diff --git a/.gitattributes b/.gitattributes
index 49f2b4ef98b355425c99ba54ff62f2fd4d76e0d3..1890c26f5d89e4da10fc198de82cc939951a03b4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4229,8 +4229,7 @@ dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_01
 dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382/fork_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382/mesh/fork_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/77f5ecd740d05f53a1c89eba5ef55688/77f5ecd740d05f53a1c89eba5ef55688.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/78c66d8bdbe75baf9198c480fd8a34fa/78c66d8bdbe75baf9198c480fd8a34fa.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/79eeb645ef425a8bb62e60e176cfb092.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/fork_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/mesh/fork_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material.mtl b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81aa015034ad6cc0a915f974da6e7fcb0e2b72a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_049_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material_0.png b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.glb b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14599512
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.mtl b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b71a59aa349c2c361da427aea79ab1d0a30e7739
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.mtl
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+newmtl tray_049_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebc7454683ab46573178056f49d7c5ab1d1ccda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.obj
@@ -0,0 +1,104062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_049_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049_collision.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a43085d726d3f9085324432e67fb3e222c10dc7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049_collision.obj
@@ -0,0 +1,7094 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b9c476e5941851df88a870654284ea99539a34c6c9dd03dddf227a9d60cfa1f5
+size 12043923
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049.obj
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ff443f4c8473123c27f01ec61724ee2c60195f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision.obj
@@ -0,0 +1,7094 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_0.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6ff8cd9de936099efd19117727c33ad8a12c78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_1.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac80792c78cb9734d08d8af81ed49c7cc6d77e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_10.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e146e80462453aba1e7b1483c2bb4295bcf72bc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_10.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_11.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d14c5679759c43ef438886a776968805594336c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_11.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_12.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93c0b56ed12c0802151aa40a33fa3ab2b7adfd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_13.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5d4f022cec2f59e93f8b8d57fa977429bb1ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_13.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_14.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0c0efa7fef02f30c66a89f7b64c5bf4a356a05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_14.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_15.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a546e1864508984fd33b13391244956057f29e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_15.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_16.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fdfb09c7955c187a0b32299a7bef2e52a33cf37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_16.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_17.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a1069f120eab6ae55afb8953143a61f26e3fa6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_17.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.07168517 -0.13327724 -0.01478574
+v 0.07168517 -0.13547217 -0.01462023
+v 0.07168517 -0.13327728 -0.00171538
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+
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_18.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa5b9d2a6b819e6449e02803a2243ce1f67316f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.09209997 -0.13327220 0.00055431
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+v 0.11372085 -0.13327220 0.00055431
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_19.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487d0ff7754449d11e959a7cd7b70552be17d890
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_19.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_2.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8b31141cc30055736e0d47815b42c4b20b647
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_2.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_20.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60cd5a09a86b380bae18715324b20128079f6220
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_20.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_3.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce75bc04f88c4ea19e9c4dcbfd72399944d5bb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_4.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43f43114600bc4ae85b1b48f208a15ff4c88d8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_4.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_5.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340308af677265b919154b28a7d69d8f389fc536
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_6.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7e4a61fd25a0b0e8618933d060fc0071b02440
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_6.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_7.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486e9125ff7e000ce012ec96594a0f7abe5fa051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_7.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_8.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cd304b277f4d7f8fd584d65a1c2c0812251624
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_8.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_9.obj b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9012bd65144d6382bb371ae31b4ea63b4c8b0fb9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/mesh/tray_049_collision_9.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/tray_049.xml b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/tray_049.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed24d9a3fc3f6b2599a4c9b3835a17090052f927
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mjcf/tray_049.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_049">
+  <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_049.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_049_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_049_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/tray_049_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="tray_049">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/textures/material_0.png b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b9c476e5941851df88a870654284ea99539a34c6c9dd03dddf227a9d60cfa1f5
+size 12043923
diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.urdf b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f73188a03965c2c829af183ff11b8702033a6ce
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+++ b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_049">
+   <link name="tray_049">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_049.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_049_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>74313b0443635e4a9790a3f26bcee1ba</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>white,blue</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow square ceramic tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0431</min_height>
+         <max_height>0.0431</max_height>
+         <real_height>0.0431</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200353</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.144010 -0.174189 -0.013949</min>
+            <max>0.143902 0.174001 0.029119</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.usd b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.usd
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diff --git a/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/video.mp4 b/dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/video.mp4
new file mode 100644
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