diff --git a/.gitattributes b/.gitattributes
index 91a1675d431e44628e4c76abe4da60d8d785961b..89569d8cbba6304d3455ef40cecf84a632e79b42 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4223,3 +4223,5 @@ dataset/kitchen_supplies/tableware/645b293a2f035325abd6f6c401907cb7/mesh/spoon_0
 dataset/kitchen_supplies/tableware/645b293a2f035325abd6f6c401907cb7/spoon_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/mesh/tray_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/tray_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73853f6ca87b01a7c2cf733b5ef67eef934e63c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_061_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_061_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f4746a41b6489e0b37c380ab064de030a0b44a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480a78ccd9d7e65811108a2745c5e94ae45cb45aa4d53f5ef33fa7bc1905a9b5
+size 16462132
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c621111e9f08bf6fd57f3b49ddd65a9bf9a4ef74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a7d225246ac2713a31385b0674e702150325db11c949c2d3b15c2a0c57beae
+size 19776324
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.mtl b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69314a2f2c2317135b549903d35014ad50cffef7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.mtl
@@ -0,0 +1,6 @@
+newmtl tray_061_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/66d595f121f25084859493d7f001053b/mesh/tray_061.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13484208f7778aa69018704edba3689de0d8716d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.obj
@@ -0,0 +1,120660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_061_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061_collision.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f064ca224831ae763a3cc8b6dc587e5fe15e19b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061_collision.obj
@@ -0,0 +1,6538 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061.obj
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+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061.obj
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c360bb7b3ea9b1f912accc469a93e834a04ad09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision.obj
@@ -0,0 +1,6538 @@
+# https://github.com/mikedh/trimesh
+
+o tray_061_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_0.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..686f13a2ee707f8a5ed43547db952227d807c87f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_0.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_1.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ce8c5750d6e2fa91988d4eb67062bfb2e200fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_1.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_10.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737306b9b47433e564236c7b9b99804f88bce872
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_11.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f16a24ce1dba0804d2c20a28bb7681bec1f204e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_12.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ce03d8da86b672d86604399d12fbd0fdcc3e58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_12.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_13.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025d2a3d02e2cfa5ddca563f9d89e40be029d2f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_13.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_14.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac8d229b40cc58a20ee57d155e837e3f7ac15ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_14.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.14307609 0.10799139 0.01644558
+v -0.14112021 0.10215122 0.02112671
+v -0.14112021 0.10799137 0.02112128
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+
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_15.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e6044daa329a4802fc64777000d140f362e61c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00311096 0.11383048 -0.01685874
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+
diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_16.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5acbdda4e315868204fd66606e50ea5cc22365e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_16.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_2.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0759e7bdd8bcdbc3b622a549051e97381238c513
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_2.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_3.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fe5368386a310b0846feb2507b2c080251e128
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_3.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_4.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f9f2742a6ab549de5ccab1e45914220ce94bb72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_4.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_5.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fa50af0a6786a277c114213db987d79e7da403
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_6.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f66056afd8dd153c052f336df8d4c437f13c6be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_7.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9a84caff2bfa71e3760e0e7633610a45f6a8e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_8.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2caaf5531ab36f50e31dfb42b76160c5caeb359
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_8.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_9.obj b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca06a1b4171e4342d02d55293da7b29040a32f86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/mesh/tray_061_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/tray_061.xml b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/tray_061.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e9fb17a08ef1b1080a4e3417a7b7ec6fe9d6e50a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mjcf/tray_061.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_061">
+  <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_061.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_061_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_061_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_061_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_061_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_061_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_061_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/tray_061_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/tray_061_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_061_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/tray_061_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_061_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_061_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_061">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/textures/material_0.png b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/textures/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/66d595f121f25084859493d7f001053b/tray_061.urdf b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.urdf
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_061">
+   <link name="tray_061">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_061.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_061_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>66d595f121f25084859493d7f001053b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate square tray</name>
+         <color>gray,brown</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow square tray with rounded corners and ornate floral pattern</description>
+         <min_height>0.0408</min_height>
+         <max_height>0.0408</max_height>
+         <real_height>0.0408</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200836</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.142346 -0.176877 -0.016292</min>
+            <max>0.142766 0.177140 0.024469</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/66d595f121f25084859493d7f001053b/tray_061.usd b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.usd
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/video.mp4 b/dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/video.mp4
new file mode 100644
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