diff --git a/.gitattributes b/.gitattributes
index 47d6a5c0bd6b1343e84eba9c3ed1b453bda31c7c..c9ad8d327764b62b87bd0fea25deacc838dce5c0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4204,3 +4204,5 @@ dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/mesh/tray_04
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/tray_048.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/mesh/spoon_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/spoon_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material.mtl b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..046dd17bd3e7adde2b18b97dd11edea464d7074e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_059_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 tray_059_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material_0.png b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75cdd90c61480ac14b433611719a20508856257b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597bf02ae37ec8f2fbdc789dfd0e8bbfa3e321063394781584984e0fecab532d
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ab333aefbc885170f59a366c65a7a73a2c01af5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfade471b4a15f1555981e5f076cd00bc9a2b4f0553671cca68e1f3fa322246
+size 13162792
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.mtl b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83ddb58120367a0300c4353e2cfe0616512aacf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.mtl
@@ -0,0 +1,6 @@
+newmtl tray_059_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/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb6b20dbeda0e9ee7d46848e405727f72156c21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.obj
@@ -0,0 +1,116346 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_059_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059_collision.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0b0f35f40abc0f24f2a20efd9b303b2fd5e61d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059_collision.obj
@@ -0,0 +1,7854 @@
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37106f7ff21c9a5f9804ec2afe43b54e55512ceb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision.obj
@@ -0,0 +1,7854 @@
+# https://github.com/mikedh/trimesh
+
+o tray_059_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_0.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932c25f4684c919876c7b774240124aa379e61fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_1.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe70f371024d5ccd3c3b112a42249f7095e7c8cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_1.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_10.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1469df0b7a7f148a700f431967c7c4670eaac7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_10.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_11.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b92d9eee9d2f5a89781623fca173df38ff5b47b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07989551 0.00013541 -0.00873528
+v 0.11926679 0.00013542 -0.01012877
+v 0.07989551 0.00013538 0.00056854
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_12.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55a76debe5f9f1b88bef300c972d051fc64edfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07988645 0.10497007 -0.00147655
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_13.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830e9eacc6a699ed455b345a4e8dbfcdcf37b29e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.17410403 0.05799430 0.00518065
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_14.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6feb6bc3a957ad5d43d69e6dee61c7b933a28518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_15.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a287bfa5f6b1424c0bc2f9a45c5eda7d4b0f2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_15.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_16.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf518f2f9954076dca935ffb369376681ecb655
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_16.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_17.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed3913335a2bfaf9a2a8435db795ab454d8aa0f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_17.obj
@@ -0,0 +1,454 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_18.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5a5320fd11f354e82ef036b41fd8d1b2b6d779
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03850228 -0.04289904 0.00158846
+v -0.03241774 -0.06476070 0.00158838
+v -0.03850228 -0.03859715 0.00799060
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+v -0.02992009 -0.06237247 0.00776731
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_19.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb92c6aed80ecc91520f6e84cdadfeb453303f3e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 0.00013538 0.00058240
+v 0.07925769 -0.05647423 0.00058455
+v 0.07925769 0.00013541 -0.00873490
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+v -0.09568171 -0.09950741 -0.01043201
+v -0.09568171 -0.10155317 -0.01026411
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_2.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18fc1cfec9d8665704834f77decfd33fe34949d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_2.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.11745261 -0.07930101 0.00059624
+v 0.14097504 -0.07930101 0.00059624
+v 0.12455745 -0.07930104 0.00772658
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+v 0.15576471 -0.07930102 0.00170898
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_20.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f603a2f3c68754273ca3ed615d5f941822154b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_20.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_21.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c4d3c4004561f6b7327960fe24eb49495d6b2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+v -0.03887387 0.00013535 0.00910553
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_22.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904d733789e86936c240642bf7d1711d6dc65b76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_23.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc12a09bfbcb1c5d3db6196befdeec9ae416f362
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_23.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_24.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28716faceff902f2ac3430876dd7ad13e2ebb4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_24.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_25.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b79c70d148a288c3f8220c1d51d3dbd52564da8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_25.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_26.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390ab13a0a689514a4865abfd1bf3dcf099aff47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_27.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2d6e85cb17357f9e222e69a09bb4759501390d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01325426 -0.05891760 0.00158840
+v 0.03974116 -0.06679575 0.00158837
+v 0.03674483 -0.06251850 0.00789999
+v 0.01325426 -0.05169598 0.00812735
+v 0.01325426 0.00012874 0.00158862
+v 0.04515539 -0.06749869 0.00158837
+v 0.04019235 -0.06287659 0.00804207
+v 0.01325426 -0.04939487 0.00848698
+v 0.01325426 0.00012872 0.00939465
+v 0.06418038 0.00012874 0.00158862
+v 0.04627179 -0.06761142 0.00158837
+v 0.04627179 -0.06307553 0.00804739
+v 0.04627179 -0.05904362 0.00863789
+v 0.04019235 -0.05904362 0.00847185
+v 0.01325426 -0.04690145 0.00873828
+v 0.02802770 0.00012871 0.01064667
+v 0.01325426 -0.02261713 0.01053471
+v 0.07217446 -0.03433485 0.00158849
+v 0.05789849 0.00012873 0.00622376
+v 0.06789399 -0.03146346 0.00781930
+v 0.05220661 -0.06505832 0.00158838
+v 0.04982921 -0.06278375 0.00790710
+v 0.06452166 -0.04082705 0.00871167
+v 0.01586304 -0.02261713 0.01062351
+v 0.01325426 -0.02521665 0.01054269
+v 0.01325426 -0.02868489 0.01025675
+v 0.04627179 0.00012872 0.00889917
+v 0.02802770 -0.00439393 0.01065997
+v 0.06452166 -0.03475265 0.00860779
+v 0.06839723 -0.03475265 0.00802707
+v 0.07219760 -0.03475263 0.00158849
+v 0.05578139 0.00012872 0.00756191
+v 0.07039286 -0.04678207 0.00158845
+v 0.06799232 -0.04462687 0.00789207
+v 0.06847242 -0.04082705 0.00808210
+v 0.02194248 -0.01654273 0.01058179
+v 0.05148934 0.00012872 0.00839126
+v 0.05265201 0.00012872 0.00825629
+v 0.07234221 -0.04036283 0.00158847
+v 0.07234799 -0.04082703 0.00158847
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 26
+f 1 26 25
+f 1 25 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
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+f 1 18 31
+f 1 31 39
+f 1 39 40
+f 1 40 33
+f 1 33 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 5 9 16
+f 5 16 27
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+f 5 32 19
+f 5 19 10
+f 6 11 7
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+f 7 12 13
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+f 8 14 15
+f 9 17 16
+f 10 19 20
+f 10 20 18
+f 11 21 22
+f 11 22 12
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+f 14 26 15
+f 16 17 24
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+f 16 29 27
+f 17 25 24
+f 18 20 30
+f 18 30 31
+f 19 32 20
+f 20 32 30
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 30
+f 23 30 29
+f 23 28 36
+f 23 36 24
+f 24 36 28
+f 27 29 37
+f 29 30 38
+f 29 38 37
+f 30 32 38
+f 30 35 39
+f 30 39 31
+f 33 40 34
+f 34 40 35
+f 35 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_28.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3500048b0614b80a9efdd64be4dc49e8c76e6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_28.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03887388 0.01996695 0.00892389
+v -0.03887388 0.01996696 0.00440080
+v -0.03888844 0.01996695 0.00907100
+v -0.03887388 0.01989901 0.00907239
+v -0.03887388 0.00013537 0.00205453
+v -0.03887679 0.01996697 0.00205460
+v -0.03888844 0.01989901 0.00907239
+v -0.04496906 0.01996695 0.00885588
+v -0.03887388 0.00013924 0.00914379
+v -0.03887388 0.00013535 0.00910632
+v -0.06863598 0.00013537 0.00205453
+v -0.05862495 0.01996697 0.00205460
+v -0.05150419 0.01996695 0.00811129
+v -0.05254725 0.00013535 0.00813342
+v -0.04651908 0.00013535 0.00879683
+v -0.04496906 0.00013535 0.00889189
+v -0.04043555 0.00013535 0.00908689
+v -0.03888844 0.00013535 0.00914171
+v -0.06775899 0.00013537 0.00266658
+v -0.05383505 0.01802184 0.00744233
+v -0.05548704 0.01996696 0.00555690
+v -0.05153333 0.01996695 0.00810365
+v -0.05419050 0.00013535 0.00760048
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 5 10 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 23
+f 5 23 19
+f 5 19 11
+f 5 11 12
+f 5 12 6
+f 7 8 9
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 22 20
+f 14 20 23
+f 19 23 20
+f 20 22 21
+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_29.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993fc6582c130ed7a58d5ccc5c44672d3ebcfb56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.05713324 0.04523849 0.00205470
+v -0.06325134 0.04502822 0.00205470
+v -0.06186114 0.04196574 0.00795411
+v -0.05713324 0.04186926 0.00792869
+v -0.05399152 0.04129783 0.00772401
+v -0.03887388 0.03962809 0.00205468
+v -0.06819052 0.04308388 0.00205469
+v -0.05713324 0.03811910 0.00857502
+v -0.06591844 0.04077093 0.00703578
+v -0.06671765 0.03672393 0.00791494
+v -0.06362186 0.03849511 0.00826730
+v -0.03888612 0.03582102 0.00792593
+v -0.03887388 0.03583091 0.00791837
+v -0.03887388 0.02305417 0.00205461
+v -0.06981038 0.03816118 0.00205467
+v -0.05713324 0.03204612 0.00887790
+v -0.03887388 0.02597314 0.00897954
+v -0.03887388 0.03204612 0.00852554
+v -0.06689831 0.03204612 0.00799597
+v -0.06321460 0.03204612 0.00860178
+v -0.07015334 0.03204614 0.00205465
+v -0.03887388 0.01996696 0.00440091
+v -0.03887694 0.01996697 0.00205460
+v -0.04497054 0.01996695 0.00885587
+v -0.03888612 0.01996695 0.00907155
+v -0.03888612 0.02597314 0.00897954
+v -0.03887388 0.01996695 0.00892387
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+v -0.06988387 0.03098492 0.00205464
+v -0.05862449 0.01996697 0.00205460
+v -0.05150508 0.01996695 0.00811132
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+v -0.06873864 0.02648275 0.00205463
+v -0.05548582 0.01996696 0.00555689
+v -0.05153264 0.01996695 0.00810376
+v -0.05858162 0.01996697 0.00210337
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+f 22 30 23
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+f 28 29 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 31
+f 30 36 33
+f 33 36 34
+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_3.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf3bae5ca304931ad234c798112060ed330e9a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 -0.16639228 0.00626253
+v 0.07925769 -0.16639229 0.00908519
+v 0.07925769 -0.16523288 0.00519575
+v 0.08118093 -0.16597456 0.00667693
+v 0.08118093 -0.16597457 0.00867907
+v 0.08885689 -0.16114091 0.00971628
+v 0.07925769 -0.16508797 0.01003002
+v 0.07925769 -0.16380067 0.00396795
+v 0.08582735 -0.15925686 0.00267268
+v 0.08825269 -0.16076578 0.00502646
+v 0.09317993 -0.16000706 0.00659526
+v 0.09317993 -0.16000707 0.00874303
+v 0.08328289 -0.16218948 0.01065991
+v 0.09483086 -0.15602591 0.01062087
+v 0.10408115 -0.14711731 0.01264791
+v 0.09243106 -0.15335760 0.01267394
+v 0.08131709 -0.15931657 0.01265614
+v 0.07925769 -0.16052712 0.01236133
+v 0.07925769 -0.16060380 0.00239917
+v 0.08987808 -0.15793549 0.00327060
+v 0.08277229 -0.15621343 0.00200373
+v 0.08825269 -0.15603441 0.00238261
+v 0.09332461 -0.15389464 0.00250456
+v 0.09738383 -0.15272672 0.00280412
+v 0.10102609 -0.15432090 0.00643544
+v 0.10414923 -0.15323824 0.00755788
+v 0.10414923 -0.15323824 0.00776508
+v 0.11099122 -0.14768847 0.00851457
+v 0.11790978 -0.14224954 0.00903555
+v 0.11967134 -0.13840477 0.01040189
+v 0.12591763 -0.13249696 0.01050137
+v 0.11038701 -0.14114982 0.01266805
+v 0.09168218 -0.15335760 0.01267394
+v 0.14690311 -0.10512324 0.01269186
+v 0.07964064 -0.15931657 0.01265614
+v 0.07925769 -0.15970020 0.01256261
+v 0.07925769 -0.15621343 0.00182021
+v 0.09518827 -0.15047612 0.00219793
+v 0.08885689 -0.15014365 0.00171130
+v 0.10102609 -0.14837045 0.00245842
+v 0.10422582 -0.14721105 0.00263838
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+v 0.08681450 -0.13588986 0.00059603
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+v 0.11990111 -0.13841328 0.00451979
+v 0.12427521 -0.13665713 0.00609807
+v 0.13023216 -0.13086014 0.00605783
+v 0.14220563 -0.11843072 0.00918007
+v 0.14796685 -0.11228420 0.00909959
+v 0.15095384 -0.10260836 0.01201581
+v 0.15877446 -0.08604433 0.01264931
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+v 0.12864081 -0.09878061 0.00059617
+v 0.14967735 -0.08942018 0.00162154
+v 0.15576195 -0.08334187 0.00191282
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_30.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20547c0e80428de20b89a18f8df48eb14ee11a84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_4.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c1ab8562aa3cc4c75a551eddd804425a7e087d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_4.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.02725568 0.10497010 -0.00967155
+v 0.02725568 0.10497007 -0.00161412
+v 0.02725568 0.10569567 -0.00974199
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_5.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca641a5e847f9f0cd69259c79a00659e0a15da4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_5.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.11702067 0.06330935 -0.00136768
+v -0.11702067 0.06240651 -0.00136768
+v -0.11702067 0.06330938 -0.01042869
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_6.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac0b289f2b5eb3e21595bd7115280e7edf703b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_6.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_7.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca646d3bac60597263c67b5b724126a6c927592
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_8.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e101818cc957fb4e5c25ed9a82d33f02d99e79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_8.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_9.obj b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff8eb85667c119b144a5e99c87d31310fc0f7bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_9.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.11702065 0.00013542 -0.01003977
+v -0.07016677 0.00013541 -0.00874324
+v -0.11702065 0.00013539 -0.00156837
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+v -0.09971187 0.00013538 0.00058030
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+v -0.11702065 0.06330938 -0.01042777
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+v -0.08754894 0.05026147 0.00053775
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+
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/tray_059.xml b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/tray_059.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e6e62e3af2d40556f750b24c4450875fb144b26c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/tray_059.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_059">
+  <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/tray_059.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_059_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_059_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_059_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_059_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_059_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_059_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_059_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_059_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_059_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_059_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_059_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_059_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_059_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_059_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_059_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_059_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_059_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_059_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_059_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_059_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_059_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_059_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_059_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_059_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_059_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_059_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_059_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_059_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_059_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_059_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_059_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_059">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" 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/570266b3d4dc5cb6a7728efbe18c2a08/textures/material_0.png b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75cdd90c61480ac14b433611719a20508856257b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597bf02ae37ec8f2fbdc789dfd0e8bbfa3e321063394781584984e0fecab532d
+size 10041575
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.urdf b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..692205dd335893143a74b4e4f089ba2795a7f571
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_059">
+   <link name="tray_059">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_059.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_059_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>570266b3d4dc5cb6a7728efbe18c2a08</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>round serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>shallow round tray with raised rim and decorative center pattern</description>
+         <min_height>0.0258</min_height>
+         <max_height>0.0258</max_height>
+         <real_height>0.0258</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200747</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.182556 -0.183925 -0.009620</min>
+            <max>0.183866 0.181199 0.016171</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d2622e712e38079d6e58e62da00c1949bca469005ade3ca11a3def410fa6a59
+size 4767577
diff --git a/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/video.mp4 b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71336156c0ce0ad1313786ecc68971804f02c63bbc5e9d26699526cdf24a70cd
+size 427813