diff --git a/.gitattributes b/.gitattributes
index c593aa6a3eaf74582ec0fc21188e1cbf0460d922..ecbdf09f241e1bae7c95499d3288ede317160cbf 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/07369dcfb16756b7b30d12395ec3bc5a/chopsticks_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/mesh/chopsticks_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/mesh/chopsticks_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/mjcf/mesh/chopsticks_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d344e65fc442789f23a8e05196cb9436a70090ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b3cca87a7f6ce7f370969cd7122c9f7b1b6fd1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d138d63f21ab3de2831721ab42b6a6ef072ceb9f2a1b0a0c32d14fae5f99a38
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.glb b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..30b4a5787b894b12a44b1f14e054f31a00245e61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb54ce6fc572d28aa90fc912ad1d03b265b23477e94fa6acb2299a9700345bc
+size 12796648
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.mtl b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c01bfac7fad881eaa4e36dc4883c69a57e84e89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.mtl
@@ -0,0 +1,6 @@
+newmtl tray_027_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/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bdd2dad8de1a49f512913b8a9992ef6bbbc893
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027.obj
@@ -0,0 +1,114062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_027_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027_collision.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2a3c2e1ad63a35621bb87f0ebcd5764eb51538
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mesh/tray_027_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74118b16fb91e77408be7253635e075bb9ea030f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision.obj
@@ -0,0 +1,5607 @@
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_0.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ce56aff48b5cd3b90c6e0205c8a930e8195541
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_1.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a139daf9e9de90ab7a8ab192d1d795d016419ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_10.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4631f5cfbe6f34ab43a61022495a8c50b23d0a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_11.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4674dd7bcafb8e19fe7f2a0fb4cbf2eee38c014f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_11.obj
@@ -0,0 +1,331 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_12.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6809ed15c0f6133a0206839ddfbddaca3df7564
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_12.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.11841442 -0.04155030 0.00061132
+v 0.11841442 0.00014886 0.00061147
+v 0.11842170 -0.09811910 0.00061111
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+v 0.13727265 0.00014886 0.00061147
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+v 0.12148147 0.11279435 0.00141864
+v 0.11843629 -0.10449486 0.00061109
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+v 0.12777242 -0.10577862 0.01298206
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+v 0.13095618 -0.10577863 0.01687221
+v 0.13727265 -0.00025765 0.00061147
+v 0.13741853 0.11279435 0.00141864
+v 0.13751335 0.11163902 0.00141864
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+v 0.11844358 -0.10577857 0.00061108
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+
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_13.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef1518f2db7fe4337bdf8d75f6dc4e31bf7eeaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_13.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.11199653 0.13689219 0.00176987
+v -0.11806241 0.13689216 0.01204825
+v -0.12757559 0.11095015 0.01331222
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+v -0.13085630 0.13689219 0.00176987
+v -0.11994198 0.13689214 0.01522461
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+v -0.13759284 0.11095019 0.00176978
+v -0.13431641 0.13097238 0.00176985
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+v -0.13075805 0.11095014 0.01689088
+v -0.15400062 0.11095017 0.00770115
+v -0.15402626 0.11803819 0.00768592
+v -0.15403479 0.12441765 0.00769548
+v -0.13757576 0.11165366 0.00176978
+v -0.13555949 0.12743980 0.00176984
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+
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_14.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0eed0bc4e5453345a04aa32d1ea4f4df6b44ad5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_14.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.10763449 0.13861174 0.00141717
+v 0.12147682 0.11280538 0.00141707
+v 0.10763449 0.14687765 0.01507293
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_15.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4e77c0de143fb493301d4718fb9db8530571b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_2.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff065156057e08772f77585cd231c0415ac25b2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_2.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_3.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d860790620299478fbaae42bf90a0155b5688bde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_3.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_4.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e098bf61c05b6a3aacc69dd10836e192dcac3975
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_4.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_5.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f1b5c0545888ae4737e9a7cb9353b6d4b37e47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_5.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_6.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a80648c7e7adf7bd5ae7f33b3613ee73d897118
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_6.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_7.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11923933175401d2236ba326953dc26dc5321e24
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_8.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a761d625465f97da8659416a93d9203864bde7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_8.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_9.obj b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f77a528c9675b29ee596189afb5c2ca65b184a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/mesh/tray_027_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/tray_027.xml b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/tray_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d619efe943416f241b200c8b35cf88528afd073e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/mjcf/tray_027.xml
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/textures/material_0.png b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b3cca87a7f6ce7f370969cd7122c9f7b1b6fd1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d138d63f21ab3de2831721ab42b6a6ef072ceb9f2a1b0a0c32d14fae5f99a38
+size 9779753
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.urdf b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02140a8604baaf2fe8c770380e363e9eccdb9545
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_027">
+   <link name="tray_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <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>0d4632d9fe615f069de2f4d2328793a6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>square serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>shallow brown square tray with rounded corners and ornate side handles</description>
+         <min_height>0.0423</min_height>
+         <max_height>0.0423</max_height>
+         <real_height>0.0423</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195544</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.154874 -0.193306 -0.011337</min>
+            <max>0.155004 0.193187 0.030954</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/0d4632d9fe615f069de2f4d2328793a6/tray_027.usd b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/tray_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d237a6d4c1d34097c54a8deae6f965060d0aec318a9ca57fc7552481464ff0ea
+size 4719123
diff --git a/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/video.mp4 b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29288f4186c67cba675724f1630ffac0c9d031c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0d4632d9fe615f069de2f4d2328793a6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4779f6dfa94c8a645a5662cd7913ff89fd4938b3d2234f329078bbd44647c7
+size 331847