diff --git a/.gitattributes b/.gitattributes
index 861ccd7ee88bc9dbce995ca575ddf88b72d5f41b..dee051704fc2ce583b2d2150cd959a5a8e25c1e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4232,3 +4232,5 @@ dataset/kitchen_supplies/tableware/73dd9b597d1059cfbe12aaf959759967/mesh/napkin.
 dataset/kitchen_supplies/tableware/73dd9b597d1059cfbe12aaf959759967/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/fork_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/mesh/fork_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/tray_076.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material.mtl b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6dae70ed5eefc06ea5a82023b2d99eaaa6b0086e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_076_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_076_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material_0.png b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82bb0ff3b0af9b6f1891d312ffc2a9cc233a4bde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d02bbc115a5dc3e449375355b0a382ff443b5983b30da342fb8c300c725479
+size 8244359
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.glb b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83db67b04774692c70f813ee485ab4eed7dfcc32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c7fc56d4135a0e288383fc435545a1d86dcfacc004d5e721032e38249df5b8
+size 11727700
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.mtl b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f17bda3d932dafea8e18d64826a63ae0ba9ba19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.mtl
@@ -0,0 +1,6 @@
+newmtl tray_076_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/71f115b973815f948587505a0e6168ac/mesh/tray_076.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3470fa71004ccda84e7567f427aeb419464442f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076.obj
@@ -0,0 +1,129512 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_076_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076_collision.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88f165d6c520e83a1a159ebb36dafaf8addfb17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076_collision.obj
@@ -0,0 +1,6380 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mesh/tray_076_geometry_Looks_material_0.png
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+size 8244359
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:25d02bbc115a5dc3e449375355b0a382ff443b5983b30da342fb8c300c725479
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076.obj
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index 0000000000000000000000000000000000000000..452ad7a621cd8d45133eee593ccd8fdea6809018
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+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076.obj
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b4cdd5746f294041978d92165fe84471a2ff4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision.obj
@@ -0,0 +1,6380 @@
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_0.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c752d26217e16baeb74ed91c62951e73c7fd4289
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_1.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382c81953420018bbe926567fb4efa9655317ac6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_1.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_10.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2196c517c73f7393a32f3cbce629824089b4f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_10.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_11.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf135e99408e81d6f4fc042b2a2eaa11609fe15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_12.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f440a1c9fc46bdde24a334cd0542457451840d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_12.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_13.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073de2a5d55d5016d778e77191366dc5ca34938f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_13.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_14.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..395742e1d6982342b89c4a070b9200030fb98039
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_15.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb5ac35a51ece6ec443105db3c54383d2c382fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_16.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6422ddddfb423d7b355dcc3e39696945c5259c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.11083857 0.14451238 -0.01699858
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_17.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7888771ce290eec874169402918ffd851e427c28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_17.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_18.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b567d8963c835d80d0759a4d2dde39a974ebd68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_19.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356e290dbe77760f42363a20892d0c61df2f4fca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_19.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_2.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d580f29432783d853cb72e429f092d04875b33f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_20.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e6a88703b83b61d4976846cb892aac30de66c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.09742735 0.15274703 0.00695121
+v 0.11880541 0.13159438 0.00695113
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+v 0.15342604 0.13159438 0.00695113
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+v 0.15011208 0.15181736 0.00695121
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_21.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b0f918121a98c15686afea52fcdfe01e037d79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_21.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.07098061 -0.19077766 0.01515588
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+v 0.07098061 -0.18998001 0.01107238
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+v 0.08397507 -0.18553872 0.02778522
+v 0.07098061 -0.17879512 0.02730309
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_22.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471f50bbc9d4b33b4c116594409beddaa91bd55f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v 0.12645659 -0.06547143 0.00407867
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_23.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92fafdae33a3567d4ea68a4910b37dc13bd2771
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_23.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.16522739 0.14507329 0.01515766
+v -0.16313490 0.14507331 0.01046557
+v -0.16460444 0.14357467 0.01421823
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_3.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446e914af0c4a5592a9569817a16a29bf1dfb716
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_3.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_4.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007877bff4798ad92337ff74fd407d5a86271a91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_5.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83155607669638097bf0bc3e1de102fa4e251d49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.11083857 0.14356923 0.00558673
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+
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_6.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a241167c74fb3b4baa3d4facc00ebef529b41bd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.11083857 -0.00005235 -0.01770507
+v -0.11083857 -0.00005243 0.00169422
+v -0.11083857 0.11133219 -0.01770466
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_7.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c35de8911f64ac2d564e212e787bb7ee752349e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_8.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5b36337bcebb709e3493c4ee75419fa2707e7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_9.obj b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/mesh/tray_076_collision_9.obj
new file mode 100644
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/tray_076.xml b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/tray_076.xml
new file mode 100644
index 0000000000000000000000000000000000000000..747275f1d10637ee83ba3ce447d1ff77a175b1df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/mjcf/tray_076.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_076">
+  <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_076.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_076_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_076_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_076_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_076_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_076_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_076_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_076_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_076_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_076_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_076_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_076_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_076_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_076_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_076_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_076_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_076_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_076_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_076_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_076_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_076_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_076_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_076_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_076_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_076_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_076">
+      <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" />
+      <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>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/textures/material_0.png b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82bb0ff3b0af9b6f1891d312ffc2a9cc233a4bde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:25d02bbc115a5dc3e449375355b0a382ff443b5983b30da342fb8c300c725479
+size 8244359
diff --git a/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/tray_076.urdf b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/tray_076.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..335b0ffd9e5e033e44a4718ff1a9af1442dd75d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/tray_076.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_076">
+   <link name="tray_076">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_076.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_076_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>71f115b973815f948587505a0e6168ac</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow rectangular tray with ornate scalloped rim and embossed floral top</description>
+         <min_height>0.0468</min_height>
+         <max_height>0.0468</max_height>
+         <real_height>0.0468</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201428</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.173758 -0.204208 -0.016406</min>
+            <max>0.173848 0.204219 0.030429</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/71f115b973815f948587505a0e6168ac/video.mp4 b/dataset/kitchen_supplies/tableware/71f115b973815f948587505a0e6168ac/video.mp4
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