diff --git a/.gitattributes b/.gitattributes
index 8adef4a1e39d1c0030e99df9c144a3b81fccbc97..5af9f6db77d6790da94338c85a45e0c8bbbdced5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4359,3 +4359,5 @@ dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_d
 dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/tray_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3cf888aabac6750df4417d60d323694e7855d82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_022_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
+map_Kd tray_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2031652ff2c943cf6063e524192211e096a28a07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/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/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.glb b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ee0d226b6b34de7682feb63437cfae5e95f6217
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 19247460
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.mtl b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ab37e17b2897b486be36a456b7931ada130b64d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.mtl
@@ -0,0 +1,6 @@
+newmtl tray_022_geometry_Looks_material_0
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+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/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce77e52f26eaa79650473386598b37a2525c3c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022.obj
@@ -0,0 +1,105974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_022_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022_collision.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfb171bb36ee9f49ae7899ac50e6c51fbcd2fa2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mesh/tray_022_collision.obj
@@ -0,0 +1,7442 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef232f6972c65e3ee8c03fd2c70d45114f1593c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_0.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12d4fadfdbfdd9fb8c954276d76e25c0a6226d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_1.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec15acaeb32ce61fa1141f475f2eb4d656f6fd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_1.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_10.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a90a5b6b53fe685b26571f8cfb4b09e34039daf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_11.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cfe9b01c578ef8f2df8a94307651cf735a8d049
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_11.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_12.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affa5ea69fd94ec8f21d0dc0b0209c5462d86b17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_12.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_13.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d777ae7e2c3e3c642083ac493cec77e5eae4ee44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_13.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_14.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0e8ada4b02c480bf6d1eff6b08213eaa3df0bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_15.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e0772f41179913ed89ab8a822609c42f0e233b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_15.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_16.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315654552d70cbeb49f730f3c74fe8cee0caf3e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_16.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_17.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c50a1635b6dbeb4708977e7c8db45452e84a58d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_18.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4a3ae8a05c1608ff3bf30ec968d19506860aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_18.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_19.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70bc5471afff233f073db4cfc92dc1d78643b9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_19.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01021247 0.20617052 0.02205151
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_2.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034c11caabeb32581691f7304b6dca2847637be1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_2.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_20.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9035f8a17a3596e0b4eaf4016cf958ce2dfdc45c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_20.obj
@@ -0,0 +1,142 @@
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+f 4 14 9
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+f 17 20 19
+f 17 19 21
+f 18 31 19
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+f 19 33 23
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+f 38 47 39
+f 39 47 40
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+f 43 47 44
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_21.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca82425d7340665ee14072bbd3a8916a9e3bccf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.11141630 0.12709004 -0.00581420
+v -0.11141630 0.15644735 0.00644203
+v -0.11141630 0.16288834 -0.00581407
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+v -0.09068187 0.16515203 0.00644207
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+v -0.09068187 0.17893740 0.00644212
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+v -0.10894425 0.16972010 0.00032301
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+v -0.11141630 0.16623316 -0.00235379
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+v -0.09068187 0.17455208 -0.00125953
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+v -0.09790726 0.16985208 -0.00570967
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+v -0.09097211 0.17432370 -0.00154028
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+v -0.09790726 0.17516622 0.00250910
+v -0.09773272 0.16979118 -0.00581405
+v -0.09790726 0.16973535 -0.00581405
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+f 16 31 32
+f 16 32 17
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+f 19 33 20
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+f 22 29 23
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+f 29 37 30
+f 30 37 35
+f 30 35 33
+f 30 33 31
+f 31 34 38
+f 31 38 39
+f 31 39 32
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_22.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8c1f7a1a2ce1f6d24d02265bf939c2d4dd4354
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_22.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02425051 0.18100551 0.00644212
+v -0.02425051 0.16780100 0.00644208
+v -0.02425051 0.18008390 0.00448402
+v -0.04754310 0.18077836 0.00644212
+v -0.02425051 0.14817112 -0.00581413
+v -0.09067537 0.16515295 0.00644207
+v -0.02425051 0.17986647 0.00402329
+v -0.05429939 0.18070696 0.00644212
+v -0.02425051 0.17427512 -0.00581403
+v -0.08803529 0.14785310 -0.00581413
+v -0.09067537 0.17893511 0.00644212
+v -0.09067537 0.14789852 -0.00581413
+v -0.02425051 0.17727037 -0.00130391
+v -0.06101015 0.18060961 0.00644212
+v -0.02425051 0.17562509 -0.00430825
+v -0.05061237 0.17384999 -0.00581403
+v -0.08438728 0.17973666 0.00644212
+v -0.08859452 0.17617026 0.00075858
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+v -0.09067537 0.17139017 -0.00581404
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+v -0.05061237 0.17542388 -0.00393632
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+v -0.05061237 0.17704969 -0.00093197
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+v -0.08087584 0.17998978 0.00644212
+v -0.07763100 0.17669598 -0.00022047
+v -0.08438728 0.17642338 0.00030025
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+v -0.07087471 0.17519347 -0.00352598
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+v -0.07087471 0.18041164 0.00644212
+v -0.07434064 0.18031106 0.00644212
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+f 40 43 41
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+f 41 43 44
+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_23.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7457850764ddd4fee1667d02c85d60c4664da8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_23.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.11149622 -0.13957253 -0.00428362
+v -0.11149357 -0.15833366 0.00796727
+v -0.11149622 -0.13201887 -0.00552215
+v -0.11149622 -0.13219745 -0.00552216
+v -0.11149357 -0.16436688 -0.00552227
+v -0.11149357 -0.16733044 -0.00197825
+v -0.11149357 -0.16753315 -0.00171681
+v -0.11149357 -0.16966653 0.00112740
+v -0.11149357 -0.17157305 0.00404158
+v -0.11149357 -0.17238876 0.00529203
+v -0.11149357 -0.17412153 0.00796721
+v -0.08441847 -0.16775039 0.00796723
+v -0.11137960 -0.13208162 -0.00552216
+v -0.11025047 -0.16508121 -0.00552228
+v -0.10613156 -0.16886530 -0.00382554
+v -0.11139550 -0.16746075 -0.00188847
+v -0.10912930 -0.17032778 0.00018064
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+v -0.08441847 -0.17528953 -0.00288277
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+
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_3.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245eecbe5e028fd48c40791b9e174be0d30e4ef2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_3.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.16696735 -0.12563137 0.02204969
+v -0.16406782 -0.12568773 0.02652299
+v -0.16406782 -0.12563139 0.02652299
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+v -0.16499089 -0.12563135 0.01637524
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+v -0.16420356 -0.13924520 0.01674796
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_4.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d884373668fb5851f4ac922639a2e09a24860d08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_5.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44735c36a99b92469b6efddf44e27e062a8befcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_5.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_6.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d432e295f9f32163e3b02b901a2c02cc197ea030
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_6.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_7.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b27031464d91574cd0d1edb225effabf55256d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_8.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2223c1bfbef3a23929fbe16d5290f18332f3fbc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_8.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_9.obj b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f4d503960b878749e9da9d38a0dade333ca653
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/mesh/tray_022_collision_9.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/tray_022.xml b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/tray_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..39d2ee2215bbbff390f0d673153dae2b05a9336b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/mjcf/tray_022.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_022">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/textures/material_0.png b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7b47a4ed2c5ec828bfc6ee73aad7bb96ad32ac1a42546116ad13f59d1880a76b
+size 16356468
diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/tray_022.urdf b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/tray_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e04b544a2d0e27fd2d22e87c29aa4bc2c4bc0b9c
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+++ b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/tray_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_022">
+   <link name="tray_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_022.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_022_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>c53ada9a6f6a58ed92f8e0890645fff7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate square tray</name>
+         <color>white,brown</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow square tray with floral ornament and slightly flared rim</description>
+         <min_height>0.0485</min_height>
+         <max_height>0.0485</max_height>
+         <real_height>0.0485</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195356</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.171185 -0.205660 -0.016230</min>
+            <max>0.171325 0.205148 0.032244</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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diff --git a/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/video.mp4 b/dataset/kitchen_supplies/tableware/c53ada9a6f6a58ed92f8e0890645fff7/video.mp4
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+version https://git-lfs.github.com/spec/v1
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