diff --git a/.gitattributes b/.gitattributes
index a40802436ee7541a79ec873a9bca6eb42238dbbf..37c2e35a289152e7a3c0c10b4e365e244faf9f1f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4217,12 +4217,5 @@ dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/645b293a2f035325abd6f6c401907cb7/mesh/spoon_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/645b293a2f035325abd6f6c401907cb7/spoon_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/mesh/tray_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/tray_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/66f30bf042db52c0aaa4727ce4dc7be0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material.mtl b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d78de6e37578d936164960f74409a3427511bf79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_045_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_045_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material_0.png b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3917d8e6e0513dfcf24108fbbe8ba34269731aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3864a5b0bdedc13094ec1deebdbe41299cd8baae487bc5cb10f1bfa6e511a1f1
+size 9751477
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.glb b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d46330bdeae2359e20aef9bce250b49d06eb062b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed788162d1a3a4e341ac6d728c72cc7630de62ce37c19647f3d0bc1df23cc9aa
+size 13150968
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.mtl b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acd792e6c948724c5eaa68ecbc546c0e3a8b5540
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.mtl
@@ -0,0 +1,6 @@
+newmtl tray_045_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/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e7f2bd38094ba85f4d238c5b2b1c7c620cc8ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045.obj
@@ -0,0 +1,120378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_045_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_collision.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1525f15c37e78f3e6df06c0bec33bbde86f44ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_collision.obj
@@ -0,0 +1,4445 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3917d8e6e0513dfcf24108fbbe8ba34269731aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mesh/tray_045_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9751477
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3917d8e6e0513dfcf24108fbbe8ba34269731aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3864a5b0bdedc13094ec1deebdbe41299cd8baae487bc5cb10f1bfa6e511a1f1
+size 9751477
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289ae26f1c68796777d4402ae95803f3d08243d7
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+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045.obj
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a4b24f8c2ecd73f21945a4fb0c036fff87a898
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision.obj
@@ -0,0 +1,4445 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_0.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e28eff6e26d553a69d326d7659edf32b09826ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_0.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_1.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13276758ee498351bb82dc78ac02a20e8bb8fbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_10.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063084105cce6ac7bd20e2ddef08c75891f84b68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_10.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_11.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc81e0367f3a7e380dd31deae44e09bf308feb0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_11.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_12.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c836971d9938b07cb4908e492d132462f5484877
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00003497 -0.00017135 -0.01232072
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+v -0.00003497 -0.00017142 0.00564506
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+v 0.10548188 0.14672546 -0.01078844
+v 0.10484149 0.14918154 -0.01074974
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+
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_13.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b75033444dd9db8197090301b7155b7bd9efd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.10101262 -0.15734828 -0.01062042
+v -0.10101262 -0.15734833 0.00210812
+v -0.10101262 -0.15730213 -0.01062225
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+v 0.02079789 -0.15734832 0.00106384
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+v -0.00346644 -0.00327927 0.00582940
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+v -0.09420430 -0.15734828 -0.01074457
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+v 0.02079789 -0.13567035 0.00246056
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+v 0.00330611 -0.00327927 0.00579654
+v 0.00330611 -0.00018681 0.00562859
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+v 0.01006674 -0.01009498 0.00521960
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+v 0.01006674 -0.00018681 0.00499691
+v -0.10101262 -0.00018675 -0.01090282
+v -0.10101262 -0.14647083 -0.01085224
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+v -0.08468934 -0.15734828 -0.01081942
+v 0.00330611 -0.15734828 -0.01090340
+v 0.01006674 -0.15328654 -0.01095815
+v 0.01683929 -0.15328654 -0.01095997
+v 0.02079789 -0.15328654 -0.01095997
+v 0.02079789 -0.02657270 0.00406024
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+v 0.02079789 -0.01692609 0.00414608
+v 0.02079789 -0.01009498 0.00408768
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+
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_14.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd25431cf19db3bbbdc2d27c0129b043265342e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_14.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.10090797 -0.00017136 -0.01090155
+v -0.00347113 -0.00017135 -0.01233152
+v -0.10090797 -0.00017140 0.00097141
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+
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_2.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097267f01f9300a13289fa3c753f240b942d213a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.09801710 -0.14657284 0.00006593
+v 0.09801710 -0.14657280 -0.01089131
+v 0.09130501 -0.14657284 0.00078215
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+v 0.09801710 -0.15329590 -0.01080515
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_3.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093f1839d4a0a364b18190c679d6c4f0cedade1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_3.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_4.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49875eac99bcf656428dd25e5f6bc7d0706bf4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_4.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_5.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e2bea323f47699f53b152e949933f8b1033ae3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_6.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1180db12ce5c941417c5fd5928ddd3522969f28f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_6.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_7.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b44e2b6be5e64f312376af465768df57f8a0fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_7.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_8.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1ba0984f209ebbe8712855c8a408b285dfb8c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_9.obj b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8b99fd7338288d1cacac1367d6efaca369213c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/mesh/tray_045_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/tray_045.xml b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/tray_045.xml
new file mode 100644
index 0000000000000000000000000000000000000000..13c55fd64f6996fe1708b4add2bc14dbdae9fbe3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/mjcf/tray_045.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_045_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_045_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_045_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_045_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/tray_045_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_045_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_045_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_045_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_045_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/tray_045_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_045_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_045_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/textures/material_0.png b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3917d8e6e0513dfcf24108fbbe8ba34269731aa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3864a5b0bdedc13094ec1deebdbe41299cd8baae487bc5cb10f1bfa6e511a1f1
+size 9751477
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.urdf b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a0cc86e73e2328fd8eb5ee75632930e3fbfa74c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_045">
+   <link name="tray_045">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_045.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_045_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>62f0639546f8537ca76cdd1c52b13164</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular gray tray with rounded corners and ornate floral top pattern</description>
+         <min_height>0.0321</min_height>
+         <max_height>0.0321</max_height>
+         <real_height>0.0321</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200228</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.147289 -0.205692 -0.012532</min>
+            <max>0.147131 0.205961 0.019578</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/62f0639546f8537ca76cdd1c52b13164/tray_045.usd b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4b100dc2cbae2af3846dd09d26301ec1d81bb799
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/tray_045.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7376654351bb02fd1005e1bc9221975ba289146ce15093c4223a978974ac0397
+size 4963650
diff --git a/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/video.mp4 b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b19eea44a6f45eb3ed51ab9f64146a2c2d3ce8b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/62f0639546f8537ca76cdd1c52b13164/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab6404c0a866c4e68d144cc05f37215fc7702625a067ee6bd9a0253bb62e1a0d
+size 307733