diff --git a/.gitattributes b/.gitattributes
index 6ab059590a0f2c482dc63993cc6ffac2e33c55b6..7df4a822b2e5c2beb945c321b1c045ff86c45b3a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4349,6 +4349,7 @@ dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/mesh/spoon_0
 dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/spoon_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/mesh/tray_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/tray_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bdff2a5ca4b5593e9e8f645b77e3d5d7/bdff2a5ca4b5593e9e8f645b77e3d5d7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bdff2a5ca4b5593e9e8f645b77e3d5d7/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bdff2a5ca4b5593e9e8f645b77e3d5d7/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material.mtl b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e24e273ae66abf66d74f02494a9cece4adfac0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9fba337fe25c9c2d3a443048436b4f06e14bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf597c6184fc0aa9bd0460ec3974028eba7310ecf2a5e27833fb080aa13c6b4
+size 17666233
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.glb b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..374affc83b5c79335f8bde5beb255ddb14ea59d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264119d34b68f3d790763c7acc9a7d4a3c0c2c3b5bfd8ccd0f87657853193eee
+size 21024992
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.mtl b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e49a9f870ef864452885513549f61e73fbf429ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.mtl
@@ -0,0 +1,6 @@
+newmtl tray_035_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/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0df3f91cf8dca749a561f3dd604251d2a79f9e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035.obj
@@ -0,0 +1,121724 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_collision.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a617b0e0fbbe1cbd55ee785a6b82d76c666278e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9fba337fe25c9c2d3a443048436b4f06e14bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mesh/tray_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9fba337fe25c9c2d3a443048436b4f06e14bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf597c6184fc0aa9bd0460ec3974028eba7310ecf2a5e27833fb080aa13c6b4
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035.obj
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767a8f4ed8298676d650549f872304c66ce2508b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision.obj
@@ -0,0 +1,4784 @@
+# https://github.com/mikedh/trimesh
+
+o tray_035_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_0.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb8c8c2cd4e4f96da3f5dba682730676325808d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_0.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_1.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6790aa3e36cc7ee94d1440608d47acc53fa9c802
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_10.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451d7dad7348b19dd6bb9282b22343df2795a494
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_11.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd65f88d664016786f7f556cba9a22591f6598
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_11.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_12.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7511847724321ecf87767ab44a12d5b222f0bd83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_12.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_13.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0d58420389596d91079daf28503e9029af332e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_13.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_14.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b67f37506039aab2b535c5e8ccd651731921d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_14.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_2.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7568da8ad95425b7aa27401537d51054657e33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_2.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_3.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8bef290ab5aef4a8e5d581b359e67507fb583e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_4.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346401a5185fce7ebee5793fed8e5d753ff7b6ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_5.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac6cb81e76822aec21421f61c45d1f585e660a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_5.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_6.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a48e623a04f5e4cc7703d81009de408a2e1178
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_7.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acadd623f35832262e325bae6fbec8fdca668ecb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_7.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_8.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5617239afda2f7194923f5334d61135f320a0134
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_9.obj b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677f4b82656bc7c12d794493b693a2c4038fca6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/mesh/tray_035_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/tray_035.xml b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/tray_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7fa2b9a2773db995fdcb7b440ad55ab8868faaa7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/mjcf/tray_035.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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/textures/material_0.png b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf597c6184fc0aa9bd0460ec3974028eba7310ecf2a5e27833fb080aa13c6b4
+size 17666233
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.urdf b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b19ea2205acfe20ea00312ff777d46394b210571
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_035">
+   <link name="tray_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>bc46a94ca4ab5aeeb183df3b8a4445d6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate serving tray</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>rectangular handled tray with ornate floral top pattern</description>
+         <min_height>0.0416</min_height>
+         <max_height>0.0416</max_height>
+         <real_height>0.0416</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.136924 -0.194615 -0.010583</min>
+            <max>0.136882 0.194694 0.031027</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>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.usd b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.usd
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+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/tray_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09551f5e58b3b549842c949d6e0dcab1f2273c0876ad429ceb9e0c5e16f2bd3f
+size 4932607
diff --git a/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/video.mp4 b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3552109a2ce6b76259d890c5da7de91ad660452a2100ef56282448798ceead
+size 786366