 0.15490444 0.00669431
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+v 0.03487396 0.15966239 0.02018373
+v 0.03003296 0.16357047 0.02177771
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+v 0.00133274 0.16301152 0.00138824
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+v 0.01897954 0.16864975 0.01339992
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_16.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f347961e51b9f175c09036163c2cc997fcab7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_16.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00961244 -0.15592066 0.00761471
+v -0.01578687 -0.15592067 0.01005114
+v -0.01578687 -0.15832095 0.00996857
+v 0.00961244 -0.16150259 0.00602610
+v 0.00961244 -0.15088883 0.00582757
+v -0.01578687 -0.15063736 0.00724436
+v -0.01578687 -0.16222560 0.00845136
+v 0.00961244 -0.16154749 0.00601271
+v -0.01578687 -0.15060369 0.00721535
+v 0.00961244 -0.14258553 -0.00135898
+v -0.01578687 -0.16325396 0.00773070
+v -0.01578687 -0.16351443 0.00745180
+v -0.01578687 -0.16419476 0.00666420
+v 0.00961244 -0.16454501 0.00141874
+v -0.01578687 -0.14258553 -0.00104884
+v 0.00961244 -0.14258552 -0.00148838
+v -0.01578687 -0.16551950 0.00262133
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+v -0.01578687 -0.14258548 -0.01273344
+v 0.00961244 -0.14259221 -0.01273790
+v 0.00958012 -0.14258548 -0.01274013
+v -0.01578687 -0.16551950 0.00168870
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+v 0.00961244 -0.16338190 -0.00425064
+v -0.00658285 -0.14258548 -0.01273790
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+v -0.01578687 -0.14433909 -0.01250141
+v 0.00961244 -0.14436154 -0.01250587
+v 0.00325515 -0.14435705 -0.01250810
+v -0.01578687 -0.16513104 0.00093680
+v -0.00938980 -0.16338415 -0.00427965
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_17.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4c6c02da84f5a192a929289a6d9c160915f4d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v 0.12003220 -0.11787270 0.01565589
+v 0.12003220 -0.11785776 0.01565589
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_18.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39376b32d5f49447f7520c2e1f51fa447ffd6f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_19.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374246df4c8e861573d590174d496da46c78dc71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_19.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01590900 -0.14258323 -0.01274127
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+v 0.02223034 -0.14436702 -0.01250676
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_2.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b62133dfdde82164427b0866864655fec397fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_20.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330f7ae2417f50bccef820d03d5b1d8062970c44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_20.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_21.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c38407f63dfffe18e4ba6841dff5d87f2199497
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_21.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_22.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b421c43a3814ef9d36ebc7a1019134c5b98c084
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.05710060 0.16052811 0.00033507
+v -0.05393756 0.14574125 0.00033502
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_23.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb21912233e888db75a4ef79b9ecddc93433ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02971062 0.16865231 0.00311688
+v 0.03487396 0.17102522 0.00411391
+v 0.03843145 0.17094642 0.00416608
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_3.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2430d029f8b0fae67e8a7b1bbb04927d17e9f8b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_3.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.11972117 -0.09248017 -0.00088710
+v -0.11735404 -0.09248015 -0.00428121
+v -0.11971514 -0.09882709 -0.00088712
+v -0.11961275 -0.04158617 -0.00088691
+v -0.11733597 -0.04158615 -0.00428102
+v -0.11734802 -0.04809126 -0.00428105
+v -0.11735404 -0.05443817 -0.00428107
+v -0.11467371 -0.06077520 -0.00805705
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+v -0.11731188 -0.09882707 -0.00428123
+v -0.11957661 -0.10517402 -0.00088715
+v -0.10480167 -0.04158617 -0.00088691
+v -0.11472792 -0.04158614 -0.00795466
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_4.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e098512078274e3544a13536b4c5b6a3340958
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_5.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a487a166d4149a300e2bfacf11e8ef3a47b971b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_6.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5c6687ef936f9b19b03735c6952d72053360d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.10078534 0.12328976 -0.00091589
+v 0.10786884 0.12531556 0.00906388
+v 0.10097919 0.12531559 -0.00091588
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+
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_7.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b13ea3b9e2241893f7ac4db17b79f90ea3a9578
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_7.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+v 0.07390494 -0.04158612 -0.01308092
+v 0.05865017 -0.04158616 -0.00330929
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_8.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb370914e92ba0b5973526caef38d6de5cb8b960
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_8.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_9.obj b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f2ed20c01c928e1ee28a724f4da479aedf309e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/mesh/tray_064_collision_9.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/tray_064.xml b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/tray_064.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4abf11b497a10a951728cc685d18957ea1325992
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/mjcf/tray_064.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_064">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_064_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/tray_064_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_064_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_064_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/tray_064_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <body name="tray_064">
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/textures/material_0.png b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.urdf b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_064">
+   <link name="tray_064">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_064.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/tray_064_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>2bf01f8973c0597abf0f017547df9f80</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate serving tray</name>
+         <color>gray,brown</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular shallow tray with side handles and ornate corner decorations</description>
+         <min_height>0.0463</min_height>
+         <max_height>0.0463</max_height>
+         <real_height>0.0463</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200948</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.141142 -0.192363 -0.011973</min>
+            <max>0.141335 0.191335 0.034287</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.usd b/dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.usd
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