diff --git a/.gitattributes b/.gitattributes
index cedc08b7756879ba6673a49c9b95ebf92e18f8c7..c2713373c4285291305ad20ebe23356703572433 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4051,3 +4051,5 @@ dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_03
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/tray_082.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d953bd9911637e7cd4c8221f1554632f5af60a0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_082_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_082_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e6e9d0e3b294db45d4e2df79937f5bb1abf879
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e094a4e1b51b6fec22dbffbf5fe9ee7ea0a91bf9611900387aefe5d923bbc24
+size 8997875
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.glb b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69c25ac3752a62e60ef6058e5a841cb679faeaf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6ae2b208df1924308cb5173335f3ec953b90fca8a5d0fe0fc411a2365fd526
+size 11403624
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.mtl b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2933deda18e71b4fdf0e66de62618cc1dbbb9b3e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.mtl
@@ -0,0 +1,6 @@
+newmtl tray_082_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/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc9a44c43d29f73988af004fb81a17a9368fc3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.obj
@@ -0,0 +1,103942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_082_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082_collision.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de540799532e6c21f143735b30e2c206a4b6e5e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082_collision.obj
@@ -0,0 +1,7870 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082.obj
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a703f7fc57a383aea2b1e92bfe69385e5af52f4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision.obj
@@ -0,0 +1,7870 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_0.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f487349b4d922f291db8893c6c9b0b89096214b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_0.obj
@@ -0,0 +1,685 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_1.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839b436e4faeeef8d37801ebabde189c51edf507
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_1.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_10.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615d3798cc4beab3482fbc0ff813fb90b4bd1df7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_11.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c51da5996b9578e0f57237ac3f40b7d7be717e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_11.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_12.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057833f552fd1b8122408093b7366adf8e6548a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_12.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_13.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6355b92f78c51c0f006b15fba97a389cdae632
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_13.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.09422588 -0.14161634 -0.01407873
+v 0.09422588 -0.14161641 0.00601151
+v 0.09422588 -0.14631354 -0.01407556
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+v 0.07496181 -0.15520642 -0.01381045
+v 0.00273273 -0.15520642 -0.01378169
+v 0.00273273 -0.15520650 0.00902387
+f 1 2 6
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+f 10 17 11
+f 11 17 18
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+
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_14.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d5c6207554435c096be8ca666e8187561b0cda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_14.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.09326839 0.14165056 -0.01406549
+v -0.09993919 0.14165056 -0.01406160
+v -0.09422741 0.14637850 -0.01405769
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+
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_15.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87f802c2f21f29489682db2f67224940624df2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_15.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.09426107 0.14165056 -0.01406528
+v 0.09426107 0.14637850 -0.01405788
+v 0.09997074 0.14165056 -0.01406159
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+v 0.00675798 0.15523211 -0.01375528
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+
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_16.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a0dfbe805a4233edeaa70d0be735cef3bfe486
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.09464952 -0.15520654 0.01843673
+v -0.11890560 -0.14161648 0.02394122
+v -0.09598999 -0.15520654 0.01906736
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_17.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694b68f76369837cf137404a71a56abe45cb6184
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_18.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3899a78c9510a5eb98bed449f1bfdc517e27b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_18.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.10585593 0.04882665 0.00605335
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+
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_19.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38b594461607718654fbd78d2a6e0486e765509
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_19.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_2.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f56928701d5b5ccd60b996293acb1c75640096
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_20.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fd3541868e8798e272e1067c82d2c2d2f734af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_20.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_21.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c04157d22cc74e768ec0087b41dca70fae85596
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_21.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_22.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89ac235246229693f0d2b03a2d3d23cafa7fd0ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_3.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ecd95a428a167d2a627b3189b6a02ae4396e73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_3.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_4.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115055ed9f17212a869ab14fb2571e20377bcb52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_4.obj
@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_5.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef930a86393edbd718a88194d9ec4313dea102f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_5.obj
@@ -0,0 +1,733 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_6.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8895d4e41312d3eacb91e0e28cc106fa82eac15f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_6.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_7.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0a6cb344c2f3183eddefd7488ec04295821d76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_8.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3661e666cbd962ac23bcacf5821b50643a02e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_9.obj b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abeee7341e70654861d78dd0634ed4d321bda187
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/mesh/tray_082_collision_9.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/tray_082.xml b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/tray_082.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d13b297215278c95ec8eacec60189ed1046b0560
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mjcf/tray_082.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_082">
+  <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_082.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/textures/material_0.png b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/textures/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e094a4e1b51b6fec22dbffbf5fe9ee7ea0a91bf9611900387aefe5d923bbc24
+size 8997875
diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/tray_082.urdf b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/tray_082.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/tray_082.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_082">
+   <link name="tray_082">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_082.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_082_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>0444f6811bb55bbe9983638c7d295365</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>wooden tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular brown wooden serving tray with shallow basin and side handles</description>
+         <min_height>0.0534</min_height>
+         <max_height>0.0534</max_height>
+         <real_height>0.0534</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201651</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.137046 -0.174231 -0.012385</min>
+            <max>0.137084 0.174298 0.041022</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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diff --git a/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/video.mp4 b/dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/video.mp4
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