diff --git a/.gitattributes b/.gitattributes
index 0cd6717f06ee53181ee0332423eda4db28608fdc..4398ea226e265e78ef367fd1ec173d4bb61e2143 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4378,5 +4378,5 @@ dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/mesh/coaster
 dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/mjcf/mesh/coaster_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ce64695a446e5310a6106f4e7e3e1942/bowl_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ce64695a446e5310a6106f4e7e3e1942/mesh/bowl_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ccaa4517598756049860ed79de7b1767/mesh/tray_041.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ccaa4517598756049860ed79de7b1767/tray_041.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c4f700416623dae6fb0e1439169359677f38b66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_066_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1a68cbc6ac5caadfd375fd528b8bff2f98ca64d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19871263c74d995c4b067cc0ae2326f600b1dda973fce984bda128e11f3d7c1
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.glb b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f1a73400b781a3762745991e78392da4387b681
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14730349ae0ed6b01d7ff82e0762140bb833cd10cde174f4f887c225b95b4c4
+size 14849832
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.mtl b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ae5d8ecccedb10db9cb75ff7b6721a9549532f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.mtl
@@ -0,0 +1,6 @@
+newmtl tray_066_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/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e225b341a77ab08540d2e30b6756fddca1fa6c2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066.obj
@@ -0,0 +1,105040 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_066_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066_collision.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabfc951d32da1772f6d6561301f9723aba385e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066_collision.obj
@@ -0,0 +1,5905 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mesh/tray_066_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1a68cbc6ac5caadfd375fd528b8bff2f98ca64d
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1a68cbc6ac5caadfd375fd528b8bff2f98ca64d
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066.obj
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index 0000000000000000000000000000000000000000..5fbe87192fa3ef293c8439ccabba3cd0650caeaf
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d785ed27cd021ab8cece2a770790704b3f31da5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision.obj
@@ -0,0 +1,5905 @@
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_0.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860bc099bc50c36ec25ccdc68a976779cc489111
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_1.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d43618cbed59b44be6fc137edce53f79ce534ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_1.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_10.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0089df10dcc597531f460e3ba16ab7e1f808f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_10.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_11.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822685c598a06e344dad7c81c5f003a2937d77e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_12.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a1936df467e50e7ae61a1f02b14b860ab73bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_13.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a528e82840ff6e1448fb471401ed6db2d8575060
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_13.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.08529196 0.14883020 0.01034627
+v 0.08529196 0.14439782 -0.00153598
+v 0.08529196 0.14021737 0.01034846
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_14.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda6462631ed7157280fe39f157e1c4d373d47cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_14.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.11952421 -0.10758449 0.01034754
+v 0.11096600 -0.10758449 0.01034754
+v 0.11948468 -0.11077909 0.01034753
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_15.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749a3ac4a519dc140ddf0475a271152ce366723a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_16.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fb34bae4448ebb494e4a258f61070f62f04b8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_17.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf260d04fb2f317627e3244fec6e9cb69cb67095
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_18.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef058d4268d4b309b04464b7abe029f3504ab965
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+v 0.10177237 -0.16281855 0.01768651
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_19.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc2a624fae944616f5a0e756ec63d68fb296aae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_19.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.09052114 -0.13939296 0.01034596
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_2.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8456928a094e34ba7011085bc72516c9efd6068
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_2.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_20.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f18bf26145e6a151b6f15d0d6658f6d81e1ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_21.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a54f00f5bc46f319bb5db159dbd9adc7f764022
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_21.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_22.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e58698332abc08d150fb8d5446ed91173344679
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_22.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_23.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae78435cb5426774060644702045687d0e2eb0cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_23.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_24.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575786a03f378752fe939a4f9602dee09bc9aef5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_25.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3323ec20042183336983d5ac3334eadca8137a28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_25.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_3.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..110af9ebcc50d3d02481261c98cc0d47aaec04e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_4.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8835654e4ab09103c659738d99d434f5c63d4008
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_4.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_5.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae694c9d7271923caffb4043263bba2a29be3328
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_5.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_6.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda95eac73ef10013e893d7d66a8fd8d502f503d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.10994761 0.11797513 0.01034837
+v 0.11272078 0.11797511 0.01768627
+v 0.11879891 0.11797513 0.01034837
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+v 0.11823797 0.11797509 0.02284983
+v 0.11806313 -0.11319862 0.02251508
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+v 0.13291241 0.10700025 0.01479904
+v 0.11953226 0.10700026 0.01034833
+v 0.11948855 -0.11075468 0.01034753
+v 0.13284441 -0.11288179 0.01481679
+v 0.13456367 -0.11288180 0.01768543
+v 0.13454668 -0.11319860 0.01768542
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+v 0.12375029 -0.11319863 0.02379769
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+v 0.13380603 0.10700022 0.02192891
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+v 0.13292454 0.10150150 0.01479504
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+v 0.13382060 0.10150147 0.02193419
+v 0.13475308 0.09600274 0.01768619
+v 0.13475308 -0.03592195 0.01768571
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+v 0.13291726 -0.05241819 0.01479846
+v 0.13290998 -0.08538805 0.01480231
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+v 0.13290269 -0.10188429 0.01480623
+v 0.13472394 -0.10188430 0.01768547
+v 0.13379388 -0.10738307 0.02191753
+v 0.13347335 -0.11319862 0.02198640
+v 0.13382546 -0.03592197 0.02193502
+v 0.12924319 -0.11319863 0.02378444
+v 0.12924319 -0.11288183 0.02378842
+v 0.13381817 -0.09638558 0.02192685
+v 0.13473122 -0.09638556 0.01768549
+v 0.13381575 -0.10188432 0.02192550
+f 1 2 8
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+f 1 28 25
+f 1 25 17
+f 1 17 11
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_7.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaef0af03458b6b4f132f0a3ba8e10cf9f96a6a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.08526820 0.16651952 0.01768780
+v 0.08528560 0.16528928 0.01490992
+v 0.08526820 0.16528928 0.01490992
+v 0.08526820 0.16596790 0.02162134
+v 0.08528560 0.16596790 0.02162001
+v 0.09078224 0.16560534 0.02127344
+v 0.09078224 0.16590595 0.01768780
+v 0.09388470 0.16482133 0.01521917
+v 0.09078224 0.16504137 0.01506588
+v 0.08528560 0.14883122 0.01034849
+v 0.08526820 0.14883742 0.01035916
+v 0.08526820 0.16199205 0.02359944
+v 0.08528560 0.16199205 0.02359944
+v 0.09078224 0.16199205 0.02323421
+v 0.09506224 0.16515289 0.02070960
+v 0.10177120 0.16128242 0.02185859
+v 0.09494492 0.16511263 0.01768780
+v 0.09307215 0.14704317 0.01034848
+v 0.09152092 0.14760407 0.01034848
+v 0.09769108 0.16405902 0.01768779
+v 0.10177120 0.16241662 0.01768779
+v 0.10666822 0.16034968 0.01768778
+v 0.10557323 0.15972680 0.01500854
+v 0.08837067 0.14835709 0.01034848
+v 0.08526820 0.14039921 0.01034846
+v 0.08526820 0.15649156 0.02396463
+v 0.08528560 0.15649156 0.02396597
+v 0.09078224 0.15649156 0.02395264
+v 0.09627889 0.15649156 0.02393398
+v 0.10177120 0.15649156 0.02380468
+v 0.10633364 0.16023500 0.02116812
+v 0.10780230 0.15703388 0.02230112
+v 0.09652657 0.14573236 0.01034848
+v 0.10941002 0.15870728 0.01768777
+v 0.11561059 0.15383277 0.01522979
+v 0.10320945 0.14201062 0.01034846
+v 0.10061104 0.14370879 0.01034847
+v 0.08526820 0.14022258 0.01034846
+v 0.08526820 0.15099418 0.02363538
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+v 0.11276016 0.15548134 0.02150400
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+v 0.12965422 0.13486152 0.01768769
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_8.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d514ef11b0029b8652ad11a527f71543e3a7ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_8.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07976781 -0.14971760 0.01034162
+v 0.07978991 -0.14972038 0.01034739
+v 0.07976781 -0.14964840 0.01034739
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+v 0.08157608 -0.14965394 0.01034739
+v 0.07978991 -0.14541906 -0.00153309
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+v 0.07976781 -0.14432297 -0.00439284
+v 0.07978991 -0.14432297 -0.00439284
+v 0.08528504 -0.14939100 0.01034739
+v 0.08528504 -0.14497343 -0.00153309
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+v 0.10029366 -0.12144656 -0.00439276
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+v 0.07976781 -0.14366146 -0.00439284
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+v 0.09658872 -0.14625777 0.01034740
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+v 0.09594980 -0.14147486 -0.00131810
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+
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_9.obj b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e1dd7ebfa77a5e9c93f4182cbb91a4b9288593
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/mesh/tray_066_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01732887 0.12902866 -0.01227453
+v 0.01732887 0.13450390 -0.01193570
+v 0.01732887 0.12902863 -0.00518825
+v -0.04112191 0.12902866 -0.01226789
+v -0.03560355 0.13450390 -0.01193127
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+v -0.04110199 0.13450390 -0.01192906
+v 0.01732887 0.14223433 -0.00787656
+v -0.03560355 0.14223236 -0.00787434
+v -0.04110199 0.13948193 -0.01017740
+v 0.00288551 0.12902863 -0.00518382
+v 0.01732887 0.14915971 0.01034849
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+v -0.08443207 0.12902863 -0.00519047
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+v -0.07407270 0.13944641 -0.01015747
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+v 0.01732887 0.14396272 -0.00403224
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/tray_066.xml b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/tray_066.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af782d756fdd24b3e766105023843876ec9c3972
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/mjcf/tray_066.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_066">
+  <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_066.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_066_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_066_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_066_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/tray_066_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_066_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_066_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="tray_066">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/textures/material_0.png b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12605204
diff --git a/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.urdf b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_066">
+   <link name="tray_066">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_066.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_066_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</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>ce60b3e35bf4554fbb7c1f2721346a00</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>white</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0364</min_height>
+         <max_height>0.0364</max_height>
+         <real_height>0.0364</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201037</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.133881 -0.166389 -0.011678</min>
+            <max>0.134097 0.165995 0.024762</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/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.usd b/dataset/kitchen_supplies/tableware/ce60b3e35bf4554fbb7c1f2721346a00/tray_066.usd
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