diff --git a/.gitattributes b/.gitattributes
index bbbf0fee072844c9416916e62d903a85e4440455..29b01747f97d7fe34c567891e163b2ad86e2e07a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4269,3 +4269,5 @@ dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/bowl_002.usd
 dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c29408d9e25c559bc8f87c0a95502b32b36ef6ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfbc493413c1feb11c1113396db2ac6962f11ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673be33a2f117abf6e3194afc0b6d86ad2e0edacbff26b4dc265f5824d6b44b0
+size 12282335
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.glb b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..17d5ac2afa2c0effdc3d2807860fc6525f0f048c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3440cc08d526edd833273777ac9e12f86712938775c99b80d989dba703d1be2e
+size 14437864
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.mtl b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efb5f8b851e2147511770a81c3490541eab2abdc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.mtl
@@ -0,0 +1,6 @@
+newmtl tray_037_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/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15483c79c1f1b40a75365fc79a53ec25bc6b3347
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.obj
@@ -0,0 +1,103560 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037_collision.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c276adb9b99e39c31d336de283c5e08a52f012eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037_collision.obj
@@ -0,0 +1,5500 @@
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037.obj
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e0ed2650efc503cc7e39e9c8309d2ca8ea1e96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision.obj
@@ -0,0 +1,5500 @@
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_0.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb48978c2438d4510c3c066f64753f8b7cae0f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_1.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82829f59ceb15193e9429fe333628fba0e83c8d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_1.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.16080888 -0.14411082 -0.01615129
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_10.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca56d6310eca847742078f708e6f61e84137edd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_11.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f901029d7eee7344e57730ddb3320d8ac3fa708
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_11.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.16120872 0.19065222 0.02594623
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+v -0.16120872 0.17745383 0.00889021
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_12.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2764542efab00a28b37af333152cbfedc46e081e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_13.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6640fe5c14a205389bb11564c9ee8b13fcfd448
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_14.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc55d8409d4c0db1c0beb931118f4680ab0bc2b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.13842843 0.17570719 0.00247141
+v -0.14590929 0.17483271 -0.00010667
+v -0.14590929 0.17570356 0.00247141
+v -0.00375723 0.17570356 0.00247141
+v -0.01123809 0.17483271 -0.00010667
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_15.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccce319848973583b67b50618b9dabecc420dc9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_15.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.18590264 -0.14411089 0.00297431
+v 0.20563780 -0.14411089 0.00297431
+v 0.19663482 -0.14411098 0.02638698
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+v 0.20781120 -0.13884802 0.00297433
+v 0.22459957 -0.14411098 0.02774433
+v 0.22350494 -0.13855181 0.02357035
+v 0.21324075 0.00003228 0.03544925
+v 0.20106889 -0.14411100 0.03224971
+v 0.20576471 -0.14411101 0.03458524
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+v 0.22459957 -0.14411099 0.02941393
+v 0.22425452 -0.13299262 0.02288213
+v 0.22548401 -0.13855182 0.02682671
+v 0.21698869 0.00003228 0.03510195
+v 0.20770412 -0.14411101 0.03509823
+v 0.21324075 -0.13855185 0.03552521
+v 0.22551176 0.00003232 0.02425909
+v 0.22642000 -0.06365826 0.02594758
+v 0.22641207 -0.10859722 0.02594741
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_16.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083fe69e2b54eba9d7dfe6d1176db5321faaf189
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_16.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.17134046 0.15073481 0.00016516
+v 0.19355980 0.15073471 0.02849767
+v 0.20076856 0.15073481 0.00016516
+v 0.19065365 0.11620405 0.00016504
+v 0.20269340 0.11620395 0.02706760
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+v 0.19815355 0.15073469 0.03249670
+v 0.20080629 0.15068073 0.00016516
+v 0.22050231 0.15073472 0.02563430
+v 0.21026340 0.11620405 0.00016504
+v 0.21323964 0.11620392 0.03546383
+v 0.20575590 0.14610692 0.03496882
+v 0.20575590 0.15073468 0.03529083
+v 0.20351834 0.14634030 0.00016515
+v 0.22011949 0.15073469 0.03190464
+v 0.22490735 0.14389616 0.02993107
+v 0.22490735 0.14389617 0.02803023
+v 0.20676416 0.13863975 0.00016512
+v 0.20364235 0.14608677 0.00016515
+v 0.20359922 0.14618480 0.00016515
+v 0.20985902 0.12363754 0.00016506
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+v 0.22457307 0.12363746 0.02261502
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+v 0.22072337 0.11620392 0.03480251
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+v 0.22599110 0.13112838 0.03138867
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_17.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9593354422ce21690e4525d243bc6780b61dc09e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.22642541 -0.10858849 0.02594522
+v -0.22463634 -0.10110476 0.02257912
+v -0.22463187 -0.10858847 0.02257909
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+v -0.22626480 -0.10110480 0.03158769
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+v -0.20975261 -0.03194143 -0.00255311
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+v -0.22073693 -0.10858852 0.03472318
+v -0.22073693 0.00034113 0.03470498
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+v -0.20647783 0.00034114 0.03228732
+v -0.20260075 -0.12458310 0.02738087
+v -0.20445229 0.00034115 0.02935637
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+f 1 6 7
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+f 1 11 2
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_18.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0334971b8f3b6798a29ae49b31e4caccad7a82cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_18.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.21107715 -0.11925012 0.00297170
+v 0.21108169 -0.11925256 0.00297440
+v 0.21059590 -0.11925012 0.00152493
+v 0.19450592 -0.11925012 0.00297440
+v 0.21085014 -0.12358220 0.00297439
+v 0.21021454 -0.12358219 0.00107315
+v 0.21032804 -0.11925011 0.00072418
+v 0.18299232 -0.11925010 -0.00255295
+v 0.16470042 -0.14411087 -0.00255304
+v 0.18590704 -0.14411089 0.00297431
+v 0.21008287 -0.12981260 0.00297436
+v 0.20987403 -0.12930151 0.00208543
+v 0.20908406 -0.12358218 -0.00218288
+v 0.20927474 -0.11925010 -0.00235168
+v 0.20968789 -0.11925011 -0.00115975
+v 0.20919757 -0.11925010 -0.00255295
+v 0.20338174 -0.14411087 -0.00255304
+v 0.20563361 -0.14411089 0.00297431
+v 0.20930198 -0.13393051 0.00297435
+v 0.20866183 -0.13150891 -0.00009338
+v 0.20760400 -0.13134585 -0.00255299
+v 0.20890699 -0.12358218 -0.00255296
+v 0.20921118 -0.11925010 -0.00253239
+v 0.20562453 -0.13857165 -0.00255302
+v 0.20674139 -0.13856436 -0.00010640
+v 0.20446228 -0.14411088 0.00000883
+v 0.20647352 -0.14210791 0.00297432
+v 0.20780831 -0.13885642 0.00297433
+v 0.20640543 -0.13575093 -0.00255301
+f 1 2 3
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+f 1 15 14
+f 1 14 23
+f 1 23 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_19.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d5d3ce8a683ee61a7613f127ab7aa5002494d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.18298912 -0.11924767 -0.00255295
+v 0.20920042 -0.11924767 -0.00255295
+v 0.19450765 -0.11924769 0.00297440
+v 0.18309197 0.00003241 -0.00255251
+v 0.20921710 -0.11899081 -0.00255295
+v 0.20921154 -0.11924767 -0.00253239
+v 0.21107941 -0.11924769 0.00297170
+v 0.21123229 -0.11608355 0.00297441
+v 0.19474669 0.00003239 0.00297484
+v 0.20952842 0.00003241 -0.00255251
+v 0.20935886 -0.11653888 -0.00255294
+v 0.20968685 -0.11924768 -0.00115975
+v 0.21032892 -0.11924768 0.00072418
+v 0.21040953 -0.11608354 0.00046990
+v 0.21045401 -0.10858767 0.00032655
+v 0.21128231 -0.11185691 0.00297443
+v 0.21137683 0.00003239 0.00297484
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+v 0.21132957 -0.10110348 0.00297447
+v 0.21138238 -0.04867909 0.00297466
+v 0.20955064 -0.04978827 -0.00255269
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+f 28 30 29
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+f 28 31 34
+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_2.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a6146b4f342364a30bfb4d4e042c5c36df6b87f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_2.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.16236999 -0.14605643 -0.00255725
+v -0.16236999 -0.17319886 -0.00255735
+v -0.16236999 -0.16989652 0.03204265
+v 0.00003054 -0.17000602 0.03200180
+v -0.02619899 -0.14619221 -0.00255725
+v -0.16236999 -0.19055226 0.02594543
+v -0.16087570 -0.17334340 -0.00255735
+v -0.16236999 -0.17601968 0.03516916
+v -0.02619899 -0.17601968 0.03515060
+v 0.00003054 -0.17601968 0.03514317
+v 0.00003054 -0.17298438 0.03355763
+v 0.00003054 -0.14623600 -0.00255725
+v -0.16236999 -0.18996099 0.03217624
+v -0.16087570 -0.19064423 0.02594543
+v -0.15780764 -0.17348356 -0.00255735
+v -0.16236999 -0.18351374 0.03530282
+v -0.16087570 -0.18351374 0.03533253
+v -0.15338836 -0.18351374 0.03535852
+v -0.14590102 -0.18351374 0.03536223
+v -0.11596756 -0.18351374 0.03536595
+v -0.04117367 -0.18351374 0.03537337
+v 0.00003054 -0.18351374 0.03537709
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+v -0.15338836 -0.17367627 -0.00255735
+v -0.15338836 -0.19077563 0.02594543
+v -0.15338836 -0.19010553 0.03222823
+v -0.14590102 -0.19011867 0.03223194
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+v -0.04516374 -0.17374198 -0.00255735
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+v -0.05613244 -0.17374198 -0.00255735
+v -0.13842958 -0.17373760 -0.00255735
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+f 1 8 3
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+f 28 31 29
+f 29 31 30
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+f 31 34 36
+f 34 35 37
+f 34 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_20.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89b85e34b17996a7217b3107fcc5268a720c637
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_20.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.22622059 -0.12458310 0.02587185
+v -0.22451432 -0.12795405 0.02266506
+v -0.22570810 -0.13069861 0.02541290
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+v -0.22598310 -0.13107965 0.03134458
+v -0.22617684 -0.12458312 0.03152626
+v -0.22588934 -0.12458309 0.02519493
+v -0.22455807 -0.12458308 0.02263256
+v -0.21557675 -0.12458306 0.01597424
+v -0.21495173 -0.13107959 0.01597422
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+v -0.22490182 -0.14370462 0.02806700
+v -0.22073304 -0.13857069 0.03384190
+v -0.22073304 -0.13107966 0.03447487
+v -0.22073304 -0.12458313 0.03465464
+v -0.19885783 -0.12458306 0.01597424
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+v -0.16236999 -0.16298754 0.01597410
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+v -0.20333912 -0.15871249 0.01597412
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+v -0.16236999 -0.17601942 0.03517075
+v -0.16236999 -0.17974550 0.01597404
+v -0.16236999 -0.16989098 0.03204431
+v -0.19622656 -0.16639725 0.01597409
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+v -0.20785166 -0.17058839 0.02594626
+v -0.20438914 -0.17437268 0.03112261
+v -0.19871408 -0.17652959 0.03252425
+v -0.19080776 -0.17601942 0.03505984
+v -0.16836379 -0.18351046 0.03518412
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+v -0.16236999 -0.18785005 0.02236845
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+v -0.16380750 -0.17966155 0.01597404
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+v -0.19443279 -0.17972615 0.02271459
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+v -0.17584512 -0.17759506 0.01597405
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_21.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6769615c1c388335494e598320993f27f6c022
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_21.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.21558171 -0.12458306 0.01597233
+v -0.19886190 -0.12458306 0.01597233
+v -0.21054493 -0.12458301 0.00186766
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+v -0.20991988 -0.12968038 0.00186764
+v -0.20920631 -0.13347642 0.00186763
+v -0.20760725 -0.13878979 0.00186761
+v -0.21143040 -0.14503738 0.01597226
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+v -0.19697115 -0.15733800 0.00186754
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+v -0.19095514 -0.17006530 0.01597217
+v -0.19144997 -0.16272157 0.00186752
+v -0.18772577 -0.16574543 0.00186751
+v -0.18355883 -0.16820773 0.00186750
+v -0.18120973 -0.16940108 0.00186750
+v -0.17705322 -0.17138819 0.00186749
+f 1 2 5
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+f 13 17 16
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+f 18 19 24
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+f 21 27 22
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_22.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ee1c0f4f0893a68b73d573be7dbd6c42386de0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_22.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.21054982 -0.12458302 0.00186766
+v -0.21025272 -0.12458301 0.00096805
+v -0.20995089 -0.12946933 0.00186764
+v -0.19263803 -0.12458302 0.00186766
+v -0.20915386 -0.12458300 -0.00219334
+v -0.20992259 -0.12968051 0.00186764
+v -0.17758418 -0.12532454 -0.00255674
+v -0.18084773 -0.12458300 -0.00255674
+v -0.16237470 -0.15676396 0.00186754
+v -0.20898880 -0.12458300 -0.00255674
+v -0.20778618 -0.13148276 -0.00255676
+v -0.20880014 -0.13171850 -0.00020531
+v -0.20920573 -0.13347661 0.00186763
+v -0.16374238 -0.14143219 -0.00255680
+v -0.16237470 -0.17474757 0.00186748
+v -0.16237470 -0.14605824 -0.00255682
+v -0.20579127 -0.13859371 -0.00255679
+v -0.20693256 -0.13856917 -0.00010659
+v -0.20843230 -0.13625616 0.00186762
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+v -0.20478202 -0.14130452 -0.00255680
+v -0.20446605 -0.14616630 0.00186758
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+v -0.20370674 -0.14621539 0.00000513
+v -0.16812836 -0.17323010 -0.00019811
+v -0.16636453 -0.17271445 -0.00255691
+v -0.17331610 -0.17274392 0.00186749
+v -0.17046284 -0.17191397 -0.00242957
+v -0.20322570 -0.14493855 -0.00255681
+v -0.20263147 -0.14966774 0.00186757
+v -0.20169296 -0.14795873 -0.00255682
+v -0.20146188 -0.14881324 -0.00209078
+v -0.16998180 -0.17196799 -0.00255691
+v -0.17348116 -0.17269973 0.00186749
+v -0.17589110 -0.17100547 -0.00019810
+v -0.17062319 -0.17179611 -0.00255691
+v -0.17038738 -0.17186978 -0.00255691
+v -0.20188632 -0.15085617 0.00186757
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+v -0.20081577 -0.14934360 -0.00255683
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+v -0.19696741 -0.15733853 0.00186754
+v -0.18121087 -0.16939962 0.00186750
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+v -0.19346335 -0.15870372 -0.00255686
+v -0.19144955 -0.16272085 0.00186752
+v -0.19468953 -0.15979887 0.00186753
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+v -0.19061481 -0.16230831 -0.00038778
+v -0.18799736 -0.16546602 0.00159550
+v -0.18828505 -0.16535797 0.00186751
+v -0.18771912 -0.16574103 0.00186751
+v -0.18807753 -0.16552495 0.00186751
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_3.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f448654733088ff63983dc56262ef46ec8473909
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00004628 0.15073825 -0.01611985
+v 0.00004628 0.15073820 -0.00144531
+v 0.00004628 0.15360523 -0.01607949
+v 0.00374596 0.15360523 -0.01607949
+v 0.13093619 0.15360523 -0.01606436
+v 0.11596430 0.15073825 -0.01609968
+v 0.00004628 0.17010094 0.03195460
+v 0.15799895 0.15073819 -0.00122335
+v 0.00004628 0.16109623 -0.01510586
+v 0.11596430 0.16109623 -0.01510586
+v 0.13841427 0.16109623 -0.01510082
+v 0.14589235 0.15360523 -0.01605931
+v 0.14126380 0.15073825 -0.01609463
+v 0.00004628 0.17607413 0.03510746
+v 0.16086423 0.17007741 0.03196973
+v 0.16086423 0.15073819 -0.00122335
+v 0.00004628 0.16428480 -0.01359250
+v 0.10848623 0.16754004 -0.01205389
+v 0.13841427 0.16754004 -0.01204885
+v 0.14589235 0.16753613 -0.01204380
+v 0.14589235 0.16109623 -0.01509073
+v 0.15337042 0.15360523 -0.01605427
+v 0.15337042 0.15073825 -0.01608959
+v 0.04864589 0.17607413 0.03511250
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+v 0.16086423 0.17101884 -0.00753398
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+
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_4.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dceae028874665ec2efacf16fd38d9379c30a75
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_4.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00004628 -0.14411082 -0.01619117
+v 0.00374468 -0.14605780 -0.01618613
+v 0.00004628 -0.14605780 -0.01618613
+v 0.00004628 -0.14411087 -0.00260661
+v 0.10848037 -0.14411082 -0.01617098
+v 0.11597161 -0.14605780 -0.01616594
+v 0.00374468 -0.15354861 -0.01608014
+v 0.11597161 -0.15354861 -0.01606500
+v 0.00004628 -0.15354861 -0.01608014
+v 0.00004628 -0.17000208 0.03199834
+v 0.00374468 -0.17000208 0.03200338
+v 0.01871142 -0.14411087 -0.00259652
+v 0.13092261 -0.14411082 -0.01616593
+v 0.13092261 -0.14605780 -0.01616089
+v 0.15338058 -0.15354861 -0.01605490
+v 0.13841384 -0.15354861 -0.01605995
+v 0.00004628 -0.15733287 -0.01558040
+v 0.14588935 -0.16103943 -0.01507559
+v 0.00004628 -0.17602126 0.03514330
+v 0.01871142 -0.17602126 0.03514835
+v 0.04115366 -0.17602126 0.03515340
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_5.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb76b5ca70a90c020a248221fb0359c200d8de8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_5.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_6.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f19ec85a11efd6980e80aeb97889dee4bf27c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_6.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_7.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ad78cdb17ce80fff8d85ac4497782b76840845
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_8.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9760a8d31b38b006e8a9baf4766525e41e69b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_8.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_9.obj b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5233ce5612693b4dd8002f68f2e7ae7f531ea1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/mesh/tray_037_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/tray_037.xml b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/tray_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..03f81935cd44e422f901bdc1ea4fde784b4dc56e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mjcf/tray_037.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_037">
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/tray_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tray_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/textures/material_0.png b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673be33a2f117abf6e3194afc0b6d86ad2e0edacbff26b4dc265f5824d6b44b0
+size 12282335
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.urdf b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f4b53a52d482f20cc918e3b5ea157eac001bf74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_037">
+   <link name="tray_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>9594f5ee3bd7510e9fd6d73f27b61d54</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>white,blue</color>
+         <shape>cuboid</shape>
+         <material>metal</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0515</min_height>
+         <max_height>0.0515</max_height>
+         <real_height>0.0515</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195931</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.225307 -0.189837 -0.014630</min>
+            <max>0.225296 0.189891 0.036916</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
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.usd b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4185679
diff --git a/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/video.mp4 b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/video.mp4
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/video.mp4
@@ -0,0 +1,3 @@
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+size 506792