diff --git a/.gitattributes b/.gitattributes
index 327a6dabc4ce8c7ffa021def87f3083b922bee45..4bcd06450e724c05923926244f17923223cb9afb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4188,3 +4188,5 @@ dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/mesh/plate_0
 dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/plate_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/fork_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/mesh/fork_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material.mtl b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f365bf31ef3934553052426ded397dec472618ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material_0.png b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53497ffb24bb1087bf1c467116a2a342670966e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8351ddbd9a58859d554a5137b8a1fb2d24bba377314d3563878c65f0287757f
+size 14563921
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.glb b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..929177500fbfbc3c54d9fe12d3a6314215298fe6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379a019050fd99418f2f78e74d4a04c73ba23bd77207961da5db2a775d2bcbb7
+size 18001636
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.mtl b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3aa50cbf5e2fed4fb54ace520a51b9008b99499a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.mtl
@@ -0,0 +1,6 @@
+newmtl tray_025_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/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09710c6809e34d18a994915b7a71848186593f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.obj
@@ -0,0 +1,122340 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_025_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025_collision.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b8315a3e1a61de3b8b79ea4ae82061644b9519
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025.obj
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+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025.obj
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334ac8655af548ab6b5465658047ba7a89b3dabf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision.obj
@@ -0,0 +1,6778 @@
+# https://github.com/mikedh/trimesh
+
+o tray_025_collision.obj
+v 0.17425439 -0.01937462 -0.00340180
+v 0.18699194 -0.03486627 0.01795388
+v 0.18730330 0.00003959 0.01795401
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_0.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ecfc0ea72536b27ca766ccbc46ce8482e6bd2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_0.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_1.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f6e17d0f5f75ddad4b37320e8ccb874527bee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_1.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_10.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e602b73bf23da1504e36f16f3d5e35e7471cf67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_10.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_11.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8c0c27b75d8bf271bd88a7b81b61e0ff3903b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_11.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_12.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28289e88d06c0c08b08c06f96c60d40800a3d8ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_12.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_13.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b281bacbf374e1a2bf018021891af03de0ec97a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_14.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc5e6906faa9045f7340aa01de262f285b0928b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_14.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_15.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177f064b3d8eb9b95ce20d459597b68404734c8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_16.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6a0064ff844813018fc7034bcbfdb71550e7a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_16.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_17.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba20e77c3964123f62402a15d556f7a0e941702
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_17.obj
@@ -0,0 +1,145 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_18.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..222b8bf9d19d2ea5fab944b47e5794527ad84140
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_19.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05550a6d3672233d1b23cd632e7c0ea2c494436d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_2.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15db5f4f82728151058188b76ffc40f5a927e306
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_2.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_20.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64507188fb3afad533ed471d674cad58845c02e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_20.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_21.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9371fc0eaabbd5224e863d5ea2c970ccbe22b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_21.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_22.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e024e6cf9362740c129fac110fbbc797ed399b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_23.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b81d2a72b8aaa7a86e7887d353eaa3aada0261
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_23.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_24.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d87fd7687e8b0496a8f5a14909bf315f6ef85e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_24.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_25.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4fbed0e962284cc46b6bff931de6b4dcf75223
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_26.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731fe502caa4698d0c406d8819f1b08acad9a533
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_26.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_27.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1954103aaa8c8b1a7133afb60bc2b8869b3f6323
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_27.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+f 13 15 17
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+f 13 18 19
+f 13 19 20
+f 13 20 15
+f 14 17 15
+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_28.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41d0427e6bc5899616e1c52cf909ae3e3e9ccc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_28.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.17425439 -0.01937462 -0.00340180
+v 0.18699194 -0.03486627 0.01795388
+v 0.18730330 0.00003959 0.01795401
+v 0.17449775 0.00003967 -0.00340173
+v 0.17452639 -0.12715565 -0.00340220
+v 0.18674140 -0.12715573 0.01795354
+v 0.20667626 0.00003959 0.01795401
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+v 0.19547766 -0.12715565 -0.00340220
+v 0.20976491 -0.12715573 0.01795354
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+v 0.20985795 -0.12374358 0.01795356
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+v 0.19618630 -0.03933683 -0.00340187
+v 0.21077417 -0.05037030 0.01795382
+v 0.19613262 -0.11234897 -0.00340214
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_3.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492574c26e357243817b1c300d7fefa14a45b62d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_3.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.01172730 0.15519411 -0.01958060
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+v -0.04065935 0.18862661 0.01795103
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+v -0.15097381 0.15519411 -0.01933443
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+v -0.16317431 0.15534145 -0.01837915
+v -0.16746999 0.15519410 -0.01699766
+v -0.16325276 0.15519411 -0.01839384
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_4.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd20cdd22ae4b19505079dcb4c0360f148e0c23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.18673716 0.12755910 0.01795448
+v 0.18713455 0.12755910 0.01939127
+v 0.20967142 0.12755910 0.01795448
+v 0.18699091 -0.03483999 0.01795388
+v 0.19123782 0.12755907 0.02731872
+v 0.18793414 -0.05035156 0.01980658
+v 0.19132879 -0.04260733 0.02672328
+v 0.20984857 0.12011447 0.01795445
+v 0.22039641 0.12755910 0.01996397
+v 0.22813374 0.00390439 0.01916775
+v 0.22813374 -0.00386293 0.01914161
+v 0.18724947 -0.08437102 0.01795370
+v 0.19126176 0.12755907 0.02735288
+v 0.19329186 -0.04260734 0.03021377
+v 0.19325355 0.03822343 0.03025225
+v 0.19325355 0.04121972 0.03025226
+v 0.18810172 -0.08135168 0.01980646
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+v 0.21084446 0.04529933 0.01795418
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+v 0.23382660 0.00390438 0.02119132
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+v 0.23555982 0.00390436 0.02672345
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_5.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c859761aa582215115534c92bd8e4894d9799fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00043356 -0.15519506 -0.01956372
+v 0.01923022 -0.15829073 -0.01914140
+v 0.01150254 -0.15829073 -0.01914140
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+v 0.06234331 -0.15519506 -0.01956004
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_6.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f53e99e321845c7455d70e90702b6177a60dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_6.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_7.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26684eb9a8836e3123723fc835fe4ee2e2e94c90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_7.obj
@@ -0,0 +1,202 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_8.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ff51b9a69fe004bd140832cf2f7a34496e6b4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.12301730 0.16759725 0.01795463
+v 0.16205192 0.16219255 0.01795461
+v 0.16205192 0.16350542 0.02141307
+v 0.12301730 0.16852064 0.01973462
+v 0.12301730 0.18852021 0.01795470
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+v 0.12925689 0.16983350 0.02407869
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+v 0.12301730 0.19760534 0.01893137
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+v 0.12755275 0.18849395 0.01795470
+v 0.13529013 0.18823576 0.01795470
+v 0.15849846 0.19760534 0.01913790
+v 0.16205192 0.19760534 0.01922891
+v 0.16205192 0.16962342 0.03085559
+v 0.12301730 0.17652917 0.03156446
+v 0.12301730 0.20413473 0.02116294
+v 0.15076108 0.20436668 0.02104742
+v 0.15849846 0.20411723 0.02106142
+v 0.16205192 0.20112825 0.02027031
+v 0.16205192 0.17412222 0.03320792
+v 0.12301730 0.18211328 0.03462039
+v 0.12301730 0.17884422 0.03283164
+v 0.12301730 0.20643227 0.02672518
+v 0.14302369 0.20677799 0.02672518
+v 0.15076108 0.20690052 0.02672518
+v 0.14302369 0.20431417 0.02109643
+v 0.15849846 0.20630972 0.02672518
+v 0.16205192 0.20486995 0.02438686
+v 0.16205192 0.20368399 0.02132396
+v 0.16205192 0.18211328 0.03563552
+v 0.12301730 0.18985491 0.03568106
+v 0.12301730 0.20488305 0.03027464
+v 0.12301730 0.20377584 0.03278798
+v 0.15076108 0.20401216 0.03286499
+v 0.15849846 0.20367081 0.03264096
+v 0.16205192 0.20535569 0.02672517
+v 0.16205192 0.20315004 0.03211239
+v 0.16205192 0.18985491 0.03583508
+v 0.12301730 0.19760528 0.03523128
+v 0.12301730 0.20016104 0.03421966
+v 0.14302369 0.20394215 0.03284748
+v 0.14302369 0.19760528 0.03523653
+v 0.15849846 0.19760528 0.03513677
+v 0.13529013 0.19760528 0.03525228
+v 0.16205192 0.19760528 0.03480597
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_9.obj b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc4d016e9def743f6da31e3ce2bb000ff98dd6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/mesh/tray_025_collision_9.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.14651705 -0.14900564 -0.02008094
+v -0.14651705 -0.14900569 -0.00577337
+v -0.14651705 -0.15021649 -0.02004371
+v -0.15307977 -0.14900564 -0.01999531
+v -0.14651705 -0.16709902 0.01795340
+v -0.17799531 -0.14900578 0.01795346
+v -0.14651705 -0.15109811 -0.02001394
+v -0.15099533 -0.15109811 -0.01994692
+v -0.16082042 -0.14900564 -0.01964163
+v -0.14651705 -0.18637750 0.01795333
+v -0.20197178 -0.14900578 0.01795346
+v -0.14651705 -0.15505989 -0.01945177
+v -0.15099533 -0.15732795 -0.01897895
+v -0.15873055 -0.15109811 -0.01958579
+v -0.16602608 -0.15086032 -0.01882628
+v -0.16613465 -0.14900564 -0.01906456
+v -0.17395672 -0.18610679 0.01795333
+v -0.14651705 -0.17622238 -0.00094843
+v -0.18767385 -0.14900569 -0.00586272
+v -0.19990362 -0.15877671 0.01795343
+v -0.14651705 -0.15768645 -0.01904225
+v -0.14651705 -0.15992890 -0.01837584
+v -0.15099533 -0.16120193 -0.01764240
+v -0.15873055 -0.15618294 -0.01867366
+v -0.16314913 -0.15530864 -0.01837582
+v -0.16950557 -0.14900564 -0.01861035
+v -0.19734151 -0.16234341 0.01795341
+v -0.17808217 -0.16273109 -0.00441451
+v -0.17038495 -0.16275668 -0.01135423
+v -0.16647120 -0.16376632 -0.01222169
+v -0.15873055 -0.16923526 -0.00968633
+v -0.15233610 -0.17005103 -0.01077718
+v -0.14717929 -0.17047538 -0.01133192
+v -0.14651705 -0.17085583 -0.01074740
+v -0.14651705 -0.17239227 -0.00803332
+v -0.18729929 -0.14900569 -0.00646957
+v -0.18717987 -0.14949588 -0.00629831
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+v -0.15873055 -0.16536493 -0.01351359
+v -0.15873055 -0.16005694 -0.01697226
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+v -0.14651705 -0.17048635 -0.01134681
+v -0.18481860 -0.14900567 -0.00966020
+v -0.18414549 -0.15168711 -0.00830875
+v -0.17393500 -0.15086033 -0.01629090
+v -0.17207312 -0.14900564 -0.01778384
+v -0.18250075 -0.14900567 -0.01193124
+v -0.18002547 -0.15109813 -0.01279127
+v -0.17465154 -0.14900565 -0.01667810
+v -0.18047602 -0.14900566 -0.01332738
+f 1 2 5
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+
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/tray_025.xml b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/tray_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a6379f2dc513c746db702b7e7d2e9d30d7050385
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mjcf/tray_025.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_025_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_025">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/textures/material_0.png b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53497ffb24bb1087bf1c467116a2a342670966e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8351ddbd9a58859d554a5137b8a1fb2d24bba377314d3563878c65f0287757f
+size 14563921
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.urdf b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb47d7a7e74aaa54c2b9fbd5f3ea13a0b8045304
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_025">
+   <link name="tray_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_025.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_025_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>40171ce5765355609665ce58b1d7cb26</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 floral pattern</description>
+         <min_height>0.0584</min_height>
+         <max_height>0.0584</max_height>
+         <real_height>0.0584</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195459</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.234653 -0.214543 -0.018561</min>
+            <max>0.234422 0.214561 0.039873</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..77e483b6ac0b8f654350892299fd8ae78c249f06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837a19a603134991d570e0728e3d46c399eaf1642cdbb475f2fea4deeaa3fbb5
+size 4982535
diff --git a/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/video.mp4 b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a3162d936d8cdb505a3afe9fce3c64d3c2f67da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a793422b81fc38faeafa57babfd1e002344bdf8db53f89a13dbe799621a8243
+size 670866