diff --git a/.gitattributes b/.gitattributes
index 509c68654ace89b538c04bc250bd1dcfc21b2d04..4278e2d0ad0daa44d9fbcfd5eee419472634fcda 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4070,7 +4070,5 @@ dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_t
 dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/coaster_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df501f97bf75928ae17e00874b53329/mesh/spoon_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df501f97bf75928ae17e00874b53329/spoon_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df6283ee18d524e94d09b8f069663dc/mesh/plate_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df6283ee18d524e94d09b8f069663dc/plate_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38821d3205e379b24fc14b343c4b8eadbd2b2f88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_056_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_056_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff3de63840dfb2d37bd0ea97d8d71299f22f2831
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef341d85b202552171c2dfd07b1cb8dbfba39312b7662c2d624bb8f131007177
+size 18744665
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2af2a5f67fb70bb7cfa81527a15b005fed42f667
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d42126a97f4a85cad54fb53de42d71039ec1a4f5b5985af7b021ba0f20eddf
+size 21318960
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.mtl b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f99853df81501edfbd22fafd51c8a81d7100ec15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.mtl
@@ -0,0 +1,6 @@
+newmtl tray_056_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c624be24044d134e6ea7db87e6a6037ee268a1e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.obj
@@ -0,0 +1,109960 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_056_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056_collision.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2774deb66bf450f78c2f714ad2cab6f98c5af8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056.obj
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387e7f6f516a371adc19a41a51fe35c273590d8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision.obj
@@ -0,0 +1,6279 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_0.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2311a6dec136081d0199b384d96da3ef6e5a416b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_1.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f51e855e7a801bb8d8e3b207b5d4d025358d37d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_10.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bd450cc7dd0d0a7b35264940734b54994fd5ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_10.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_11.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38468ef7bce468702d68dac0d7475bf86e26a79c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_12.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c94fa99af5ff21342db046a154c598fa35d423
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.09798920 0.16105366 0.01686904
+v -0.09790460 0.14722907 0.00293348
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_13.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d815eef8ace431af123034b862741af719138c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_13.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.05253578 0.16105549 -0.00976623
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+v 0.05899137 0.16105549 -0.00976281
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_14.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dcd18b8085555ad51b40df394ec016ba795281
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.09213406 -0.16113947 0.01284007
+v -0.10159337 -0.16113950 0.02057375
+v -0.09213406 -0.16113941 -0.00150586
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_15.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c938be2a9b3ce6e7f9efd9940c0ce083ef3f1647
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_15.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_16.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a001389a98aacf86b0dfc5de0f01ca2577aff017
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_16.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03860884 0.15258242 -0.01102842
+v 0.05644461 0.15856694 -0.01090490
+v 0.09336839 0.15258242 -0.01102595
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+v -0.06833812 0.15258242 -0.01102595
+v -0.01486464 0.15856694 -0.01090490
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_17.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5744f94217a39c46f262c15086f2ce3131669be9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_17.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01486687 0.16105582 -0.00977881
+v -0.01486687 0.16294306 -0.00891891
+v 0.00043026 0.16293895 -0.00890920
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+v -0.05051932 0.16105582 -0.00975937
+v -0.01486687 0.16593633 -0.00494010
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_18.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e000eef2f9a1afe6e2c00a08b8a8ad1d3666ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_19.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199853c86ba7009aa6ff6029e16e36afc73ed2f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_19.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_2.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5f8501333e8620d974120cf4ce8996e40ca1af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_20.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1eb6431fb505a18f23f62b7e4df212d9f04eaad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_21.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88d6b21241741e8146f416a25dff7d587d3673f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_3.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ee7bf58bdb559d84817fd8c5c222f8dd52e125
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_3.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_4.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266ddeda94def74b17569c8ca14a7c6f14b21f31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_4.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_5.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5a744166085852e3a0043f8100476b63a7a16b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_5.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_6.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c29f29adecfcaecf5185b04a105bcade756f13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_6.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_7.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7455ea2f372ef14d359f11e0efbe1a4959f97c13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_7.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.07950664 0.16105368 0.01180332
+v -0.09790460 0.16105366 0.01668522
+v -0.07950664 0.14721553 0.00266062
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_8.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612ada87dc0ea83051bd23bebe13f5e2eabec95c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_8.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.05646712 0.16105376 -0.00975874
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+v -0.05402115 0.16112262 -0.00972465
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+
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_9.obj b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d89956a35fc4ecedd37a52e208a5803d6e82fb0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_9.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.07425642 -0.15265969 -0.01103293
+v 0.08020731 -0.15265969 -0.01103046
+v 0.06832356 -0.15864177 -0.01090700
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+v 0.08614016 -0.15265969 -0.01102799
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+v 0.06832356 -0.16113938 -0.00977840
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/tray_056.xml b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/tray_056.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b658f74310337daab36d48500ef794a9f25aa216
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/tray_056.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_056">
+  <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_056.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_056_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_056_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_056_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_056_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_056_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_056_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_056_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_9" file="mesh/tray_056_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/tray_056_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_056_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_056_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_056_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_056_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_056">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/textures/material_0.png b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ef341d85b202552171c2dfd07b1cb8dbfba39312b7662c2d624bb8f131007177
+size 18744665
diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.urdf b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ca4f947bf6b35fbdf9cd3ae1380b525e0818a0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_056">
+   <link name="tray_056">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_056.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_056_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>0cba227e931e5559a8fc0f246cd970fd</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>decorative serving tray</name>
+         <color>brown,blue</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular shallow tray with side handles and colorful floral swirl pattern</description>
+         <min_height>0.0510</min_height>
+         <max_height>0.0510</max_height>
+         <real_height>0.0510</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200645</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.130418 -0.181230 -0.009655</min>
+            <max>0.130402 0.181153 0.041380</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/0cba227e931e5559a8fc0f246cd970fd/tray_056.usd b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.usd
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/video.mp4 b/dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/video.mp4
new file mode 100644
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