diff --git a/.gitattributes b/.gitattributes
index 600317ca8625ce0a30236d9e3b356d06b6d2315c..767e45789de51ca6ead59ad45d9a3d7f9c5a509d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4207,3 +4207,5 @@ dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd
 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
+dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material.mtl b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaa22d2ce9ab5051f4e04a9349aa6e9cca91ed12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_060_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_060_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1d57066149bdb5dec3c02d05a27916851b4ab9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b3bc7c440238d707ea3b825e2912980014651f77dc460a6acdbc8cf34dbd402
+size 14341687
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1375f48a9c1dc10d1f0a0cf18f4fd9f728fdc297
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8098d6d276881223c4065f24d5e466c110e6d5ebac51314fba4a6ff89f331329
+size 17235304
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.mtl b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a1775b8075879599630fadb5ff7591a8ead4a3f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.mtl
@@ -0,0 +1,6 @@
+newmtl tray_060_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/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95503ae7901bfc154b021610b97769b43c32c45f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.obj
@@ -0,0 +1,108166 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_060_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_collision.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efca7f82a73f8d829deefd81de3cd0ff818af5f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_geometry_Looks_material_0.png
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060_geometry_Looks_material_0.png
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+size 14341687
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/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/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060.obj
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+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bada269736298f1fee9c6443703153748234753
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision.obj
@@ -0,0 +1,16613 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_0.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e72d0a0f08837d4c9614a4522d1224c524f7327
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_1.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117c8fbd405375d725bb94f0df18eeacc294d10e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_10.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d961d870008b9650aa8a44d99ca1dc2b96dccd4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_11.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c97b79836fc756786de994a2f06f10381c08b5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_12.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415a393a9d55e9d1ba798f202ebb258fd6993c5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_12.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_13.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b78967bf516c1e74c6e0e41e4eb73715b77230e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_13.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_14.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6364a4b6d20e144187b7d8d65d38a4cdd9d5a1eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_14.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_15.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43adfa07d0c46169c14b2403fe9775e2046c31ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_15.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_16.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9921a2abe7a19f88657892b3ec7b6506e9fa4686
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_16.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_17.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f86b0b430f611ed8b13d24188bf192eac0a05d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_18.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac5e5eaaeb489c27af5aea6e28e3e6fc58cea9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_18.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_19.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58324f578a411311add9fff8540b22f893a10bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_19.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_2.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab7ea1022a3f9944853249ad6a1c6eda45e401b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_20.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e662557cd10c4d12ef0430acb010d0fefbf83204
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_20.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_21.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460c2e35b50b2ddb2eff216916d62063955a19a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_21.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_22.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d1384264f0be3fd125648d4fa9a1f35d886b717
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_22.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_23.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a409a332c544e8a3d4bc57dc6f252a9594f32b19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_23.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_24.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1990d3ffd92060d03ee891b23f667ae7dad42d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_24.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_25.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81caf0b2938e9cd562d2ba25bb3e43e829318ca4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_26.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d5e982c1078a27b60f03b513b38e67c68c4d15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_26.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_27.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb68005711975aee13621db43d0a2feefcf9eee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_28.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3cb2d8ff73c3edb02920f3014e0d433477ab56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_28.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_29.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b54db5852b6ad020688bfaa99ab55d6397b8a4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_29.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_3.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab696d39e5adccdcfd8e9249db0cefef11789d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_30.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8baa3005dbd17db9472b26564d0f5bf851e442
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_30.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_31.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5205dfa1c90050ef1b04f2505a103dc0808cb163
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_31.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_32.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58416dcbd7460b93ad29ffb97055f5375ec37221
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_32.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_4.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7848ab77e88ffffe6d9f2a49be72f670b642764e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_5.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b278a12717bae48b7bb251b25df964062696141
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_6.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bebd82054143d7c4842075c72ff9fbb99707feae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_7.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641017d2156a575bc019a2e80f00973291479e62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_7.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_8.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf8f1385e0284c2707365a18d0e7d722486f9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_8.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_9.obj b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad73ae894a56b13f912e8988ea8819ebe2e88db0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_9.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/tray_060.xml b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/tray_060.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37dbd3e8d2639b39a3d21d54b332fe54896bad36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/tray_060.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_060">
+  <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_060.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_060_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_060_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_060_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_060_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_060_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_060_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_060_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_060_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_060_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_060_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/tray_060_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_060_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/tray_060_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_060_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_060_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_060_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/tray_060_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_060_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/tray_060_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_060">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/textures/material_0.png b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 14341687
diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.urdf b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6dfe2c610c5fbc787432b7467f84b07a3c72d7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_060">
+   <link name="tray_060">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_060.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_060_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>4bbacf8c13385beabdd946a8efe93454</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>painted round tray</name>
+         <color>beige</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round tray with colorful floral mandala pattern</description>
+         <min_height>0.0498</min_height>
+         <max_height>0.0498</max_height>
+         <real_height>0.0498</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200810</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.195867 -0.195841 -0.014211</min>
+            <max>0.195820 0.195921 0.035552</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/4bbacf8c13385beabdd946a8efe93454/tray_060.usd b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/video.mp4 b/dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80dc8fba1645fefecc888a231e3373a04e1f9b42
--- /dev/null
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