diff --git a/.gitattributes b/.gitattributes
index 964cd1ccbd3d84ccdf817931a52be41cd21117a5..5616728cc26ab5300ba7c9adda1f8908e8acc15b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4192,3 +4192,5 @@ dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_02
 dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/mesh/spoon_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/spoon_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material.mtl b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..66d7f8cb6dcdb467cf70bdbf0df8c94972d80541
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material_0.png b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3897e760d91850e1eb8f84e3e30fbb8a3ce51b09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188ef6cb2324716f09f047434d0e6a5908fe55cdc2e0ebb1b8d8a4402a9108da
+size 12246226
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.glb b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1da88795ab1535cd4d7bc7ea9d6ce0dfac866d18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ceb14ffa05590dce1bf1faf061cb2a9bea508fe85050cef0b92eb1098d76f1c
+size 15608304
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.mtl b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60cfdfdbd8fa5fe368f0331b684146f58ee35817
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.mtl
@@ -0,0 +1,6 @@
+newmtl tray_030_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/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9feaa56731d8c07be168a57e23823c3a9921257c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.obj
@@ -0,0 +1,119356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_030_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030_collision.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f172eb4a64eb5ae9dfa3762ece8fc625d5420e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030_collision.obj
@@ -0,0 +1,5461 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623c39202a745ba3cabcac32f42b22c161e04064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision.obj
@@ -0,0 +1,5461 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_0.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9615bbeef0e7a95633ac02e1609d5211b51905f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_0.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_1.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e850bf9d1c9486523180e4686aa62270d7d5b0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_1.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_10.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d575de7f7872a505b51a3098055d5741ce1b0a13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_10.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_11.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d32b9566c38021a18a2cd23945c7ec27ee9366
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_11.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_12.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe647b0442aa1110cb1ecf304300b46398992815
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_12.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_13.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28484d331e726ccbeef428f0d6862ee177b73139
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_14.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81050cac5b6d461d1e539df5faa16a62585cccb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_15.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15de01141f4154efaa2c0e7751ce059fdf12b3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03970847 0.19970611 0.01375470
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_16.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121a58cb6468f127ce4f80383e6ff75841474502
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06520191 -0.14780762 0.00040491
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+v -0.06520191 -0.16815800 0.01455126
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+
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_17.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa2f99316c26fc08f866ceb739fd0b05a12e49a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_17.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00373688 0.21906304 0.02909169
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+
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_18.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d814aca42beaa2e912143b62b3df300332efc76f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_18.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.08015727 -0.14547795 0.00040492
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_19.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24750c446c29c6df5e9919fb3498e7c04a06c7c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_19.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_2.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f609ce5483b4f1e063ed142b720db09930fdb4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_2.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_20.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba20df86da726d52236bf7bb7b0401d95ffe0291
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_21.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf0ab090b0ece3833ef41b0fac6b075a9f29194
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_22.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54c2e01fde876935fe15a390ea96fb68b32867b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_22.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_3.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4c36062385fc2fb080641bcc8800768630a1de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_3.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_4.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb427bfd38c3350a2b4c2f3017be623fcb74e291
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_4.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_5.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f19f64b66ad432c88f60f6436c65e2ccfe9661a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_5.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_6.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26103a385d87389505c1c5e76c01da036b2592f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_6.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_7.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1764c333d01676c9e44866903d0a4a259e3164
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_7.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_8.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b733305cd5ddf0d43cd5f1404bf559f2b5545423
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_9.obj b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6f2622a9cc0d9847f1cda987dd06f639d3cd28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/mesh/tray_030_collision_9.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.06828581 0.08256262 -0.00182899
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diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/tray_030.xml b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/tray_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de43972fe8d07e329a4f5f761027c3304689e1a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mjcf/tray_030.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_030">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_22" 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/45ea580db9d85c4ab10b1261d4c5c0ff/textures/material_0.png b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3897e760d91850e1eb8f84e3e30fbb8a3ce51b09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188ef6cb2324716f09f047434d0e6a5908fe55cdc2e0ebb1b8d8a4402a9108da
+size 12246226
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.urdf b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0441993273c57bb8856b625d8cd8c41103bcfc48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_030">
+   <link name="tray_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_030.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_030_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>45ea580db9d85c4ab10b1261d4c5c0ff</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular ornate tray with side handles and raised decorative rim</description>
+         <min_height>0.0532</min_height>
+         <max_height>0.0532</max_height>
+         <real_height>0.0532</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195649</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.159347 -0.217927 -0.011986</min>
+            <max>0.159632 0.218030 0.041232</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.usd b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..be58ba79c436b4b4a75b10900dcc9b2fa892245f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319db75865e119e79f29607a132d8f28826385ff09812538a6f0d5c671a08091
+size 4945231
diff --git a/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/video.mp4 b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59400e12a0fd3aba1b745f42b756d12ef17ee511
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf2ee6e35ca7abceb053494b7404bd03e639a1fb89cbf8a615fda3fab90b51c
+size 462350