diff --git a/.gitattributes b/.gitattributes
index d7f4ab32cfcd54c8031957b612edc1b809565f71..c2cf18e0addd2952d7d3e5ee821bee2344c4e668 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4237,6 +4237,5 @@ dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b
 dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/85aa0ecaa5e75c9c80f4b6226505ae04.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/87887bb82956507982d5be205fd2091c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material.mtl b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5260221731127cbbdea8cbd566f52dd9f22ec519
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material_0.png b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8ff846101b2952402fc02b188231a1c50466f26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efd70b9957f30afbd27a75d3e476182bae050c786c9aefde403a8b7617e2bc4
+size 15410379
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.glb b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6315f9b77148b22f46cce5204afa1d587be5e786
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc081022214c8d6efa5b05827611b38591182c35aeeb91b5e0edfad9134a484a
+size 18758156
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.mtl b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b282c098cc956ad9ae0de4cbad85d003f6c8ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.mtl
@@ -0,0 +1,6 @@
+newmtl tray_028_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/82424bffadec597e8512594ba6eac053/mesh/tray_028.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e712e5ef938c1536a532ce0ce1bb3e28744ff4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028.obj
@@ -0,0 +1,118288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_028_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028_collision.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935972e220aae1088583251eac06938bdc86ecdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mesh/tray_028_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3750627c4ecd7e2de6e54bfd3d6c20b17aa9213e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision.obj
@@ -0,0 +1,5415 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_0.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b638841b507b80f3fb0ba81fd9ae4fd7b5674725
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_1.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b048ade9e03cd3b91c5f326fda2656dc161eea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_10.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c704eabc6fff314a34dda6d4c64405bfab3cb0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_10.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.08298711 -0.11731907 -0.01346082
+v -0.08298711 -0.11731911 -0.00200295
+v -0.08298711 -0.11166315 -0.01369117
+v -0.07733106 -0.11731907 -0.01363732
+v 0.04289988 -0.11731911 -0.00319149
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+v -0.08298711 0.07162236 -0.00358850
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+v -0.02576127 -0.11731907 -0.01370723
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+v -0.07160108 -0.11731907 -0.01367858
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+v 0.04289988 0.07337702 -0.00488133
+v -0.07726945 0.07337701 -0.00332603
+v -0.08123731 0.07337701 -0.00353233
+v -0.08298711 0.07337701 -0.00362746
+v -0.08298711 0.02579635 -0.01368723
+v -0.01432596 -0.11731907 -0.01370953
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+v -0.08298711 0.07335839 -0.01366986
+v -0.08298711 0.06587315 -0.01367447
+v -0.08298711 0.07160373 -0.01367101
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_11.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1caf0222b7408c5cf9774b1fc270df1a90fdd844
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.10188031 0.17200492 0.00971825
+v -0.10006369 0.16944194 0.01101450
+v -0.09446945 0.16826516 0.01095277
+v -0.08874288 0.16737959 0.01057514
+v -0.07913042 0.16626266 0.00968555
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+v -0.09446945 0.17002236 0.00682253
+v -0.10006369 0.17128291 0.00681528
+v -0.10592861 0.17121111 0.00598016
+v -0.10592861 0.17199895 0.00865074
+v -0.10896032 0.17188723 0.00957301
+v -0.11117997 0.16920260 0.01133584
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+v -0.11381468 0.16130821 0.01509751
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+v -0.07731379 0.15752062 0.01195489
+v -0.07731379 0.16362193 0.00289198
+v -0.07974398 0.16615496 0.00409203
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+v -0.09446945 0.16786829 0.00281393
+v -0.10592861 0.16834896 0.00287384
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+v -0.11117997 0.17033551 0.00722195
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+v -0.12041948 0.16616891 0.00961475
+v -0.12762582 0.16178293 0.01216549
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+v -0.07731379 0.15264204 -0.00182471
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+v -0.10503834 0.15162881 -0.00197176
+v -0.10544738 0.15210151 -0.00181745
+v -0.12884091 0.15179435 0.00076963
+v -0.12898528 0.15773207 0.00240177
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+v -0.13387573 0.15685046 0.00682249
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+v -0.13619764 0.15319647 0.01216546
+v -0.13759318 0.15162876 0.01216546
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+v -0.13876617 0.15162877 0.00682247
+v -0.13673901 0.15388460 0.00682248
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_12.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7ee468767ba9e9775e7d38fe2fe7eb12d9d84d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.08299359 -0.07125052 -0.00362594
+v -0.08965797 -0.11731912 0.00198080
+v -0.08299359 -0.11731910 -0.00199987
+v -0.08299359 -0.07125048 -0.01367669
+v -0.10019908 -0.07125054 0.00390312
+v -0.09284105 -0.11584890 0.00342435
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+v -0.08874388 -0.07125048 -0.01368183
+v -0.09483128 -0.11731913 0.00432238
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+v -0.13457119 -0.09446751 0.01183093
+v -0.14029554 -0.11731916 0.01259251
+v -0.13457119 -0.07125057 0.01192365
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_13.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df31a55158bc675e1472057ccaee22cd4977da59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_13.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.00234969 -0.15114728 -0.00586289
+v 0.00293649 -0.15114728 -0.00586289
+v 0.00293649 -0.15173931 -0.00582349
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+v 0.00806753 -0.15114728 -0.00585633
+v -0.00013395 -0.15173931 -0.00581911
+v 0.00866797 -0.15173931 -0.00581473
+v 0.01439946 -0.15746642 -0.00494565
+v 0.00866797 -0.15746642 -0.00494784
+v -0.00013395 -0.15114732 0.00516834
+v 0.00866797 -0.15114728 -0.00585414
+v -0.00013395 -0.15440247 -0.00540756
+v 0.01379902 -0.15114728 -0.00581473
+v 0.01439946 -0.15173931 -0.00576876
+v 0.02013094 -0.15746642 -0.00489749
+v 0.02584879 -0.16178973 -0.00274117
+v 0.00293649 -0.15746642 -0.00493471
+v -0.00013395 -0.15146266 0.00527999
+v 0.03155298 -0.15754381 0.01649728
+v 0.03289033 -0.15692329 0.01649728
+v 0.03731176 -0.15518583 0.01649729
+v 0.04328888 -0.15475045 0.01649729
+v 0.12892001 -0.15114736 0.01635281
+v -0.00013395 -0.15746642 -0.00492376
+v 0.01439946 -0.15114728 -0.00580817
+v 0.02013094 -0.15114728 -0.00568776
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_14.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02559ac89525917fef8a93742c4e01bb8e86b4ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_15.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febc5dd0e02bbdc32c9e1015367e488fbd6e2d0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_15.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_16.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269216a4cf4270cc7c9986e6c660da03abd11f1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00293011 0.15162882 -0.00578946
+v -0.00280140 0.15162882 -0.00578087
+v 0.00293011 0.15179459 -0.00577841
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+v -0.00836525 0.15162882 -0.00575631
+v -0.00853006 0.15179459 -0.00574403
+v -0.00280140 0.15179459 -0.00576859
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+v -0.01425589 0.15179459 -0.00569737
+v -0.01998456 0.15752045 -0.00486481
+v -0.02570754 0.16179899 -0.00271839
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+v -0.02570754 0.15752041 0.00675260
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+f 36 39 37
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_17.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18963635c59fdaa9dfdab624c91af7065d387399
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.14310757 -0.09820512 0.00681907
+v 0.14385535 -0.10134466 0.01009690
+v 0.14396532 -0.10085818 0.00681906
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+v 0.14667783 -0.11731916 0.01148374
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+v 0.14872321 -0.11682894 0.00628898
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_18.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d8f411be35be98779c3e123cc82abe0c7e62f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.14003917 -0.06003250 0.00681937
+v 0.14311460 -0.09820512 0.00681923
+v 0.14307345 -0.09820511 0.00665269
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_19.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ae3afae94d2cd465edf285b08e9a6f1d9d9ca1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_19.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.07154019 -0.15114529 0.00925819
+v -0.07154019 -0.15312797 0.01054870
+v -0.07154019 -0.15114525 -0.00246225
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_2.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aac4225b8e1da328f30244dda6663ecabfab6f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_2.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.08316529 0.15162877 0.00892143
+v 0.08316529 0.07338466 -0.00368469
+v 0.08316529 0.15162881 -0.00167646
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_20.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821f68b0677337fe66308d4675827b9b510960f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_20.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02571764 0.15163060 -0.00530640
+v -0.02570754 0.15178644 -0.00529147
+v -0.02570754 0.15163060 -0.00530640
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+
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_21.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ec187b2fdd82b2203d8b698708deb92394958c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_21.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00014094 -0.15114706 -0.00586024
+v -0.00014094 -0.15142276 -0.00584273
+v -0.00280399 -0.15114706 -0.00585805
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_3.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42e7dbfbace6906ac9914b871ad39c0805caa6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_3.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_4.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bebc8e17e1b811a588b1e850a5432939fe26a5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_4.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_5.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f179dfc4fd8fd7b154a0efdcb3d9b17a26413e7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_5.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_6.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02601a2fc117904ade87d9eff4871034a599cc9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_6.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_7.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4debf3dc29c10ff3f5cbb1e67060170ab44783c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_7.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_8.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfad74534131e1683fac3bfd0bef3f43ed3ef9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_8.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_9.obj b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a0f8d55a73bbd1e1ea94422203a0ef7766af89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/mesh/tray_028_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/tray_028.xml b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/tray_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..30eeee943277f185f98812725ac8b3adb1939139
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/mjcf/tray_028.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_028_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_028_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_028_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_028_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_028_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_028_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_028">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" 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/82424bffadec597e8512594ba6eac053/textures/material_0.png b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8ff846101b2952402fc02b188231a1c50466f26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efd70b9957f30afbd27a75d3e476182bae050c786c9aefde403a8b7617e2bc4
+size 15410379
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.urdf b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a26f4652ffcbba4525c76c7a0b05b923e2957ed4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_028">
+   <link name="tray_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.8500" />
+         <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>82424bffadec597e8512594ba6eac053</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate serving tray</name>
+         <color>brown,blue</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>rectangular ornate tray with side handles and colorful decorative border</description>
+         <min_height>0.0554</min_height>
+         <max_height>0.0554</max_height>
+         <real_height>0.0554</real_height>
+         <min_mass>1.2</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195604</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.155058 -0.173028 -0.011668</min>
+            <max>0.155190 0.173084 0.043695</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/82424bffadec597e8512594ba6eac053/tray_028.usd b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/tray_028.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dc852590c0e78663aba6791fdaab72f6840d6d3261ecf09be8964dc8ae04a3a3
+size 4920337
diff --git a/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/video.mp4 b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ce8f19902c3ef787054de48f9554eb53efe0913
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0810a62d873304a2f44aefe8a81b4d7f0e094af1e077d40c516ecaf79d6961db
+size 645604