diff --git a/.gitattributes b/.gitattributes
index 3555a4fa2dc7b68fe1e2e1e2a04b2afeae33ae7b..2e92d2b877538ac0c14f285f730140d04764b65b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4220,3 +4220,5 @@ dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsti
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mjcf/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material.mtl b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ca0c25860e37486ac924aed1b50418fdf1d53d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material_0.png b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab86f969f2ca06b1b2675d44666c176435d6f332
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aaa9b7d40fb05187ccfb25ad38fca4f8d9af8bd96773401753f7ccdcb6edc69
+size 14756062
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.glb b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b1dc79795384d9f83f45397ea7eab36b823bb49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c94c07f789c5d221fabce290001aa0e33f095323689db77eaa459e380614807
+size 17077536
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.mtl b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2d0f3c279ddf491d235a653df34deaa5bd9c6a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.mtl
@@ -0,0 +1,6 @@
+newmtl tray_036_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/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5ac3a74417dc6eae8014e78c87fc35b00a6812
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.obj
@@ -0,0 +1,102856 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036_collision.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cec999deced309cecdfb8e5a6d60c57d976b00c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036_collision.obj
@@ -0,0 +1,6890 @@
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036.obj
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86cb52d02072ff81402385fd8022be3b213af4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision.obj
@@ -0,0 +1,6890 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_0.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd5cc3dc0f4a0c3cc777e21472eb9df0d01c72b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_1.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0111709111ff9f30da2a97d91d8695aa64a609e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_1.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_10.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e178d4c237eb2026f403fe76370beb2c9e6f5b75
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_10.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_11.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797493990323eb41fc8b4128eba32b19e7827521
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_12.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845ccc16d2256dc6ad8d6fb6f6e7b0628ada25f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_12.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_13.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e3d7b27b6af4aae1d70dd85d597c8658dbdf3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_14.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043a2cbafbe3a539af3de497e41801039abfda34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_14.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_15.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43cd638e8ce0e17bd218d9821a2ee5b2ec60ce32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_15.obj
@@ -0,0 +1,229 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_16.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513180368517de1a2de723e5a4faca7bf4f5c548
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00013194 0.15405526 0.00196532
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_17.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e97525985259bb793ee20373cd061e365b15b30a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_17.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_18.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26519e33d8d3004cb46769ec6e912f68581ee49b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.20596934 -0.03727859 0.01871760
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_19.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b7b19599d7e5731f5294151cdd65270258c9d11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.17231527 -0.02647191 -0.01340883
+v -0.14582794 -0.02645696 -0.01015012
+v -0.14582794 -0.02647192 -0.01003948
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_2.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5864d104d3a30beb2e619bc957992aa8f393ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_2.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00013195 -0.13912479 0.00105304
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+v 0.00013195 -0.13912475 -0.01050228
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_20.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b04b25db75cc88c185c52876c7b43f67a4b8f6f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_20.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.14748190 -0.02646482 -0.01012316
+v 0.17314040 -0.02646481 -0.01351871
+v 0.14748190 -0.02646486 0.00125039
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_21.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b98244941d7b2860ec8e3f662809b854427879
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_22.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b68d6ce776d66b032250125bc3d6446cc7b05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_23.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be63d87af682e7ff4d039e85e62e5f9f1250fb00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_23.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.19736607 -0.11935288 0.00593665
+v 0.19700404 -0.12162592 0.00593664
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+f 1 20 31
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+f 1 21 12
+f 1 12 5
+f 1 5 13
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+f 1 23 37
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+f 35 48 36
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+f 39 58 54
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+f 60 66 61
+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_24.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c457d701d67f753bf37ad81b4bb5b69f7065d876
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.13673717 -0.11935282 -0.01039497
+v 0.16635608 -0.11935281 -0.01305196
+v 0.13673717 -0.11935286 0.00108996
+v 0.13673717 -0.02646482 -0.00999714
+v 0.16635897 -0.11935281 -0.01305196
+v 0.16635608 -0.02646482 -0.01208185
+v 0.16635608 -0.11935286 0.00098988
+v 0.13673717 -0.11865275 0.00109560
+v 0.13673717 -0.02646486 0.00134543
+v 0.16635897 -0.11935286 0.00097156
+v 0.16635897 -0.02647391 -0.01208185
+v 0.16635897 -0.02646486 0.00093666
+v 0.13673717 -0.11434295 0.00112099
+v 0.16635897 -0.11934377 0.00098988
+v 0.13921653 -0.07118130 0.00129452
+v 0.13921653 -0.07795514 0.00127617
+v 0.13673717 -0.07795514 0.00129168
+v 0.13673717 -0.08043737 0.00128462
+v 0.13673717 -0.08473808 0.00127192
+v 0.13673717 -0.09152101 0.00124934
+v 0.13673717 -0.09830394 0.00121267
+v 0.13673717 -0.02793783 0.00134543
+v 0.13921653 -0.02646486 0.00133274
+v 0.15278486 -0.02646486 0.00118615
+v 0.15278486 -0.05084159 0.00118747
+v 0.14600214 -0.05084159 0.00126359
+v 0.14600214 -0.05761543 0.00125793
+v 0.13921653 -0.05761543 0.00131854
+v 0.13921653 -0.06439837 0.00130723
+v 0.13673717 -0.06688059 0.00131709
+v 0.13673717 -0.07118130 0.00130862
+v 0.13673717 -0.07365443 0.00130297
+v 0.13673717 -0.05084159 0.00133970
+v 0.13921653 -0.05084159 0.00132701
+v 0.14323860 -0.02646486 0.00129468
+v 0.14600214 -0.02646486 0.00126790
+v 0.13673717 -0.05761543 0.00133263
+f 1 2 5
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+f 1 7 3
+f 1 3 8
+f 1 8 13
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+f 1 21 20
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+f 1 19 18
+f 1 18 17
+f 1 17 32
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+f 24 36 25
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+f 26 34 27
+f 26 36 35
+f 27 34 28
+f 28 34 37
+f 28 37 29
+f 29 37 30
+f 33 37 34
+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_25.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429627039af224e838c625ace4ecc6dbdcc1dad3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_25.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.20553670 -0.11935293 0.01876998
+v 0.20542062 -0.11935293 0.01912914
+v 0.20364468 -0.12869072 0.02167125
+v 0.20465452 -0.12603273 0.01928329
+v 0.20417281 -0.13093074 0.01765217
+v 0.20417281 -0.13093073 0.01486475
+v 0.20468935 -0.12543512 0.01409214
+v 0.20505499 -0.11935291 0.01364716
+v 0.20418444 -0.11935294 0.02214256
+v 0.20395808 -0.12417031 0.02196734
+v 0.20319198 -0.13280418 0.01928326
+v 0.19970974 -0.13221760 0.02299223
+v 0.19860703 -0.13899637 0.02271364
+v 0.19765521 -0.14426102 0.02224584
+v 0.19665697 -0.14878143 0.02124718
+v 0.20135801 -0.13899636 0.01871735
+v 0.19728377 -0.14986293 0.01506441
+v 0.19827041 -0.14577880 0.01390285
+v 0.19929186 -0.13899633 0.01223323
+v 0.20181650 -0.13280416 0.01278863
+v 0.20230401 -0.12543511 0.01107697
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+v 0.20297725 -0.11935290 0.01094208
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+v 0.20094593 -0.12603274 0.02293269
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+v 0.19349973 -0.13899638 0.02383492
+v 0.19403367 -0.14622610 0.02305875
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+v 0.19069652 -0.15679206 0.02210738
+v 0.19517121 -0.15229730 0.01902915
+v 0.19728377 -0.14986293 0.01722636
+v 0.19845033 -0.14622609 0.01902917
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+v 0.19224031 -0.15680671 0.01877860
+v 0.19551362 -0.14577879 0.01088767
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+v 0.19078938 -0.15680669 0.01280081
+v 0.18952416 -0.15494425 0.01010450
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+v 0.19891463 -0.12543510 0.00811260
+v 0.19969233 -0.11935289 0.00796020
+v 0.19798603 -0.13221755 0.00888169
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+v 0.19299480 -0.13743086 0.00593659
+v 0.19634937 -0.12543509 0.00593663
+v 0.19706323 -0.12125197 0.00593664
+v 0.19736502 -0.11935288 0.00593665
+v 0.19349973 -0.12543516 0.02329185
+v 0.19304123 -0.11935294 0.02278204
+v 0.17988994 -0.15680673 0.02350547
+v 0.18668032 -0.15680673 0.02315683
+v 0.18153240 -0.15680666 0.00593651
+v 0.17689520 -0.11935288 0.00593665
+v 0.17568222 -0.15680672 0.02292556
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+v 0.17448665 -0.15680672 0.02253136
+v 0.14625142 -0.15680666 0.00593651
+v 0.19031928 -0.11935294 0.02155039
+v 0.17152094 -0.15680672 0.02093180
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+f 1 23 22
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+f 1 42 65
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_26.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfacab597cbf91d9a361d4d6ed9835680bfebe5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_26.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.16553151 0.12632685 -0.01333280
+v -0.13634278 0.12632684 -0.01050306
+v -0.16553151 0.12632680 0.00118348
+v -0.16553151 0.13228442 -0.01358246
+v -0.13634278 0.15262149 -0.01356158
+v -0.13634278 0.12632680 0.00100142
+v -0.16553151 0.14105761 0.00406703
+v -0.16553151 0.13906512 -0.01321311
+v -0.15937086 0.14584581 -0.01328244
+v -0.15937086 0.13906512 -0.01364486
+v -0.13901735 0.15262149 -0.01361706
+v -0.13634278 0.15940721 -0.01257149
+v -0.13634278 0.15722386 0.00406709
+v -0.16553151 0.16767346 0.00406713
+v -0.16553151 0.14633766 -0.01124163
+v -0.15258731 0.14584581 -0.01364656
+v -0.15976233 0.15309326 -0.01067635
+v -0.15258731 0.15262149 -0.01283507
+v -0.14580375 0.15262149 -0.01352863
+v -0.13901735 0.15940721 -0.01236168
+v -0.13634278 0.16455670 -0.00989952
+v -0.13634278 0.17760108 0.00406716
+v -0.16520289 0.16788427 0.00406713
+v -0.16242261 0.16258922 -0.00220964
+v -0.16553151 0.16437096 0.00122350
+v -0.16553151 0.14951973 -0.01002788
+v -0.15775927 0.15715866 -0.00928401
+v -0.15191009 0.15941723 -0.00981977
+v -0.16488572 0.15114589 -0.00960307
+v -0.14580375 0.15940720 -0.01131094
+v -0.13901735 0.16431579 -0.00972440
+v -0.13634278 0.16794452 -0.00666750
+v -0.13634278 0.17070497 -0.00365396
+v -0.13927165 0.17731500 0.00406716
+v -0.16256262 0.16951544 0.00406713
+v -0.16553151 0.16142480 -0.00128374
+v -0.15789928 0.16386405 -0.00339043
+v -0.16009094 0.15987394 -0.00576416
+v -0.16228546 0.15566299 -0.00813964
+v -0.16553151 0.15181843 -0.00875345
+v -0.15371885 0.16168079 -0.00740964
+v -0.14919839 0.16280004 -0.00841703
+v -0.14580375 0.16337220 -0.00892333
+v -0.13901735 0.16770862 -0.00642822
+v -0.13634278 0.16964095 -0.00484169
+v -0.14250628 0.17663744 0.00406716
+v -0.13901735 0.17050421 -0.00341468
+v -0.16021667 0.17083043 0.00406714
+v -0.16553151 0.15745477 -0.00457298
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+v -0.14385784 0.16998223 -0.00282342
+v -0.14572375 0.17585948 0.00406716
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_3.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063ee0dd236ec782d89bf8565e07cdcff05aa05a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_3.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_4.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722b7a132502ad69a40293a4c8e3bee8645889de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_4.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_5.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fc2407b551fdc34764e720a42c27b482d6c361
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_5.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.13673428 -0.02646486 0.00134563
+v 0.13673428 -0.02646482 -0.00999756
+v 0.13644011 -0.02646486 0.00134734
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+
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_6.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09bacf93390433fb3f74bcb2853e09c0eff24140
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_6.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_7.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6740765c2de6e2130f4aa81aab2c0a2d7f016c1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_7.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.00014637 -0.02646482 -0.00987436
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_8.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a822ce9868f8e92b4d0741c48d2ff629fef44c46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_8.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_9.obj b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4bec264b475f24b22c727dbab8abf951129330
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/mesh/tray_036_collision_9.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/tray_036.xml b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/tray_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9e04ac9bf204b3ed395f8f12fb196ca018dbc037
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mjcf/tray_036.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_036">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/textures/material_0.png b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.urdf b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_036">
+   <link name="tray_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>68914a43baec5b3aa1abf8d8487763d0</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>brown,blue</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0396</min_height>
+         <max_height>0.0396</max_height>
+         <real_height>0.0396</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195905</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.204955 -0.186710 -0.015672</min>
+            <max>0.205155 0.186774 0.023930</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.usd b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.usd
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diff --git a/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/video.mp4 b/dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/video.mp4
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