diff --git a/.gitattributes b/.gitattributes
index 09499f4ff8982fd2d9dc4ee08a72fef8b88f6a11..600317ca8625ce0a30236d9e3b356d06b6d2315c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4204,5 +4204,6 @@ dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_
 dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4a8f4dd5e24b519994d84fa14edd01b6/mesh/tray_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4a8f4dd5e24b519994d84fa14edd01b6/tray_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.urdf b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23e63bd891936bd7873811c909b15030afd50ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="green_napkin">
+   <link name="green_napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/green_napkin.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/green_napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>0.275658</scale>
+         <version>v0.1.7</version>
+         <category>green napkin</category>
+         <description>elongated green napkin with smooth surface and slight curvature</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260119141738</generate_time>
+         <gs_model>mesh/green_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete or distorted, with irregular geometry and unclear structure.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.282075881958008</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3dc1166376eb9b0dee390a364a48ed3577e674ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b49511f142d2783371c53ad921b31931a8e3fec8d1ee34a8acb00d81e46c8b
+size 316482
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d071ca08f9d0f016d92c4d3bfccf63b6eca5a711
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f19d1d9f4e883caf3c39e5febc026e427ec9820c5a628452e764bf11fa55e25
+size 1421116
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7349aa06e66e9925b5d3426029e2aa638501fcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.obj
@@ -0,0 +1,19764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e880373ca50da2c6895a83be936a452f46105b5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e660374961774aa0a53bdb1f91c85bf413cc085e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e715b0cecb279efe52a059a69305a2a358f399a6b508328c9f2d26aae1f892cd
+size 1827529
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material.mtl b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7432253485d97b7ab90256c6dedcbf23c0c66451
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766e1a762fb69a1672e5c8ad977a73fbb04fb06ee42875317de88bc29be8c22b
+size 1204481
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/4d81c851297e5740a98f97b7458c4e6a.xml b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/4d81c851297e5740a98f97b7458c4e6a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8189a124f458e2e238515822410ff478a3f5e89d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/4d81c851297e5740a98f97b7458c4e6a.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="green_napkin">
+  <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/green_napkin.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/green_napkin_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/green_napkin_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/green_napkin_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/green_napkin_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/green_napkin_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/green_napkin_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/green_napkin_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="green_napkin">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333d0649db789134358c057a933917ce3f81dcd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin.obj
@@ -0,0 +1,19764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d36d6ae377504c97cdbc40f46b5cd5d97675db9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision.obj
@@ -0,0 +1,5598 @@
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561687d1188ba831142149b6a37be2c01a74be1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a6f4b41fb767555fc7dfbc06b96966fb9f420b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e860bfe597a80596499ce5ef6490ab39d3f74ffb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_2.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e528cc1d7ac7876e69e82a0093b70479caeb037
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_3.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c524f58b42731e764da9f6b225175850526402
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1328881ddac58836abb4d0b3293924b5c9d9a69
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e70310f5d844a1feabc4ff26ac71c4506a2f8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/green_napkin_collision_6.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7432253485d97b7ab90256c6dedcbf23c0c66451
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766e1a762fb69a1672e5c8ad977a73fbb04fb06ee42875317de88bc29be8c22b
+size 1204481
diff --git a/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/textures/material_0.png b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7432253485d97b7ab90256c6dedcbf23c0c66451
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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