diff --git a/.gitattributes b/.gitattributes
index 7f5ce4f3474adeefd21f2b0f2217a730a6813b3e..973cc7bc75ef6fe469d900e795adb85567895fd4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4459,9 +4459,5 @@ dataset/kitchen_supplies/tableware/eed8692e5d045b7bb95162497c49083a/mjcf/mesh/co
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/f7d08d58c6565237827d69bf31964904.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/mesh/spoon_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/spoon_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e369b48eefd2a4533af28d6117118f693cf7765
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_067_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_067_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a370b07f564c62cd416d7be2b8f3b101a7a0ae89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e215de8a81a0c721ed730f6bb5471a789bebfaac76e88b16da369bbb3044280
+size 14455946
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.glb b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1ad15272acc8f38b27457702b4aef4bc02d08df9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2be193bb07f5859c492eb687333d9fb0f626930df1cdb34d8522a2563da5033
+size 17812220
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.mtl b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e779adb6855a4a452ba7a043e5674ce5f5b940b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.mtl
@@ -0,0 +1,6 @@
+newmtl tray_067_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/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6869b8506ed3b874b50fc05a6a64ff10d04cfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067.obj
@@ -0,0 +1,125356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_067_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067_collision.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02c4707ed0f25fb19887f61a01b880f0093ec0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mesh/tray_067_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/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/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067.obj
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index 0000000000000000000000000000000000000000..c63503cafabd5c08116607571cb88c57afea4484
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+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b5278a64ba210a755d051c79876dd888774f481
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision.obj
@@ -0,0 +1,4882 @@
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_0.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da4d0cc2621b3a66e9f75abe0c908e0392aad3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_1.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97585479275ab2f3b71c2da21d3a043dd55a8078
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_10.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecec1e5efd10cd65f3e3aac6f5e863c272ca6b10
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_10.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_11.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76925d4e81d40ee09cdcb1aa0c8e430249530577
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_11.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_12.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef9752f3bfc268c1dd3793a0c96674879574351
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_12.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_13.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7012629238094d8480853b4f5d9238150ff7a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_2.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ec57089910df53a5730b6f5c0a6fe4aa9d86ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_2.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.10278523 0.05695798 0.00750575
+v -0.09709573 0.04069004 -0.00782031
+v -0.09709573 0.03527223 -0.00782211
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_3.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2481dd73fb170c53a09000240ab64923d5df4857
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_4.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcedc6ed540d736e3c039e1bbdf30ec6a2b84705
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_5.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16523bd58cbf0280bcd264b5a2d902d84a4ba1f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_6.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a681597c8284ad9bd5c1ace45fd4615075ad532f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_6.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_7.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e862fefe3a5217d8e6868006715bb50e5be031b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_8.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e270609bd5c93cfe17d591ad08cfec0a1c8d2e8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_9.obj b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b19f57d3751b104d6d5a07f5c53628f743624d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/mesh/tray_067_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/tray_067.xml b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/tray_067.xml
new file mode 100644
index 0000000000000000000000000000000000000000..faeada479287826996195ffd3d504ef7cfe00ccb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/mjcf/tray_067.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_067">
+  <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_067.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_067_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_067_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_067_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_067_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_067_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_067_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_067_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_067_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_067_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_067_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_067_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_067_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_067_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_067_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_067">
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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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/textures/material_0.png b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a370b07f564c62cd416d7be2b8f3b101a7a0ae89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e215de8a81a0c721ed730f6bb5471a789bebfaac76e88b16da369bbb3044280
+size 14455946
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.urdf b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38cd0e721a081d50b81612f51daa2f8fac9c42df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_067">
+   <link name="tray_067">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_067.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_067_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>f54949bebdcc5944ae62448b9a32b767</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>rectangular serving tray</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow rectangular tray with rounded corners and ornate top surface</description>
+         <min_height>0.0335</min_height>
+         <max_height>0.0335</max_height>
+         <real_height>0.0335</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201105</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.116079 -0.163565 -0.009422</min>
+            <max>0.116030 0.163607 0.024124</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>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.usd b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/tray_067.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19563dfa0e6d584e0b5568d7a01c37e924acada549581a10b59be370a8234609
+size 4935703
diff --git a/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/video.mp4 b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e31b062d727afffa3876bc994500039e3d1445ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506768b17d51df603ee6cb6f24be959884fcd38a641549a208a4ebf7d33b5dc7
+size 520667