diff --git a/.gitattributes b/.gitattributes
index 815325c1f86c78dcf6a220ac932c48605b7d69a8..8a3eb68e72b0da2391f686a5211e124178f189e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4237,3 +4237,5 @@ dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/fork_016.usd
 dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/mesh/fork_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/mesh/spoon_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/spoon_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material.mtl b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d959b29b4c31c030dd54eabcdc70a53b2e4fb4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f01273e8faa498743dcd48d05bf344326dabbd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4efb9307b2b2d55d201e4e3d8de00e3ef565cc6f691fe3a82d6985e353489d52
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b76de3f7a81931f08c634f2f0bedee292d15174c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76b359eeafbcb0ed8bd43febef1c2a494b7f6e9ae7a8e749f6157868c96336b
+size 18056360
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.mtl b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f3377eb107aecf64cfb900bb2a15c227098ef5d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.mtl
@@ -0,0 +1,6 @@
+newmtl tray_013_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/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49adf3a125eb5f3f29edd7f55693004430bf4f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.obj
@@ -0,0 +1,124510 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013_collision.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8a7de13c0d3378a064685e205c1b28ba373f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/material_0.png
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+oid sha256:4efb9307b2b2d55d201e4e3d8de00e3ef565cc6f691fe3a82d6985e353489d52
+size 14618404
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a830ab68de587b3f9b62e910444fd11c9790d11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013.obj
@@ -0,0 +1,124510 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f475cc14ea6c57083d274fd7ae3683029a51cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision.obj
@@ -0,0 +1,6681 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_0.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6286e7950b78834e4abc457f6cdfeb69b80f799b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_1.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a495d6d161a2efbebd718025bd2f86b5fdf1660e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_10.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..792e0eaf79a476865c91dfd2cb63692f906da8a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_11.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1a6afaad3b47b229825c7c763bd021a2fed472
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_12.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728ab18b1cda0713915237dc028576691f08d455
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v 0.06636396 -0.22044119 0.02149858
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+
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_13.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20dc82242335d8b426655e61511220feb438d35e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_13.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.17202268 0.14746705 0.02245945
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+v -0.17202268 0.15003037 0.02245946
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_14.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be70897e4505ffa96b79e8838553426a38d55749
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_14.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_15.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37a0c0dffe880d93678d0636b20ec54f98b39e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_15.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_2.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4a02d03a739bbac41bcd29a7b627cbe43779a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_2.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_3.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125e8bdbbb451e50c3ff54cf10ea10c1117badb4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_3.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_4.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55abd6b1341a41da19ec09294bdbd30f55cec19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_4.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_5.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15cfc9632728eb849401492a65b66bd78b8b056
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_5.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_6.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4841cc0b1162f40dce72d3ab2a0931c5d27070b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_7.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d70750f3b07ba757d8213871b1ce40ed19f743
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_8.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ceb71684eff503438bec4215f03958f80745ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_9.obj b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_9.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/mesh/tray_013_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/tray_013.xml b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/tray_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a3eef65ceb72cd9c1ded3586592d94c72713f05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mjcf/tray_013.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_013">
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/tray_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_13" file="mesh/tray_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/tray_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="tray_013">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/textures/material_0.png b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.urdf b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf2644c3f02f3ed31a7a05d720f273d990e2e660
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+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.urdf
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+         <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>7a4e775be6f058078c66b810cc35ddc9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular ornate serving tray with raised decorative rim</description>
+         <min_height>0.0569</min_height>
+         <max_height>0.0569</max_height>
+         <real_height>0.0569</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.189431 -0.236764 -0.018479</min>
+            <max>0.189418 0.236706 0.038402</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..39e1e2b1816520e7d367aac005ca23a0502ca900
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3f965e1dec5be1ef97445988c8288e4781af1a04b3da5319f468baf7a1e5fa
+size 4989411
diff --git a/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/video.mp4 b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e57dbe1621d15b249968ba3f2dc1bdbbd201ad6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9530758ef23855ee2bce53b6751b7ea3338f559dedbdc5821a2d4b521e1d49b
+size 491148