diff --git a/.gitattributes b/.gitattributes
index 0a09eed70f126acb2b99ab176dff3b4ffecfc80c..876edc2b302abed98a63b899ee15ccc1c7d7b51b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4402,3 +4402,5 @@ dataset/kitchen_supplies/tableware/de6944db19be512d80d237a9f3991d02/mesh/fruit_p
 dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/e406ae5790b35c089e8b0735604f2763.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material.mtl b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a81e14b114a376bdbadf4a477e755ff013657070
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_055_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_055_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89c508b8e077c9ce38df7f5fbe1b2d267efeeeab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbcf01a91a98ee30ddc18f723a77053bc45144e9dce6bcfa725d1395d09e97c8
+size 15791136
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.glb b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9dd79a62c0a81de1e1c405da7374fed33f5dafd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7cc3b9a36718a0996f3fecc25620b7cbc51e542d849e40ae8f83ea5ba54125e
+size 18294208
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.mtl b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18cd1254ccb8260e3f362506666caa2c5ffb3973
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.mtl
@@ -0,0 +1,6 @@
+newmtl tray_055_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/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d560b7b2abeabcd8b86d5e2889b9814f88674b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.obj
@@ -0,0 +1,107906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_055_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_collision.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6e1053a6bcd0674eba19e3d738b54e8806d22a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_collision.obj
@@ -0,0 +1,6011 @@
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89c508b8e077c9ce38df7f5fbe1b2d267efeeeab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15791136
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89c508b8e077c9ce38df7f5fbe1b2d267efeeeab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15791136
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055.obj
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index 0000000000000000000000000000000000000000..7670eb8c531470985733d3c2b9ded7d48ff1b7d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055.obj
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a843345ab7e7ea41e5940dec01c3a2f48fbea8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision.obj
@@ -0,0 +1,6011 @@
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_0.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079e605f5ee610a29cb3af1505296e9c374145fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_0.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_1.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2189a76af856f282bf42623ecaf08339fde9bda1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_1.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_10.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0fb1ec0882b7b2cbba3edb1125dff2952c0efe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_10.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_11.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e99c8ac8221fa8a57c25d417e8c52b673457302
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_12.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4992f16438f481f8667085eaafbf2d6ced99f26b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_12.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_13.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5cace5ce08f53bf7b581d85e1bdb2a9bf72912
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_13.obj
@@ -0,0 +1,274 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_14.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8fc73f64e5a83c708132e95874ff3fdf6458e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_14.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_15.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dcd63da3715c32c7e5b40c2fd46596423db3a55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.14929486 0.11649382 0.01064157
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_16.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be14dcca30321cb7b0c20ec099bebd2dcd8d45d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.09939809 0.15413689 0.00073387
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+v -0.12685256 0.15413689 0.00073387
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_17.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9500746f737fe9c63282953b6049118b1994b0bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_17.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_2.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50986d2cc261a30a123d6c23b79a732660783efc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_2.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+v -0.07252569 -0.15442662 -0.01209992
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+
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_3.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64149731414a579754e6f2a366700b52f2c06f04
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.06342671 0.15414167 -0.01203210
+v -0.06342671 0.15414163 -0.00098311
+v -0.06342671 0.15650074 -0.01174596
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_4.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4358612f939f884aac69c18bea668e96aaf65423
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_4.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_5.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77d7e3a886830a3fe5b64e30df4ab730afa4828
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_5.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_6.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47923851f07aeb2a4faf7f1b21c9d41b8fd27e25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_6.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_7.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fdf820de6378d74beda1c74bd619c3071c1f58a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_7.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_8.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcbda480ac278b50f903880df85113e984e6d17a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_9.obj b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbf7f216ccc41edae27ca47fd1d6b1060aee803
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/mesh/tray_055_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/tray_055.xml b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/tray_055.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4947ba9257586668422c5d8e2c39c6d53c4be17b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mjcf/tray_055.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_055">
+  <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_055.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_055_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_055_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_055_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_055_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_055_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_055_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_055_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_055_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_055_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_055_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_055_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_055_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_055_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_055_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_055_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_055_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_055_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_055_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_055">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/textures/material_0.png b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bbcf01a91a98ee30ddc18f723a77053bc45144e9dce6bcfa725d1395d09e97c8
+size 15791136
diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.urdf b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.urdf
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+++ b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_055">
+   <link name="tray_055">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_055.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_055_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>e0c1ef7630d450e896a8af4b795ce166</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>patterned serving tray</name>
+         <color>blue,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular tray with side handles and colorful floral patterned base</description>
+         <min_height>0.0521</min_height>
+         <max_height>0.0521</max_height>
+         <real_height>0.0521</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200626</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.148550 -0.201842 -0.010897</min>
+            <max>0.148792 0.201570 0.041191</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/e0c1ef7630d450e896a8af4b795ce166/tray_055.usd b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.usd
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diff --git a/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/video.mp4 b/dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/video.mp4
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