diff --git a/.gitattributes b/.gitattributes
index 7567e0f11be9556acce2ae7a4f601c5534ab0ff4..101f3af20eeaf2015c3141e1b0e7ecb0547fee55 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4055,3 +4055,5 @@ dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/chopsticks_0
 dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/chopsticks_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/mesh/tray_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/tray_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material.mtl b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf763f3d28a0ceff383375b9368a4c092260b2c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_072_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_072_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material_0.png b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43051d929d44f298b14e7206ccdf90e5d2a23382
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f497024dc5f38cbdcac23fa81d1f5d5c3c84be0f32c35275119fad3c54350250
+size 10986573
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.glb b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bce1b7d522d8b5c7c522b13109dcbaf51d6be9ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8f21895a0af0d96105b0b316606b4b0c2722780ce6d4dbb2eb9999a3bdb158
+size 13974388
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.mtl b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e7322413713135572ad4cc65c746d7c3121fc79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.mtl
@@ -0,0 +1,6 @@
+newmtl tray_072_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/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb065cfedb2bd86f1769b092566e894f7e5256e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072.obj
@@ -0,0 +1,104104 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_072_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072_collision.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897fa898bd269352ba20015a370b1851e7f5b5cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072_collision.obj
@@ -0,0 +1,4620 @@
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mesh/tray_072_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072.obj
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4a22dbf0835cefa42a3d9b66cb1aff649625d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision.obj
@@ -0,0 +1,4620 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_0.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33babb35bda36070b5d708486a53a3437abc7e25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_0.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_1.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41da4cf4a55833fd1f50ac0291b2c7218949e08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_1.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_10.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e776cc7b061a739910d6c4f1c9f830778e536b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_10.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_11.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820bcace24ad395128f99fa216eb483695d52d8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_11.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_12.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6c1a601c1fb76a3b22162c000df8650166469f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_12.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_13.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1484909aaa743e1749175aee9ece06e65daf502
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_13.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.08376340 0.14247117 0.00001498
+v 0.06088015 0.13059696 0.00101081
+v 0.06661095 0.13059155 0.00101081
+v 0.07234975 0.13055731 0.00100676
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_14.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eeeef0bdbdcac8c449b54bb2241aea42ce9b21b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.08377592 0.15980607 0.00124774
+v 0.08376341 0.15493551 -0.00356802
+v 0.08376341 0.15974309 0.00118619
+v 0.08376341 0.15960313 0.00124774
+v 0.08957001 0.15973609 0.00124774
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+v 0.09530569 0.15948066 0.00124774
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_15.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ca32e9fd9f721af8cc8778d59c5e7b6530505a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.13434041 -0.13304336 0.00838174
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_16.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d23d55269d543b6890c997ca37a72615689e3aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_16.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_17.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab208fcdff8419198883a6ad41c7f8b26dbac5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_17.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_18.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98bc8c1dac3a3a275f9ebc6f987c1c0292834f36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_18.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_19.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9c4a8765cd1898f0c9e6cbf28f9d4960f7cf17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_19.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_2.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30124fc000b974a582ecbfcccd3e6ae8f11617d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_2.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_20.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e9f960165832056bd2afb1520795902168d5ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_20.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_21.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1057ac820bde75819c23904b660a4f9b6c93436a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_21.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_3.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae336e075063911c212f20e6d124b7a4d904100
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.13892975 -0.00000143 0.00832673
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_4.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d520e19767e86c0729592cc4a896227da9563b7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_4.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.09383976 -0.12316169 -0.00793423
+v -0.02018133 -0.10605475 -0.00757297
+v -0.02018133 -0.10680220 -0.00757297
+v -0.02018133 -0.11255273 -0.00757211
+v -0.02018133 -0.12316169 -0.00756861
+v -0.09383976 -0.12316172 0.00110975
+v -0.09383976 -0.00001342 -0.00760976
+v -0.02018133 -0.00001342 -0.00755488
+v -0.02018133 -0.00247277 -0.00755577
+v -0.02018133 -0.12316172 0.00085744
+v -0.09383976 -0.00001345 0.00098095
+v -0.02018133 -0.00001345 0.00053388
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
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+f 2 8 12
+f 2 12 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 7 11 12
+f 7 12 8
+f 10 12 11
+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_5.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..020a5d92f15fdb29ae879a640308787a0f8e4447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.09453919 -0.00000137 -0.00763187
+v 0.10678133 -0.00000136 -0.01207789
+v 0.09453919 -0.00000140 0.00114689
+v 0.09453919 0.12406067 -0.00806337
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+v 0.11251593 0.01406128 -0.01092946
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+v 0.11251593 0.00254886 -0.01074513
+v 0.11251593 -0.00000136 -0.01070299
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+v 0.10678133 0.12339278 -0.01228024
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+v 0.13943475 0.01981742 0.00469745
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+v 0.11639454 0.11188035 -0.00947256
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_6.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589ae7be94b6f08fadca59669c0aaee99c6cb562
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_6.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00210945 -0.00000137 -0.00756056
+v 0.09453919 -0.00000137 -0.00763283
+v 0.00210945 -0.00000140 0.00053703
+v 0.00210945 0.12406067 -0.00762153
+v 0.09453919 0.12406067 -0.00806507
+v 0.09453919 -0.00000140 0.00114498
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+v 0.00210945 0.12406064 0.00105059
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+v 0.09396919 -0.00000140 0.00114498
+v 0.09453919 0.12304056 0.00100089
+v 0.09308253 0.12406064 0.00111473
+v 0.09224111 0.12406064 0.00113370
+v 0.08956304 0.12406064 0.00116351
+f 1 2 6
+f 1 6 10
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+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 11
+f 2 11 6
+f 3 7 8
+f 4 8 14
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+f 4 12 9
+f 4 9 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 7 10 8
+f 8 10 14
+f 9 12 11
+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_7.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09392837198a2b9faff6e60196b400ab5c4d20e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.09773499 -0.00000137 -0.00808372
+v 0.00209968 -0.00000137 -0.00756045
+v -0.09773499 -0.00000140 0.00102912
+v -0.09773499 0.11179528 -0.00875134
+v 0.00209968 0.00254867 -0.00756141
+v 0.00209968 -0.00000140 0.00053714
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+v -0.09773499 0.00119154 0.00102716
+v -0.09773499 0.11179525 0.00054635
+v 0.00209968 0.11179528 -0.00756590
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+v -0.09633727 -0.00000140 0.00116800
+v 0.00209968 0.00689355 0.00053815
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+v -0.09773499 0.04175134 0.00093830
+v -0.09773499 0.03990174 0.00094417
+v -0.09249597 0.11179525 0.00123395
+f 1 2 6
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diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_8.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f07ce2d3f9e51751ce1161ef9ea31be9300473
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02018133 -0.13303915 -0.00822551
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+v 0.07281201 -0.13303915 -0.00853181
+v -0.02018133 -0.13303918 0.00071824
+v -0.02018133 -0.00001439 -0.00755523
+v 0.07548074 -0.13303918 0.00024135
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+v 0.07548074 -0.00001439 -0.00757268
+v -0.01592074 -0.13303918 0.00072018
+v -0.01370148 -0.13142440 0.00103037
+v -0.01943222 -0.13141137 0.00102940
+v -0.02018133 -0.13194529 0.00092568
+v -0.02018133 -0.00001442 0.00053360
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+v -0.01943222 -0.00001442 0.00053457
+v -0.02018133 -0.12608517 0.00123685
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+v 0.07235318 -0.13303918 0.00068238
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+v 0.07548074 -0.12609819 0.00123588
+v -0.00796138 -0.13303918 0.00072018
+v -0.02018133 -0.12852037 0.00123684
+v -0.00796138 -0.12607214 0.00123879
+v 0.04940215 -0.13138533 0.00102358
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+v 0.06661308 -0.12844224 0.00123975
+v 0.06087298 -0.12607214 0.00124170
+v 0.06087298 -0.00001442 0.00056946
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+v 0.07235318 -0.12839015 0.00123684
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+v 0.07548074 -0.12828596 0.00123587
+v 0.04940215 -0.13303918 0.00070952
+v 0.06087298 -0.13303918 0.00069886
+v 0.06087298 -0.13134626 0.00101777
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+f 40 54 42
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+f 43 50 44
+f 46 51 47
+f 48 54 49
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_9.obj b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c404a6c62b02366edccc08aa6cc23004637a0309
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/mesh/tray_072_collision_9.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.06533320 0.17478793 0.00832581
+v -0.06533320 0.17373954 0.00446199
+v -0.07107071 0.17373954 0.00446199
+v -0.07107071 0.17478439 0.00832581
+v -0.07680822 0.17336406 0.01198669
+v -0.05385818 0.17336762 0.01198135
+v -0.04812066 0.17336762 0.01198135
+v 0.00209968 0.17443373 0.00921767
+v -0.00796785 0.17478085 0.00832581
+v 0.00209968 0.17399102 0.00540992
+v 0.00209968 0.17373600 0.00446733
+v 0.00209968 0.14615527 -0.01052343
+v -0.07680822 0.17373244 0.00446466
+v -0.07680822 0.17477731 0.00832581
+v -0.01370536 0.14614819 -0.01052343
+v -0.03665541 0.14614110 -0.01051809
+v -0.04812066 0.14613756 -0.01051542
+v -0.05959569 0.14611985 -0.01051275
+v -0.08254573 0.17334282 0.01195999
+v -0.08254573 0.16943964 0.01377039
+v -0.07680822 0.16943964 0.01378908
+v -0.07107071 0.17336406 0.01198669
+v 0.00209968 0.17336052 0.01198135
+v 0.00209968 0.17477731 0.00832581
+v 0.00209968 0.14200770 -0.01205082
+v -0.00796785 0.14066887 -0.01254481
+v -0.06533320 0.14610215 -0.01051008
+v -0.08254573 0.17370412 0.00447534
+v -0.08254573 0.17472773 0.00832581
+v -0.01944288 0.14066887 -0.01254214
+v -0.07107071 0.14066887 -0.01252612
+v -0.08828325 0.17324012 0.01184517
+v -0.08828325 0.16943964 0.01370363
+v -0.09773499 0.16368405 0.01473432
+v 0.00209968 0.16943964 0.01378107
+v 0.00209968 0.14066887 -0.01254214
+v -0.08254573 0.13860394 -0.01197339
+v -0.07107071 0.14606318 -0.01050207
+v -0.08828325 0.17359432 0.00455812
+v -0.08828325 0.17451165 0.00832581
+v -0.07680822 0.14066887 -0.01249942
+v -0.09402077 0.17293550 0.01149270
+v -0.09402077 0.16943964 0.01345797
+v -0.09773499 0.16570648 0.01430442
+v -0.09773499 0.15995089 0.01442990
+v 0.00209968 0.16368405 0.01425101
+v 0.00209968 0.16803705 0.01389589
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+v -0.08828325 0.14066886 -0.01171437
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+
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/tray_072.xml b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/tray_072.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1523ea45d2b9188856061d7b2a0bacf30a13297e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/mjcf/tray_072.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_072">
+  <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_072.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_072_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_072_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_072_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_072_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_072_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_072_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_072_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_072_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_072_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_072_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_072_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_072_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_072_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_072_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_072_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_072_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_072_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_072_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_072_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_072_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_072_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_072_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_072">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/textures/material_0.png b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43051d929d44f298b14e7206ccdf90e5d2a23382
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f497024dc5f38cbdcac23fa81d1f5d5c3c84be0f32c35275119fad3c54350250
+size 10986573
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.urdf b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a8c4b797c5179965ceb0512db7bb4a50a832f8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_072">
+   <link name="tray_072">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_072.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_072_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>08325a3e601a5ca6859d6c613ab044ed</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>rectangular serving tray</name>
+         <color>gray,white</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular tray with rounded corners and ornate decorative surface</description>
+         <min_height>0.0273</min_height>
+         <max_height>0.0273</max_height>
+         <real_height>0.0273</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201301</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.139832 -0.174595 -0.012289</min>
+            <max>0.141129 0.173918 0.015028</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/08325a3e601a5ca6859d6c613ab044ed/tray_072.usd b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b4a46b9c102106473c81c8688196ee61634c41ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/tray_072.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1319855596b71a6a8abc9c170f0f61ffbf7fee269c208c62863adb5933a6f0f2
+size 4691122
diff --git a/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/video.mp4 b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e25cb697ddc7012bf93cfb7894816b47c44158fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc16aecaadd9e46d1fbeba5554a60310c238320f0c8d94184df48271b24a968
+size 588021