diff --git a/.gitattributes b/.gitattributes
index 8c6502c265d8527929f475311a14a098f8b64136..047b46677f83dfeffc9f3fa39f51179d92da1367 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4332,3 +4332,5 @@ dataset/kitchen_supplies/tableware/b4a6461492bf585d99e5ff61265bf47c/mesh/spoon_g
 dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/fork_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/mesh/fork_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b72a9b3d36355cc3b6e7d7ab612feafa/b72a9b3d36355cc3b6e7d7ab612feafa.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material.mtl b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9605f6e07cc2e2c2292cf1b612c0de393c5c6cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_074_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
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f2bbecc71a0e7579c533ef7e1746314e66f37aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279df4dd61ca3e913f052d17dc0341adad92f1a42dfb96cf517af8c8514e4f9a
+size 12745903
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb
new file mode 100644
index 0000000000000000000000000000000000000000..63fb37cf7294f0b8eb8ffa5430f87ee435fb52d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29fcafd3bb348962aa63852161edde289615a350473e0aa8fc149e3fe4df948
+size 15356280
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.mtl b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e43e1da4fc5410e1968aba7d5dcf0f4fd3675bea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.mtl
@@ -0,0 +1,6 @@
+newmtl tray_074_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/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57230c7e1a09ae9a23dedc3e011d69588195dff5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.obj
@@ -0,0 +1,104222 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_074_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074_collision.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3eaa14da5e04c456b3020c4d384f2f5f8aaeaf1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074.obj
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b290d74ea6adf43aa62fbe37db607d51ac6bf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision.obj
@@ -0,0 +1,6419 @@
+# https://github.com/mikedh/trimesh
+
+o tray_074_collision.obj
+v 0.00024968 0.16478551 0.01771566
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_0.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9ea762c2ebf9a8293bf57c6317711592317c87
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_0.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_1.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9232325d8c6e35ec9eda064d84945d897784d031
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_1.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_10.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae75ae0ef3e5469f7b0151cf850dd633fe7f919
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_11.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4c8f6ed6c98b561e480483a6b0a12c78fdcd89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v 0.11156431 0.09102974 0.01712028
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+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_12.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7da9a9b7a36b06e5e3af260ff21f23752453ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07539424 -0.12545095 0.00051427
+v 0.07539424 -0.13884788 0.01691253
+v 0.07539424 -0.14092398 0.00051421
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+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_13.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c458c2fe1fac39261b954228081db4763e53ecfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_13.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.08451021 0.16062582 0.01771566
+v -0.08451021 0.15928456 0.01330931
+v -0.08990664 0.15872821 0.01354640
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_14.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3069f4301124ce1eba2445facf1c48f4e8e55fef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_14.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_15.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf5cc71eebea849ac8c484da646691be6424283
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_15.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_16.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bef513b2076666a93ea52b52a89c84c47a1635f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_16.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_17.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1668b172701058a979f61bd96b7102d9355b1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_17.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_18.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fa47eaa25b2ef0eca2d0f107c4d8c77735f6e57
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_18.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_19.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a2c4d6ed2037a187080db853f864b5baf88762
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_19.obj
@@ -0,0 +1,178 @@
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+f 29 49 50
+f 29 50 30
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+f 48 58 49
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+f 58 60 59
+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_2.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e677bb48038e371c9711a7998c0babf7cece0eac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_2.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.13645769 -0.00218572 0.01431090
+v -0.13636212 -0.00269397 0.01818507
+v -0.13641673 -0.00018745 0.01566526
+v -0.13644858 -0.00018744 0.01432165
+v -0.13305844 -0.00018743 0.01219890
+v -0.13305844 -0.00218571 0.01218816
+v -0.11377786 -0.08852772 0.00042153
+v -0.11372782 -0.09212001 0.00042152
+v -0.11367321 -0.09434931 0.00042151
+v -0.13222115 -0.11011616 0.01341119
+v -0.13328142 -0.11011618 0.01771463
+v -0.13583426 -0.00123858 0.02017690
+v -0.13606633 -0.00018746 0.01930762
+v -0.13635302 -0.00018746 0.01815503
+v -0.11385068 -0.00018739 0.00042186
+v -0.11385523 -0.00901218 0.00042183
+v -0.11385523 -0.03060058 0.00042175
+v -0.11384157 -0.04681787 0.00042169
+v -0.11380972 -0.07924089 0.00042157
+v -0.11380517 -0.08313350 0.00042155
+v -0.11341382 -0.09931614 0.00042150
+v -0.13190715 -0.11551037 0.01359147
+v -0.13264434 -0.11551039 0.01771461
+v -0.13110171 -0.11551040 0.02077960
+v -0.13142481 -0.11011619 0.02101787
+v -0.13359540 -0.00269398 0.02113201
+v -0.13583426 -0.00018746 0.02017690
+v -0.09940276 -0.00018739 0.00042186
+v -0.11281771 -0.10472191 0.00042148
+v -0.13160228 -0.11817862 0.01385546
+v -0.13197542 -0.11817863 0.01593742
+v -0.11172558 -0.11011611 0.00042146
+v -0.13200272 -0.11817864 0.01780045
+v -0.13082414 -0.11817865 0.02053491
+v -0.12766607 -0.11551040 0.02187639
+v -0.12785264 -0.11817865 0.02157804
+v -0.12766607 -0.11011619 0.02206314
+v -0.13278541 -0.00757996 0.02134878
+v -0.13358175 -0.00018747 0.02113202
+v -0.08996952 -0.11817857 0.00042143
+v -0.11411006 -0.00018746 0.02014041
+v -0.10997363 -0.11552189 0.00042144
+v -0.10933655 -0.11705813 0.00042143
+v -0.10880415 -0.11817857 0.00042143
+v -0.12226915 -0.11817865 0.02205882
+v -0.12766607 -0.00757996 0.02234898
+v -0.12766607 -0.00018747 0.02232540
+v -0.13108351 -0.00018747 0.02163642
+v -0.10994178 -0.11817864 0.01875987
+v -0.11585291 -0.00018747 0.02049027
+v -0.11246732 -0.11817865 0.02054349
+v -0.11954793 -0.11817865 0.02173472
+v -0.12226915 -0.03456258 0.02189385
+v -0.12567294 -0.00018747 0.02207213
+v -0.12226915 -0.02916836 0.02185953
+v -0.11687677 -0.00018747 0.02069417
+v -0.11687677 -0.11817865 0.02138701
+v -0.12226915 -0.00018747 0.02163856
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 14
+f 2 14 3
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+f 3 14 13
+f 3 13 27
+f 3 27 39
+f 3 39 48
+f 3 48 47
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+f 3 56 50
+f 3 50 41
+f 3 41 28
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+f 35 36 45
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+f 41 50 51
+f 41 51 49
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+f 47 53 55
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+f 50 56 51
+f 51 56 57
+f 52 57 53
+f 53 56 55
+f 53 57 56
+f 54 55 58
+f 55 56 58
+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_20.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8523f524cc5370cdb29e1b2859df56fbdc954712
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00024968 0.16478551 0.01771566
+v 0.00024968 0.16442092 0.01865716
+v 0.00024968 0.16378562 0.01369947
+v -0.00359130 0.16368455 0.01377243
+v -0.07910852 0.16108548 0.01771564
+v 0.00024968 0.16342822 0.02109779
+v 0.00024968 0.15973183 0.01158541
+v -0.00359130 0.15973183 0.01165837
+v -0.07001625 0.14357444 0.00458309
+v -0.07910852 0.15952968 0.01325303
+v -0.08450083 0.15928060 0.01330688
+v -0.08450083 0.16062343 0.01771043
+v -0.08450083 0.15837451 0.02112035
+v 0.00024968 0.16240304 0.02143479
+v -0.07910852 0.15859110 0.02121589
+v 0.00024968 0.14398234 0.00458309
+v -0.00359130 0.14398234 0.00458309
+v -0.00898361 0.14397512 0.00458309
+v -0.03596175 0.14391737 0.00458309
+v -0.03776195 0.14391015 0.00458309
+v -0.04135405 0.14389571 0.00458309
+v -0.04852168 0.14385600 0.00458309
+v -0.05391399 0.14382352 0.00458309
+v -0.05929800 0.14379102 0.00458309
+v -0.06292330 0.14375132 0.00458309
+v -0.06467372 0.14372605 0.00458309
+v -0.06831560 0.14363219 0.00458309
+v -0.07390701 0.14337951 0.00458309
+v -0.07910852 0.14278389 0.00458308
+v -0.08007913 0.14261424 0.00458308
+v -0.08436809 0.14170096 0.00458308
+v -0.08450083 0.14167207 0.00458308
+v -0.07590632 0.14321346 0.00458309
+v -0.08450083 0.15433516 0.02216955
+v 0.00024968 0.15973179 0.02224600
+v 0.00024968 0.13117481 0.00458304
+v -0.08450083 0.12790795 0.00458303
+v -0.08450083 0.14893852 0.02173178
+v -0.07910852 0.15433516 0.02223209
+v -0.01437592 0.15433516 0.02232937
+v 0.00024968 0.15817237 0.02226858
+v 0.00024968 0.13940148 0.01761828
+v 0.00024968 0.14109086 0.01998944
+v -0.08450083 0.13828244 0.01771556
+v -0.08450083 0.14354550 0.02093964
+v -0.05753099 0.14893852 0.02179779
+v -0.05213868 0.14893852 0.02180648
+v 0.00024968 0.14893852 0.02152854
+v 0.00024968 0.15433516 0.02219214
+v -0.04673807 0.14893852 0.02179953
+v -0.04135405 0.14893852 0.02178563
+v 0.00024968 0.14379096 0.02056964
+v -0.08450083 0.14047719 0.02033860
+f 1 2 6
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+f 1 52 43
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+f 48 51 52
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_3.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac70d6edd32c8abdc6acf8822490df38e5f3a7fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_3.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.13644991 -0.00017601 0.01432237
+v -0.13305845 -0.00017600 0.01219755
+v -0.13635558 -0.00017603 0.01815657
+v -0.13634659 0.00342395 0.01811547
+v -0.13643643 0.00321825 0.01433969
+v -0.11372041 0.08956073 0.00025605
+v -0.11373388 0.08773216 0.00025604
+v -0.11375186 0.08416647 0.00025603
+v -0.11376084 0.03560671 0.00025585
+v -0.11376084 0.01221255 0.00025576
+v -0.11375186 -0.00017596 0.00025572
+v -0.13606359 -0.00017603 0.01930769
+v -0.13583450 0.00175539 0.02017754
+v -0.13318872 0.11114912 0.01771557
+v -0.13218251 0.11114914 0.01343131
+v -0.11362159 0.09479499 0.00025607
+v -0.11369345 0.09172072 0.00025606
+v -0.09890581 -0.00017596 0.00025572
+v -0.13583450 -0.00017603 0.02017753
+v -0.13358402 -0.00017604 0.02113175
+v -0.13356156 0.00342394 0.02113176
+v -0.13136946 0.11114911 0.02098070
+v -0.13099214 0.11655480 0.02068861
+v -0.13243856 0.11655481 0.01771559
+v -0.13180967 0.11655483 0.01366285
+v -0.11300618 0.10302352 0.00025610
+v -0.11330715 0.10036068 0.00025609
+v -0.11348233 0.09750354 0.00025608
+v -0.11359014 0.09568641 0.00025607
+v -0.11410672 -0.00017603 0.02014074
+v -0.09055967 0.11655488 0.00025615
+v -0.13108646 -0.00017604 0.02163807
+v -0.13270808 0.00862391 0.02135248
+v -0.12766357 0.11114911 0.02203661
+v -0.12766357 0.11655480 0.02181376
+v -0.10951590 0.11655488 0.00025615
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+v -0.11146093 0.11105777 0.00025613
+v -0.11219762 0.10791493 0.00025612
+v -0.11263335 0.10575493 0.00025611
+v -0.11687379 -0.00017604 0.02069467
+v -0.11009537 0.11655481 0.01798822
+v -0.11316790 0.11655480 0.02055445
+v -0.11317688 0.11655480 0.02055662
+v -0.11687379 0.11655480 0.02133125
+v -0.12766357 -0.00017604 0.02232398
+v -0.12766357 0.00862391 0.02235647
+v -0.12226868 0.11655480 0.02198687
+v -0.12226868 -0.00017604 0.02163807
+v -0.12226868 0.03560663 0.02188487
+v -0.12226868 0.03021238 0.02184807
+v -0.12226868 0.04100089 0.02190003
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+f 1 18 30
+f 1 30 41
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+f 1 46 32
+f 1 32 20
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+f 46 50 47
+f 47 50 52
+f 47 52 48
+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_4.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a8b7b53b0e38e594a9bf0b871d006452ebcf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_4.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
+v -0.11385933 -0.02376591 0.00042063
+v -0.11283173 -0.02916551 -0.00132352
+v -0.11383700 -0.05074095 0.00042053
+v -0.11383700 -0.00019146 0.00042072
+v -0.11374763 0.08415725 0.00025357
+v -0.11375880 0.02839198 0.00025336
+v -0.11283173 0.01400835 -0.00132450
+v -0.11113395 -0.00019145 -0.00400057
+v -0.11013984 -0.01836628 -0.00556022
+v -0.11012867 -0.03996470 -0.00554549
+v -0.11277587 -0.08311560 -0.00128727
+v -0.11380349 -0.08311560 0.00042041
+v -0.09939466 -0.00019146 0.00042072
+v -0.10950317 0.11655488 0.00025369
+v -0.11089937 0.11276367 0.00025367
+v -0.11144670 0.11104039 0.00025367
+v -0.11218388 0.10789254 0.00025366
+v -0.11261950 0.10573270 0.00025365
+v -0.11298810 0.10302140 0.00025364
+v -0.11328968 0.10035607 0.00025363
+v -0.11346839 0.09748393 0.00025362
+v -0.11358009 0.09566875 0.00025361
+v -0.11361360 0.09477265 0.00025361
+v -0.11369179 0.09171670 0.00025360
+v -0.11371413 0.08955686 0.00025359
+v -0.11279821 0.08415725 -0.00132652
+v -0.11282055 0.03558379 -0.00132670
+v -0.11012867 0.01940797 -0.00556236
+v -0.11012867 0.01400837 -0.00556580
+v -0.10833035 -0.01296667 -0.00793318
+v -0.10831919 -0.05074092 -0.00790484
+v -0.10833035 0.00860877 -0.00793766
+v -0.10833035 0.00320917 -0.00793654
+v -0.11008399 -0.07771598 -0.00549209
+v -0.11007283 -0.08311558 -0.00547274
+v -0.11275354 -0.08851521 -0.00126792
+v -0.11378114 -0.08851521 0.00042039
+v 0.00023851 0.06255883 0.00014071
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_5.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5361101db531643ebb0a7dd5316c38199a6777
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_6.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daefcb6f0e9089a0e26ab3dd312c23ff2afffca3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_7.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e575dc2d4d7ee68ed332220cdca82cf99b9b08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_8.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf29ffdd52d4b83002784a205c426b6c0641e1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_8.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.11587654 0.00003719 0.00022043
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_9.obj b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437decae7d2fb920322ea74f46f4ecb76f265c28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/mesh/tray_074_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/tray_074.xml b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/tray_074.xml
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mjcf/tray_074.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_074">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_074_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="tray_074">
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
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+size 12745903
diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.urdf b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.urdf
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+++ b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_074">
+   <link name="tray_074">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_074.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_074_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>b8c6fd93b12b5eb4ab2b1b5b9857310c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate square tray</name>
+         <color>white,black</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow square tray with scalloped rim and dark floral patterns</description>
+         <min_height>0.0334</min_height>
+         <max_height>0.0334</max_height>
+         <real_height>0.0334</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201341</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.135854 -0.163172 -0.009959</min>
+            <max>0.134059 0.164223 0.023464</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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diff --git a/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/video.mp4 b/dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/video.mp4
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