diff --git a/.gitattributes b/.gitattributes
index 63261419e1e2d8ec5a4256238970ecea3dc98f28..bca867b1beecb6a50b8f8c310e5640a5dc9133bd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4167,6 +4167,7 @@ dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork.gl
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3bdcea10524650afbf13c302514860e3/3bdcea10524650afbf13c302514860e3.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3bdcea10524650afbf13c302514860e3/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3bdcea10524650afbf13c302514860e3/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..406e50fa7ae9189851d022751a3ba3cba9bd6c9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d80a06b232543b90d5c98f86a3492fa617b1591e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767cf681b0227584c53770c8fbba550576fb18c589e3cc52fd25c8ee52d94179
+size 21154799
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.glb b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d15cdb992e814d1d32b236d7d3d09da496db5c6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df81842925a51596066da21dbf489d3ed160ba711964dc74d46b69b2e13f822d
+size 23826332
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.mtl b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e116ac0a732b2946f88ad4e590a76ee9a6eee53e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.mtl
@@ -0,0 +1,6 @@
+newmtl tray_018_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/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb005c7865246bb0f35880825776153771a9309b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.obj
@@ -0,0 +1,138918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_collision.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ee13596e8bbd910b3d612f711ac2cb19ea9512
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d80a06b232543b90d5c98f86a3492fa617b1591e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 21154799
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d80a06b232543b90d5c98f86a3492fa617b1591e
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+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 21154799
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3024802d3fae9b56dd88599667b78939d76a9ecf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018.obj
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34458a9ac0bf0552b5fc4ce87ea933325aeb15f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision.obj
@@ -0,0 +1,6293 @@
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_0.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3307420ab65722ec63f8988b7cdd27ff12ec05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_0.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_1.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9bb8e5fd63af8b7a6b154e8e2f9e4eb4cfa8d88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_1.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_10.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66df7443199235310c9b61f3ecc9c31e6ecc7776
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_11.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78b94855eddf58f289468efdc91fd9ed4410095
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_11.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_12.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38e3c628f3c1179cd8401f60d047594d7536f8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_12.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_13.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847eaa49584a6ad5d2e6ad897b505c0c8a06e9dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_13.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_14.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adebdfd6b0629322db5cbce64199701407fca055
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_15.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f59b21b684c7539f262a7f2428e9ad1a6f50671
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_16.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b70642e2f3d319ddd5ae1cbaa17ce7c5423f347
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_16.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_17.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3dd3e5274e988544fe48f5fd68c53ddeadff8c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_17.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_18.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab96755b4c5e4c58917fb857b6e0f7ea3406491
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_18.obj
@@ -0,0 +1,325 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_19.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb40334ada4f2382c058bb020138a55d180948a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v 0.14974678 0.14464704 0.00890768
+v 0.14611828 0.14464705 0.00581299
+v 0.13031749 0.14451843 -0.00295174
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+
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_2.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d596ff8901276db90d593316f8a1419995e7c006
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_2.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.07228359 -0.18924617 0.01970637
+v -0.06667467 -0.18414140 0.01970639
+v -0.06650408 -0.19428730 0.01970636
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+v -0.04739717 -0.19949695 0.03312426
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+v -0.02977987 -0.19988823 0.04470253
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+
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_20.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4be14d904e555de94d5a3d8ddd4a62868803814
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_20.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.10393614 0.01777989 -0.00295009
+v 0.10393614 0.02455183 -0.00295007
+v 0.10395120 -0.01122371 -0.00295020
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_3.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c46dfe17815b2948c34db22c22f8986063978fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_3.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_4.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fb8851584e484c169c8d35cab45b1247fffeea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_4.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_5.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13fa813f2dba84a167bb348eca5a926a1c47378
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_6.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c332b6210358e2d7f13fedc69d901b97baa7fb22
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_7.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482a1c7a048526d742fb7c3e09216bf57fa55f26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_7.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_8.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be395d303d803efb49e0b141e60855a7f2699253
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_9.obj b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7790ec69946c71c8f1d137b2cac7220803e391cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/mesh/tray_018_collision_9.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/tray_018.xml b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/tray_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef223fa0166891a4de79bcf91f424b8828eb8dbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mjcf/tray_018.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_018">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" 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/383d0ef0b0be5883971dfdbb40e314d5/textures/material_0.png b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767cf681b0227584c53770c8fbba550576fb18c589e3cc52fd25c8ee52d94179
+size 21154799
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.urdf b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6097bf1f4f08e4662c7ca051ea9d98353bfabedc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_018">
+   <link name="tray_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>383d0ef0b0be5883971dfdbb40e314d5</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular floral tray with raised rim and side handles</description>
+         <min_height>0.0743</min_height>
+         <max_height>0.0743</max_height>
+         <real_height>0.0743</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195231</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.153987 -0.201487 -0.011163</min>
+            <max>0.154403 0.203661 0.063111</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.usd b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.usd
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diff --git a/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/video.mp4 b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/video.mp4
@@ -0,0 +1,3 @@
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+size 986643