diff --git a/.gitattributes b/.gitattributes
index 41e09329465ceac23830978de1bc689e1132ca22..5d0a85052c65e31604638180039035674eb092a6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4381,3 +4381,5 @@ dataset/kitchen_supplies/tableware/ce64695a446e5310a6106f4e7e3e1942/mesh/bowl_03
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/d3714e52326958f390103963996496a7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material.mtl b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04abd0909c5e40a4a009fa89d080f9a4bdb0a763
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_058_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_058_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material_0.png b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..192aef23f8a698ae783434e7fde0c1d405692ae3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe1f623a02b2c1a823d63ea2da682f3112024a12f58c2b1c0bd5bdc65184553
+size 14904832
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c37c71263902256539704abf055f9249f3ec8b4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f2a459c3e131e6de99278e284a021b98813605f043fbb7eb5167508aa32f42a
+size 18277400
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.mtl b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b74c9e8dfc620f4a32558b868171f8b28a64ef3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.mtl
@@ -0,0 +1,6 @@
+newmtl tray_058_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/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51061dc68391006cc22dd1f13834148c080310d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.obj
@@ -0,0 +1,124358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_058_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058_collision.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672a0e50586438a84dc459c888f36118ff39fdc8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058.obj
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index 0000000000000000000000000000000000000000..3b747d0894c17170d7615835aa58184e989b2005
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+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058.obj
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852fcd8ea7f802811881464c5e36f9ddcd2cc912
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision.obj
@@ -0,0 +1,5385 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_0.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0292dd485365b6f5df9053da501ad1664c281118
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_0.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_1.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5541df5b7110d9a00cf9f7f96e65d33709dbf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_10.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21221bcb483b0a2c5ba75838b5b97958b34e7907
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_10.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_11.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec6653e71ffb4ce2464268f420f7e60740ed9c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_11.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_12.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e989a7f0d47354fc8e3543a9de7f3da289eb2074
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_12.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.05661654 0.14764082 0.02047934
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+v -0.05661957 0.15395259 0.00228581
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+v -0.08754995 0.16772471 0.02377152
+v -0.08668084 0.16492921 0.02479153
+v -0.08754995 0.16495105 0.02471660
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+f 1 18 11
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+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_13.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d575c46adcd20a0e4d6c76053a40c77947bc48c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.13590936 0.00832996 0.02063693
+v -0.13312519 0.00832995 0.02459093
+v -0.13573511 0.09264345 0.02063724
+v -0.13457471 0.09264347 0.01557669
+v -0.13458659 0.08661008 0.01557906
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+v -0.13459847 0.02640817 0.01557884
+v -0.13457074 -0.05189395 0.01558332
+v -0.13456282 -0.06391672 0.01558328
+v -0.13455490 -0.06995012 0.01558086
+v -0.13453905 -0.08199490 0.01557844
+v -0.13452717 -0.08800629 0.01557603
+v -0.13565193 -0.08800631 0.02063420
+v -0.12876873 0.02037472 0.02661329
+v -0.12876873 0.02640813 0.02658947
+v -0.13291529 0.10468823 0.02429318
+v -0.13562817 -0.09403972 0.02063417
+v -0.13289152 -0.10007313 0.02428766
+v -0.13569947 0.09865484 0.02063726
+v -0.13454302 0.09865486 0.01557671
+v -0.11852708 0.08661013 0.00284660
+v -0.11856669 0.07456534 0.00284655
+v -0.11858253 0.02640822 0.00284638
+v -0.11858253 0.02037481 0.00284635
+v -0.11854689 -0.01560541 0.00284622
+v -0.13447173 -0.10007310 0.01557360
+v -0.12876873 0.00234057 0.02651783
+v -0.12275681 -0.00369283 0.02708778
+v -0.12275681 0.02037472 0.02720949
+v -0.12876873 0.11627060 0.02513507
+v -0.12908556 0.11627060 0.02506114
+v -0.13285588 0.11069962 0.02426460
+v -0.13559253 -0.10007312 0.02063415
+v -0.13285588 -0.10608450 0.02426618
+v -0.13561629 0.10468824 0.02063728
+v -0.13447965 0.10468826 0.01557435
+v -0.11845976 0.09134436 0.00284662
+v -0.09837251 -0.01560541 0.00284622
+v -0.11733895 -0.10868276 0.00475849
+v -0.11778649 -0.10608443 0.00475850
+v -0.11831322 -0.10007306 0.00475852
+v -0.11857460 -0.09403966 0.00475854
+v -0.13435292 -0.10868280 0.01558311
+v -0.13441628 -0.10608447 0.01557835
+v -0.12876873 -0.00369283 0.02646296
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+v -0.11497854 -0.10868283 0.02379636
+v -0.11363993 -0.10868283 0.02344103
+v -0.11674093 0.02037473 0.02501785
+v -0.11352507 0.11627060 0.02345378
+v -0.11674093 0.11627060 0.02426462
+v -0.11720430 0.11627060 0.02433854
+v -0.12275681 0.11627060 0.02518753
+v -0.12321622 0.11627060 0.02519469
+v -0.13268955 0.11627060 0.02415491
+v -0.13544204 0.11069963 0.02063731
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+v -0.13282420 -0.10868283 0.02424709
+v -0.13435688 0.11069965 0.01558392
+v -0.11843995 0.09264352 0.00284662
+v -0.09544971 0.11627068 0.00284671
+v -0.09951310 -0.10868276 0.00475849
+v -0.13497074 -0.10868281 0.01847349
+v -0.11032506 -0.10868282 0.02067943
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+v -0.11075278 0.11627061 0.02187981
+v -0.13288756 0.11627060 0.02387351
+v -0.13503015 0.11627061 0.02063733
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+v -0.11826570 0.09865491 0.00284664
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+v -0.11706569 0.11069970 0.00284669
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+v -0.11797263 0.10338915 0.00284666
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+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_14.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318205a2da264617c5e280ada24d62b91183bb39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.08067146 -0.13621469 -0.01416073
+v -0.08156018 -0.13532395 -0.01415832
+v -0.08067146 -0.13532395 -0.01415832
+v -0.07340178 -0.13532395 -0.01415591
+v -0.07340178 -0.13747672 -0.01415591
+v -0.08668273 -0.13621469 -0.01415591
+v -0.08757500 -0.13532395 -0.01415591
+v -0.07340178 -0.13532402 0.00519911
+v -0.07340178 -0.14223877 -0.01409573
+v -0.09269400 -0.13621469 -0.01374175
+v -0.09358271 -0.13532395 -0.01375860
+v -0.07466020 -0.14223877 -0.01407888
+v -0.08067146 -0.14223877 -0.01374177
+v -0.07340178 -0.13932320 0.01043878
+v -0.08583667 -0.13532404 0.01043879
+v -0.07340178 -0.14342776 -0.01364064
+v -0.09269400 -0.14128718 -0.01156740
+v -0.09870882 -0.13628977 -0.01185151
+v -0.09870882 -0.13532396 -0.01216936
+v -0.08724795 -0.14282313 -0.01214289
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+v -0.08067146 -0.14684257 -0.01156260
+v -0.07340178 -0.15605022 0.01043872
+v -0.10971467 -0.13532404 0.01043879
+v -0.07340178 -0.14760547 -0.01191897
+v -0.09670744 -0.13999674 -0.01070775
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+v -0.08962616 -0.14521938 -0.00969644
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+v -0.09964730 -0.13532396 -0.01183225
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+v -0.08067146 -0.14910693 -0.00704291
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+v -0.08098429 -0.15494442 0.01043872
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+v -0.10949782 -0.13581100 0.01043879
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+v -0.10066044 -0.13828428 -0.00704287
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+v -0.09870527 -0.14604728 0.01043875
+v -0.10391314 -0.14159364 0.01043877
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+f 38 47 39
+f 39 48 46
+f 39 47 48
+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_15.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d98906086fef0ded9cf8cea82a25db3254860d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_15.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.01552481 -0.14223879 -0.01416556
+v 0.01955601 -0.13532395 -0.01415315
+v 0.01955601 -0.14223879 -0.01416143
+v -0.00251095 -0.14825883 -0.01240266
+v -0.06262409 -0.14223879 -0.01416143
+v -0.07339822 -0.13532395 -0.01415315
+v 0.01955601 -0.13532401 0.00369894
+v 0.01955601 -0.14825883 -0.01230357
+v 0.01552481 -0.14825883 -0.01232835
+v 0.00951895 -0.14825883 -0.01236137
+v 0.00350400 -0.14825883 -0.01239027
+v -0.00251095 -0.15151866 -0.01022278
+v -0.00852591 -0.15151252 -0.01021452
+v -0.00852591 -0.14825883 -0.01239027
+v -0.06863904 -0.14223879 -0.01415317
+v -0.07339822 -0.13747601 -0.01415315
+v -0.07339822 -0.13532402 0.00520176
+v 0.01955601 -0.14558269 0.01730680
+v -0.07339822 -0.14450565 0.01905733
+v 0.01955601 -0.15145314 -0.01012369
+v 0.00951895 -0.15148999 -0.01017736
+v 0.00350400 -0.15151048 -0.01021039
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+v -0.00852591 -0.15247696 -0.00703962
+v -0.02054671 -0.15149614 -0.01018975
+v -0.02656167 -0.14825883 -0.01234899
+v -0.02054671 -0.14825883 -0.01236550
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_16.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd868d319c70cbe4a93bdad7381c8ab0ca21d5eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_16.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_17.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f41a1107d6a0a935e1bcb86de935cfaf64a7be6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_17.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_18.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8923d4cf15bde421e7566af80e51636957bc346
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.07040837 -0.13532402 0.00475746
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+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_2.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949ad4296b71e039ae7b88641ee623b2aa3431b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+v 0.11755714 -0.11261392 0.00463340
+v 0.10837506 -0.11261397 0.01847983
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+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_3.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c56eaa7da6399d7fdca433215a7bac3f5db87d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_3.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.11891646 -0.03383451 0.00475784
+v -0.11891646 -0.02624213 0.00475786
+v -0.11834694 -0.03383446 -0.00704137
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_4.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79b8afb9becd0009b11131bd21b1b1082d0576d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_4.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_5.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2391731a04bf77b435a8a031dcb250d3ce843c91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_5.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_6.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f9658e2e367e0866b13e7dec5ca7e8f9ca441b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_6.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_7.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9071e60707ab891b90b450f76f9450fd04d72c75
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_8.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5b3210f6d9a47b93bdd155c3976a0fc4a2c9e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_9.obj b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112dd1fcc55a2fe9fa8a655fb505eac884c8c1a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/mesh/tray_058_collision_9.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/tray_058.xml b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/tray_058.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a9f4f9f8d4d5aed6f12947d2f9161e488d123ffa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mjcf/tray_058.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_058">
+  <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_058.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_058_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_058_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_058_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_058_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_058_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_058_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_058_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_058_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_058_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_058_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_058_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_058_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_058_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_058_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_058_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_058_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_058_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_058_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_058_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_058">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/textures/material_0.png b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..192aef23f8a698ae783434e7fde0c1d405692ae3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe1f623a02b2c1a823d63ea2da682f3112024a12f58c2b1c0bd5bdc65184553
+size 14904832
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.urdf b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8fb53b18023f6d02056d1a104a17f15816e9973
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_058">
+   <link name="tray_058">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_058.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_058_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>cf0617173f195c0ab6b7d41f205db1de</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>rectangular ornate tray with raised rim and decorative floral relief</description>
+         <min_height>0.0514</min_height>
+         <max_height>0.0514</max_height>
+         <real_height>0.0514</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200726</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.135220 -0.182489 -0.012193</min>
+            <max>0.136228 0.181084 0.039192</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f67c0250053228cd90063ef4fda17f44486e520cdc2020f376635cc7244e2d8
+size 4940788
diff --git a/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/video.mp4 b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2075bd50dc1f2332a60a464919deb48412901e7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73b9e294ec8c080628165f00f259a40cb5a3e3afcb24f1d1af01e5a09c1f128
+size 467916