diff --git a/.gitattributes b/.gitattributes
index 3b2d4dfc0b2d782b4ae894afd225b1409f10fe7c..91da3bf1aa49856ea9f0896e6424711750149200 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4385,7 +4385,8 @@ dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_05
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/bowl_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/d8f26a572a3c5f238191ede8cc471211.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b07bfb1bb5d5264382f4ec94504dd0f23e179c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a770797b80764a3380ba2eb28b3e7c6e4ad17636
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db781c93ef17ad1f26c7a177f623e71962aa9939a53ed5e96a2d66a95482906a
+size 8495561
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.glb b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..88aef9d45b8fa8d961ae3957b052d5916d122204
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db926f2912ffd24b99dbd0b02239effeb85d62f1fe4b803d9f609ffd29035ab
+size 8968144
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.mtl b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f86d88a517e46dbadcdb72f3e390e2650990504
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.mtl
@@ -0,0 +1,6 @@
+newmtl tray_001_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/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ca0accb716a0b6e00c617ecc6afe6fdea4d78e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001.obj
@@ -0,0 +1,38992 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_001_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001_collision.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00587e31350457a733598dccb666b12342c61a35
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_001_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/material_0.png
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+size 8495561
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001.obj
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index 0000000000000000000000000000000000000000..42d47a231e51ef4029d029bc836430d04b95690c
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+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5fb4742a3a2375cb7778912c76fbf6af01c1ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision.obj
@@ -0,0 +1,4420 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_0.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e942b181b5081653cd59cd8b86825b724eec16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_1.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07950453fd666199da6c6deb598e9a0c496b11cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_10.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c29e4bc97db010d1777efa84ebef4ff8d67562
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_11.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096f510090863444d64a74e90e50921a2b5dc045
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v 0.05571260 0.19006797 0.02340451
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+
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_12.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aaba097a083751ac31954724794bf50739dd964
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.13387733 0.17461984 0.00117930
+v 0.13396099 0.17455140 0.00117930
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_13.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ae53a6bae94cbba37a8e1b3f7e68e25468fbfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_2.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454c3d50bf81a0a75800418c187b6c92b7a06620
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_2.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_3.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc9510166ec61f420b24398f774352467d4a783d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_3.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_4.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceebfaaa44afefbb1ea66daee92287bbcd05b829
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_4.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_5.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c40b90715c47e69dd126755411199e90b79083
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_6.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f242474dce384a59f82891274b257da90c9881
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_7.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0203641866c17db61957dcc81b92a0b4492b08fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_7.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_8.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667d4ec7ac5788c44631d3a291414105a9d2e2c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_8.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_9.obj b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8d6cbfebc15a83808ad86d9abef6a2062586fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/mesh/tray_001_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/tray_001.xml b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/tray_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4414a016d57167a4ed69ea058c1d86ad859e3dfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mjcf/tray_001.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/textures/material_0.png b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a770797b80764a3380ba2eb28b3e7c6e4ad17636
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db781c93ef17ad1f26c7a177f623e71962aa9939a53ed5e96a2d66a95482906a
+size 8495561
diff --git a/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.urdf b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7706a61d625340296101dcd236309b1b7adae0cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_001">
+   <link name="tray_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.8500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d9d01b3181925d60895bdf1eca8b86e8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>handled serving tray</name>
+         <color>gray,beige</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>rectangular gray tray with two beige side handles</description>
+         <min_height>0.0490</min_height>
+         <max_height>0.0490</max_height>
+         <real_height>0.0490</real_height>
+         <min_mass>1.2</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609194641</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.152189 -0.201575 -0.006377</min>
+            <max>0.152150 0.201486 0.042630</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/d9d01b3181925d60895bdf1eca8b86e8/video.mp4 b/dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/video.mp4
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