diff --git a/.gitattributes b/.gitattributes
index 5d0a85052c65e31604638180039035674eb092a6..cdeb03e96dfbea0141df26dbc61d37f1f96fc86b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4383,3 +4383,5 @@ dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon.g
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_058.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/tray_065.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material.mtl b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ad337897628bebf77f3884b5c70a80c4eeb9000a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_065_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_065_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material_0.png b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9015c317abcdba3dda7c5dad79765f2f42ae7ba2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35cdbc560263e600a51dc3b9b8f16c40efabdd00ed7e6ff280038a8e69cd49
+size 14101827
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.glb b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f49eb6c1b7ac310073b3d99aaf68b2eb456e9418
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d347637a5389520c1cb593d778048655f6d12a938bb150763161c4ff550948cd
+size 17357364
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.mtl b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b12e05dbb86b82b46e8f4b7d61ad3d44266ed30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.mtl
@@ -0,0 +1,6 @@
+newmtl tray_065_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/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e963c0c9443ce201b4b29889d6f330344e510c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065.obj
@@ -0,0 +1,109146 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_065_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065_collision.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c662d75daf3a2868277877682cd705d3ae05b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mesh/tray_065_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..9015c317abcdba3dda7c5dad79765f2f42ae7ba2
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9015c317abcdba3dda7c5dad79765f2f42ae7ba2
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+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e84e1cbf989709685392888b0ab0aaa7ebeab40
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+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802522863940ad4359a00a30d1b4b046b3d4edf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision.obj
@@ -0,0 +1,7289 @@
+# https://github.com/mikedh/trimesh
+
+o tray_065_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_0.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b62c97cfc1860a380491f1bf94a9c3d0e0fc82b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_1.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c77201d145e27371dcb4cfbaddb300aa07d965
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_10.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44663670ef71c0b31f56761014003239aa710b26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_10.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_11.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06da1a7b14a28d77f052aa8835bb85f9a44937f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_12.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ec006a48f7a5fff543e528e35a259f47a2883b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_12.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_13.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083a6d4c37a47b4e122cd58f0c6438a227671d17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.10976115 0.11896283 -0.00194683
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_14.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05dd059ffe8323550ebf97450cbebbb53dd5a259
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_14.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_15.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d4ef3658fd95e42b57bd3c052dee896df4c7e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_15.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_16.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd93e11f27979b75796d6b830142bb5dfdb06538
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_16.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_17.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6989acdb8873d0aaef01f8f0b134317f1d39d5aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_17.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_18.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804ef3ea39f2ddfa5359c05a3fc21b2cbd56cf50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_18.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_19.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e2d9b95f29809cd6c558c91f4a053f4291012e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_19.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_2.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc28af1badbf792ef6b8ee77ceab0e785cf50a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_2.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_20.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9a38e53dd1e202f95f8ac2c43c736044c11fab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_20.obj
@@ -0,0 +1,418 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_21.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363f319fafd12a1d1223deec6617ec382a3527ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_21.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.09460165 0.16566360 0.03005934
+v -0.09865015 0.16556567 0.03005631
+v -0.11040186 0.15933483 0.03005024
+v -0.09460165 0.16503399 0.03005934
+v -0.09120878 0.16552369 0.03001394
+v -0.08829844 0.16797685 0.02974159
+v -0.09460165 0.16872306 0.02935726
+v -0.10068631 0.16791155 0.02870057
+v -0.11031964 0.15943744 0.03005024
+v -0.11040186 0.15780977 0.03005023
+v -0.11040186 0.15940012 0.03004419
+v -0.09120878 0.16524852 0.03001394
+v -0.08829844 0.16841058 0.02960238
+v -0.08829844 0.16253420 0.02749610
+v -0.08829844 0.17484197 0.02652775
+v -0.09460165 0.17352212 0.02649749
+v -0.10069497 0.17248210 0.02557145
+v -0.10655243 0.16852719 0.02644602
+v -0.11040186 0.16420850 0.02768978
+v -0.11040186 0.15952605 0.02998971
+v -0.11040186 0.15643395 0.02981720
+v -0.08829844 0.16230567 0.02738716
+v -0.11040186 0.15513741 0.02947523
+v -0.11040186 0.15257233 0.02816789
+v -0.11040186 0.15050160 0.02694225
+v -0.08829844 0.17487928 0.02650354
+v -0.08829844 0.17644167 0.02165854
+v -0.10436264 0.17173588 0.02471502
+v -0.11040186 0.16715604 0.02574392
+v -0.08994728 0.15870057 0.02495405
+v -0.08829844 0.15922292 0.02305357
+v -0.11040186 0.12879638 -0.00085683
+v -0.10679044 0.15133177 0.02584979
+v -0.09460165 0.17256608 0.01763363
+v -0.09885788 0.17188982 0.01814506
+v -0.09460165 0.17466010 0.02141038
+v -0.08829844 0.16180208 -0.00085671
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+v -0.11040186 0.16766906 0.02375267
+v -0.08829844 0.14606643 -0.00085676
+v -0.11040186 0.14945234 -0.00085675
+v -0.10291937 0.17101768 0.01943121
+v -0.10080964 0.17254740 0.02136801
+v -0.08883940 0.16163420 -0.00085671
+v -0.08976335 0.16127974 -0.00085671
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+v -0.09376425 0.15972203 -0.00085671
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+v -0.10655243 0.16983306 0.02136800
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+v -0.10062140 0.15622419 -0.00085673
+v -0.10214688 0.15531941 -0.00085673
+v -0.10476511 0.15376170 -0.00085674
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+f 1 5 6
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_22.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04dea86a96a33128380ae75503228042af2ccd31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.06517107 0.17865328 0.02141150
+v 0.06517107 0.17846496 0.02075821
+v 0.06517107 0.17843846 0.02547064
+v 0.06996923 0.17842376 0.02546231
+v 0.06996923 0.17861503 0.02141150
+v 0.06996923 0.17774111 0.01834685
+v 0.06517107 0.17776172 0.01832188
+v 0.06517107 0.17462499 0.02833136
+v 0.06996923 0.17466324 0.02832096
+v 0.07606438 0.17462205 0.02816700
+v 0.07606438 0.17828546 0.02530626
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+v 0.08215952 0.17797356 0.02255162
+v 0.07615651 0.17819425 0.02098289
+v 0.07418976 0.17764107 0.01845295
+v 0.06517107 0.17066740 0.00881170
+v 0.06517107 0.17156478 0.03004572
+v 0.06996923 0.17160304 0.03006028
+v 0.07606438 0.17156184 0.03004572
+v 0.08003685 0.17149416 0.03002075
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+v 0.08804914 0.17491041 0.02654834
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+v 0.08588394 0.17769402 0.02364807
+v 0.08215952 0.17713203 0.01969088
+v 0.07825437 0.17745864 0.01879208
+v 0.06996923 0.17034079 0.00881170
+v 0.06517107 0.15968602 0.00881166
+v 0.06517107 0.17117932 0.03004572
+v 0.06996923 0.17109104 0.03006028
+v 0.09434627 0.16571216 0.03006651
+v 0.09866603 0.16558858 0.03006443
+v 0.09434627 0.16877236 0.02936953
+v 0.09434627 0.17353921 0.02650881
+v 0.10044143 0.17247109 0.02555799
+v 0.10137341 0.17227983 0.02533953
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+
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_23.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0b47c3b038b928fc238d6cedf984b2396c80a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.06517107 0.14653920 -0.00194673
+v 0.09597992 0.13329839 -0.00194678
+v 0.06517107 0.15968470 0.00881060
+v 0.06517107 0.16566311 -0.00194666
+v 0.10137341 0.13174379 -0.00194679
+v 0.10137341 0.14859291 0.00881056
+v 0.06517107 0.17066981 0.00881064
+v 0.06517107 0.16640230 -0.00061135
+v 0.06996923 0.16527446 -0.00194666
+v 0.10137341 0.15495235 -0.00194670
+v 0.10137341 0.16136505 0.00881060
+v 0.06996923 0.17033832 0.00881064
+v 0.06517107 0.16872275 0.00424971
+v 0.06996923 0.16620417 -0.00026067
+v 0.06517107 0.16826553 0.00328930
+v 0.07606438 0.16439428 -0.00194667
+v 0.07606438 0.16576979 0.00053862
+v 0.10093045 0.15524193 -0.00194670
+v 0.10137341 0.15556579 -0.00102420
+v 0.10137341 0.15967329 0.00563344
+v 0.09991341 0.16210806 0.00881061
+v 0.07598642 0.16958007 0.00881063
+v 0.06996923 0.16835316 0.00424971
+v 0.07606438 0.16754156 0.00424971
+v 0.07958326 0.16542687 0.00117258
+v 0.07774054 0.16402469 -0.00194667
+v 0.10006579 0.15572203 -0.00194670
+v 0.10026423 0.15603828 -0.00131380
+v 0.10137341 0.15778338 0.00243731
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+v 0.08833263 0.16670710 0.00881062
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_3.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc66b14693cc7b7ea04133fbebbc5f7cf2e9e9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_4.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226dae542e0d08b9118cea01dd7dfc0659e5c8df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_4.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_5.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339d2fc388b03b8736bf1ead03ed748111fa2568
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_6.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4cfeb9b028169f045bcf444869cea201eb6d5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_6.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_7.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb64e4e48a80c3fa11b09ed9cf5e49c6e64a5c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_7.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_8.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4339a8bb0978dcad4e85a0aaedb8d1ac14eaa5aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_8.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_9.obj b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8b40b612ccbe6dece5f382fe517a9e774c281b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/mesh/tray_065_collision_9.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/tray_065.xml b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/tray_065.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c98828675211af455eb366588b390012b09fc163
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/mjcf/tray_065.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_065_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_065_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_065_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_065_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_065_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_065_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_065_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_065_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_065_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_065_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_065_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_065_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_065_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/tray_065_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_065_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_065_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_065_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_065_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_065">
+      <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" />
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+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_23" 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/cda07edbb09b5fa8b76eab9672c54c85/textures/material_0.png b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/textures/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35cdbc560263e600a51dc3b9b8f16c40efabdd00ed7e6ff280038a8e69cd49
+size 14101827
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/tray_065.urdf b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/tray_065.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e4800985593cadd01f653428a038b1de1105f20e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/tray_065.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_065">
+   <link name="tray_065">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_065.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_065_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>cda07edbb09b5fa8b76eab9672c54c85</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>handled serving tray</name>
+         <color>beige,purple</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular tray with side handles and colorful floral patterned interior</description>
+         <min_height>0.0639</min_height>
+         <max_height>0.0639</max_height>
+         <real_height>0.0639</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201012</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.151339 -0.185232 -0.011927</min>
+            <max>0.151081 0.185413 0.051992</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/cda07edbb09b5fa8b76eab9672c54c85/tray_065.usd b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/tray_065.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4857689
diff --git a/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/video.mp4 b/dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/video.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5864e5dc6dc7f9f93198cbdf9d245dd202c5026d4140567d9ee17f67413ae5
+size 824097