diff --git a/.gitattributes b/.gitattributes
index 7c0d29ac28258aa9341e5cec45cf7581b049b96f..96c1ab9b3ef38543d0cdb6ac688b8a549fd62cbe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4239,5 +4239,5 @@ dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/mesh/spoon_0
 dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/spoon_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/fork_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/mesh/fork_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material.mtl b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d40ca5891c112788c0b426d5c3f0d16169dd97b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_063_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.glb b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.mtl b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c20306c0d261a66935e53e5440b1c0c91bdf72b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.mtl
@@ -0,0 +1,6 @@
+newmtl tray_063_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21eba996e75828a5204ef1750365975b614b9ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.obj
@@ -0,0 +1,124878 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063_collision.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b5f44ce903cbffeda64bc9c24d285d745b47a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063.obj
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index 0000000000000000000000000000000000000000..4c252da56f6ed5b7782d3ad5a052713a9b938a5b
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+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063.obj
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca54c7f9db0e16b544041214cca43e74a223d67b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision.obj
@@ -0,0 +1,6127 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_0.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bbf59312efa8a9653a1eab18509d6963196bd3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_1.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97061418d848ef06c228d17d5b304546b423c4d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_10.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01ae832a0fb75d32e5da6e7a14f59bb3bbba899
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_10.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_11.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20981838c9b84f7c338c51b02dd05f876776cab2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_11.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_12.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd23de8d7fddecfe8525f4b2ef660a59ccc7d231
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_12.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_13.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bf97642602f71577c51328f96977aae4bae6b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_13.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_14.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885acae8cffeb6715e927f26ebab82699666c492
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_15.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b28d5aec5c7117275d310fe480ef15edc5e9b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_15.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_16.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ce2a505c9ce98d644a65dc3ac7e0cc76aa7c1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_16.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_17.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9bd368bf9c9f1da9bcf222afacb2390b9991371
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_17.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
+v 0.02619779 0.11324079 -0.01408793
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+v 0.02946369 0.11531572 -0.01402466
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_18.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd0a944f4de024515e7cbd9cc4d3b0bd1fa432b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_19.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7fe3f7dbc09b34c8e5a866483326e09b02a032
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_19.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_2.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bab93819823278440f77884d26e8d69d7b0543b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_3.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e5e24727cc32076cdcf5195abe7dfcc3a76576
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_3.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_4.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1e45685210b7f71e29b44dadfe4798e05f9f7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_4.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_5.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1699bae3de8af9237bc38e62dd7508bcafeb6fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_5.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.11436485 -0.10975839 0.01838587
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_6.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a1f23b4361ebac34fec06b6fe6958aa7d6f981
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_6.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_7.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da81599ee36dc92bcae78c9c9842a9cc4933083
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_7.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_8.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad278925791554d73211a0488307212fd819187b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_8.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_9.obj b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7de66f05456adb92ad2ee282c5a8cca17ca9f82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/mesh/tray_063_collision_9.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/tray_063.xml b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/tray_063.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c39342588714cadd004446a2db7a1f4bf32c2ba3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mjcf/tray_063.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_063">
+  <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_063.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_063_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_063_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_063_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_063_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_063_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_063_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_063_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_063_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_063_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_063_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_063_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_063_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_063_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_063_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_063_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_063_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_063_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_063_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_063_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_063_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_063">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/textures/material_0.png b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c40f3a11427c3b0076b6caea0870399b76f7548deb7a3f61c08792deaf817ce9
+size 13007526
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.urdf b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_063">
+   <link name="tray_063">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_063.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_063_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>7bd3c6b13bc75f1fbc906242675d4440</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray,beige</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>rectangular ornate serving tray with raised rim and decorative relief</description>
+         <min_height>0.0406</min_height>
+         <max_height>0.0406</max_height>
+         <real_height>0.0406</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200926</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.127783 -0.161754 -0.013052</min>
+            <max>0.128024 0.162088 0.027519</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
diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.usd b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.usd
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diff --git a/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/video.mp4 b/dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/video.mp4
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