diff --git a/.gitattributes b/.gitattributes
index edd244af35ac5f7884b9f3efe5249fbae5e2efee..e7d0f9be8ae5dd4735f706ba92b6bd4007f90607 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4260,3 +4260,5 @@ dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_gs
 dataset/kitchen_supplies/tableware/911d549b6f7a594fbac70e8715604588/911d549b6f7a594fbac70e8715604588.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/coaster_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/mesh/coaster_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material.mtl b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cbe85edf7e3478be51237b540dbf131f874cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material_0.png b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f66de31c8cec5c0a6783cee19beab04dacf5cdf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2bda284d2fd188d3735bbdf3d534333548597e4aeda5ee41543944c592a6e7e
+size 16378628
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.glb b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33edeaa72f984a019fc91ce8a853d3790231a69b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c4df40609addf374f18d3960ef2196d05ebe2cbff301bb15c24d04e8ba1616
+size 18816260
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.mtl b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa2f00365862b9cab64777ab897af0bf1ee2cbba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.mtl
@@ -0,0 +1,6 @@
+newmtl tray_029_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/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c927dcd99552f05a6906356caddd0589fc562acf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029.obj
@@ -0,0 +1,104382 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_029_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029_collision.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f5447a4bf946cddf724db19f2e840b9172ddfe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029_collision.obj
@@ -0,0 +1,6057 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mesh/tray_029_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029.obj
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc32bc95e672f8bef950f65b6623dc2d743118f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision.obj
@@ -0,0 +1,6057 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_0.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc49c8da6e977f6dec20876115423d7b3a69c838
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_0.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_1.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2286fa6e91dd7eb3a605fba4900f1c9ecc2d218c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_1.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_10.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84cc464cc8ea4bfce5d796bc5acca00996b5fd61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_11.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642ab24918904e4fae27ad6f9eaa5d97dea9d3a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_11.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_12.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17acda48672befc354e7f0d4d4c95107f0b0a5fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_13.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049ead424735cad6e815f36cced583e2b3558dbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_13.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_14.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638550b2190de1c6e6b4cd67793e6d263d769c37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_15.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db55e9725bd228b49f4026c9fff776fad6b1b7f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_15.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_16.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef722c7c1118b86683e142fd0beda9ca9e706b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_16.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.12911428 -0.17093909 0.00675682
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_17.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cddf1cb0debcfcc633439e520d62ee4478351060
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_17.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.10824695 -0.16370810 -0.00576733
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+
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_18.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737c7ad6b1026680ce1b9c1618541cb7acbfb447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.10824695 -0.19084756 0.00675430
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_2.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ffe279e229a357e2674646920ccfd781cac92a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_3.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71de4ab5b379e2dd2887de43225b2edf4c31a81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_3.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_4.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fbea7940690201868357fbb30dcfde2ebe8d81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_4.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_5.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3867a04f291ffba8fa585176e9cbd892811e9610
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_5.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_6.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa54da43d328b1a97327ec5f8f497ddcfbd0af8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_6.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_7.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccf93d5346c81e60f73377875489ab2185e21d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_7.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_8.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e6ac48ec45c2bc1b1eb1e5640d49e93a668d5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_9.obj b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58552887a363b8ff171e9e884ff638aa4b750ec0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/mesh/tray_029_collision_9.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/tray_029.xml b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/tray_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2359b32fed11b4f8be0d5c5dd095eb26bffe5412
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/mjcf/tray_029.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_029">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/textures/material_0.png b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f66de31c8cec5c0a6783cee19beab04dacf5cdf8
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+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2bda284d2fd188d3735bbdf3d534333548597e4aeda5ee41543944c592a6e7e
+size 16378628
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.urdf b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a33bbc3d6522ace702ab43838a0aed4e9e2d1bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_029">
+   <link name="tray_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4250" />
+         <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>920ff1d0149d5ddea4172e293df4f1af</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>blue,orange</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>shallow square tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0499</min_height>
+         <max_height>0.0499</max_height>
+         <real_height>0.0499</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195627</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.177183 -0.212294 -0.016884</min>
+            <max>0.177376 0.211633 0.033010</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/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/tray_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b12a1675f68d218d8277a12df5b4fe684f1f227925f34b435e6be11ec0ee23b3
+size 4353157
diff --git a/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/video.mp4 b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e4082e0508943ede9a8bc185283eefec3d6f5d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/920ff1d0149d5ddea4172e293df4f1af/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7bc6288b301dedf5a7772b8a4ffaabc8331ce13da16445db7dd1fb3b575d4e
+size 1124828