diff --git a/.gitattributes b/.gitattributes
index 6d05453d22c2c3009ef774c9023cf9c3a909e7e2..1e41c41e6ba635c5900b5e7ff3fd24a3b2e27a91 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4115,3 +4115,5 @@ dataset/kitchen_supplies/tableware/1ce9c1edde085f3fb6f5ff45c4a2d172/mesh/tray_gs
 dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/200521cfb54c59799efc51ffd95f9f42.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0484f4dc488edbf52a6d9569c7deefe748f77d52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_075_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_075_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b5f70108899cbdf4a1f76e7412bb7dcb04305b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a0964a9ce8f6168326420b4619abe8659575f7d34f72ed10c9fe459cdc2b46
+size 15752416
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.glb b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c356245d377d2cf6fac5bb660d23da4a0839722a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce32ef04169c4ce97f56f8351f5d843ac4936b3fbad3a0b56684637b8c58b68
+size 19002132
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.mtl b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d131ce01eb9ba8cc8fe73eb021a3509b53de0502
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.mtl
@@ -0,0 +1,6 @@
+newmtl tray_075_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/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ce297eaef4adecf18846622253ecfe786ab0d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.obj
@@ -0,0 +1,111178 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_075_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075_collision.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ae1213c988d6eb52abec8c5337e1a38a9bac63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075_collision.obj
@@ -0,0 +1,8142 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075.obj
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index 0000000000000000000000000000000000000000..87de376afcb2d373a7daa6dd52c022cfee870c2f
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+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5fbb80c538f6b521b3a07e9d3042def8757f4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision.obj
@@ -0,0 +1,8142 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_0.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ab4abfe9232093974b3d1dd8c8f0975f70b816
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_0.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_1.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a9f119de7fa4f6d924dbc9f2830485024183db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_1.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_10.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0181a12f116f15738f732f406a9b31593404bfc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_10.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_11.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5fce614e6e92dd08a4b20e3351550f00d0b198
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_11.obj
@@ -0,0 +1,424 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_12.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d760524db2c52c82b0dde696c2d691a086cf04ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_12.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00018327 0.16974834 0.01529297
+v -0.00018327 0.16323565 -0.00213001
+v -0.00018327 0.15469584 0.01529292
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+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_13.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fde20aa36cba752506a0c0d78cb794c3ff9a4bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_13.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.11129722 -0.13106360 -0.00192532
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+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_14.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27ced47fe4253ecd1b917c7f8159c8681f07658
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_14.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_15.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332dc9e3f56f0fe1c6f954f651e1c689283f3ec9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_15.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_16.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93071788da0b4c0fc28d4942c23516b2ec51faf7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_16.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_17.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbabfd691587579f502ea055754792ed37ea40e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_17.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_18.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c88b1773c634099bc2d24f6d0517018c47518e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_19.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e72e5e9830a9167b880ae48e5468cfd1d6ffd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_2.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81fea3f326896ab6004d0fcdd8d4e0a4663fead
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_2.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_20.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38616fcc4ad567c1935487f4e1789726b92270f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.11241363 0.00136543 -0.01596602
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_21.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d2acf6fe601002b854ff8f3f5e2368555a0b0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_21.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.08642104 -0.17269927 0.01529343
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+v 0.08642104 -0.15025451 -0.00163751
+v 0.09001961 -0.17242217 0.01529343
+v 0.09395426 -0.16547238 -0.00163757
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+v 0.09543522 -0.16528021 -0.00163757
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+v 0.11433247 -0.15731149 -0.00163754
+v 0.10661072 -0.16953055 0.01529344
+v 0.10011308 -0.16416736 -0.00163756
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+v 0.10986500 -0.16052490 -0.00146685
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+v 0.11371222 -0.15776736 -0.00163754
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+v 0.10698506 -0.16180759 -0.00163755
+v 0.10978577 -0.16049362 -0.00163755
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 15
+f 1 15 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 20
+f 2 20 19
+f 2 19 24
+f 2 24 23
+f 2 23 22
+f 2 22 16
+f 2 16 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 7
+f 5 9 10
+f 5 10 6
+f 7 8 12
+f 7 12 11
+f 9 13 14
+f 9 14 10
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+f 12 16 15
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+f 13 19 20
+f 13 20 14
+f 15 16 22
+f 15 22 21
+f 17 21 23
+f 17 23 24
+f 17 24 18
+f 18 24 19
+f 21 22 23
+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_22.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6c1fc4a69a416a3068ce47fd227fd549a11aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_22.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.10570676 0.14173345 0.00131277
+v 0.10570676 0.14463180 0.01098618
+v 0.10570676 0.15699066 0.00131283
+v 0.11993194 0.11426091 0.00131267
+v 0.10570676 0.14627229 0.01528228
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+v 0.10707264 0.16283520 0.01529466
+v 0.10796596 0.15623975 0.00131282
+v 0.13339650 0.11426091 0.00131267
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+v 0.10584594 0.14620533 0.01529460
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+v 0.11391173 0.15958767 0.01529465
+v 0.11115408 0.15478100 0.00131282
+v 0.13301458 0.11857503 0.00131269
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+v 0.13877262 0.11426085 0.01529448
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+f 1 12 6
+f 1 6 3
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+f 1 19 26
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+f 18 26 19
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+f 23 29 30
+f 23 30 31
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+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 37 41 38
+f 38 41 39
+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_23.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca70650d0a60dc49a6714f1f25c73e1f43624e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_23.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00019364 -0.14737312 -0.00163750
+v -0.00019364 -0.16348375 -0.00163756
+v -0.00019364 -0.15504861 0.01529349
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+f 18 24 25
+f 18 25 26
+f 20 26 21
+f 21 26 27
+f 25 28 26
+f 26 28 29
+f 26 29 27
+
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_24.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989074b76cc41ceeb106f2d484262058d74aaee5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_24.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
+v -0.07702083 0.16725377 0.00288156
+v -0.07702083 0.16622830 -0.00092221
+v -0.08318327 0.16618653 -0.00075032
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+v -0.07085840 0.16453059 -0.00580168
+v -0.08318327 0.16443184 -0.00580168
+v -0.08933472 0.16402165 -0.00580168
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+v -0.08678626 0.16685118 0.00224390
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+v -0.06632171 0.16714363 0.00288156
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_3.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a043e39b0163612f729eff0cb695a3c01b9424b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_4.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0329d89651c855cc1a225dc663e6d5fa7661e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_4.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_5.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e311525ca19e922c6f4997203443a009956bd13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_5.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_6.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a427b116352ebad5a40942de5dc3d3f4138e1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_7.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dec03b34281861a3ad8bec461240d2ef6558287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_7.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_8.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7827598b9f2cea8fb2add0b7227e474c344438
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_8.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_9.obj b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/mesh/tray_075_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/tray_075.xml b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/tray_075.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f2bc835b6df84102aaf0006ec99f87d65b9b5e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mjcf/tray_075.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_075">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_075_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_075_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/tray_075_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_075_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_075_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_075_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_075_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/tray_075_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/tray_075_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/tray_075_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/tray_075_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_075_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_075_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/textures/material_0.png b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.urdf b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.urdf
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+<?xml version='1.0' encoding='utf-8'?>
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+   <link name="tray_075">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/tray_075.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_075_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>1d3391827ac55427bf5b1cc0ceee929b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>square serving tray</name>
+         <color>blue,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow square tray with rounded corners and colorful floral top</description>
+         <min_height>0.0475</min_height>
+         <max_height>0.0475</max_height>
+         <real_height>0.0475</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201403</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.153952 -0.186958 -0.014766</min>
+            <max>0.153881 0.186549 0.032713</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e192dc5c89e44e09ea33ef9bded31a0733a1f169
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1fbdd107ee1f815b4d9b8c0409cbde080b804f7d15fe8e2277e57e3b25030f
+size 4861898
diff --git a/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/video.mp4 b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e5747b39359e4023e05f3cd6c298b63eab80274
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a8d60e218a0b6347406672a221826512aa064168164e085507087cb90d7578
+size 932611